CN114791687B - Projection correction method, device and projection system - Google Patents

Projection correction method, device and projection system Download PDF

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Publication number
CN114791687B
CN114791687B CN202110246066.9A CN202110246066A CN114791687B CN 114791687 B CN114791687 B CN 114791687B CN 202110246066 A CN202110246066 A CN 202110246066A CN 114791687 B CN114791687 B CN 114791687B
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Prior art keywords
projection
information
offset
angle
determining
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CN114791687A (en
Inventor
冉鹏
王鑫
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Chengdu Jimi Technology Co Ltd
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Chengdu Jimi Technology Co Ltd
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Priority to CN202110246066.9A priority Critical patent/CN114791687B/en
Priority to PCT/CN2021/120673 priority patent/WO2022183721A1/en
Publication of CN114791687A publication Critical patent/CN114791687A/en
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    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B21/00—Projectors or projection-type viewers; Accessories therefor
    • G03B21/14—Details
    • G03B21/147—Optical correction of image distortions, e.g. keystone
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B21/00—Projectors or projection-type viewers; Accessories therefor
    • G03B21/14—Details
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N9/00—Details of colour television systems
    • H04N9/12—Picture reproducers
    • H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N9/00—Details of colour television systems
    • H04N9/12—Picture reproducers
    • H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
    • H04N9/3141—Constructional details thereof
    • H04N9/315—Modulator illumination systems

Abstract

The application discloses a projection correction method, a projection correction device and a projection system. Wherein the projection system comprises at least: a projection light machine supporting an optical shift axis and a rotating mechanism for adjusting the projection direction of the projection light machine. The method comprises the following steps: obtaining projection information of a projection optical machine; acquiring attitude information of a projection optical machine; determining first angle information required to be rotated by the rotating mechanism when the projection direction of the projection optical machine is adjusted to be opposite to the plane where the target projection area is located according to the projection information and the gesture information, and rotating the rotating mechanism according to the first angle information; and determining a first offset of the optical shift axis according to the first angle information, and performing optical shift on the projection optical machine according to the first offset. The method and the device solve the technical problem that image quality loss and gray edge effect exist when the projection picture is corrected in the related technology.

Description

Projection correction method, device and projection system
Technical Field
The present disclosure relates to the field of projection technologies, and in particular, to a projection correction method, apparatus, and projection system.
Background
In daily use, the image projected by the projection optical machine should be as far as possible over against the projection screen or the projection wall surface, so that the projection effect can be ensured only if the picture has no included angle in the vertical or horizontal direction. However, in practical use, many scenes are often difficult to make the light machine project a picture opposite to the projection surface, for example, in a scene used in a lifting or bedroom, the projection direction and the projection surface basically have an included angle in the vertical direction or the horizontal direction. In this case, the projected screen may exhibit a non-rectangular trapezoidal state, and if the trapezoidal screen needs to be adjusted to a standard rectangular shape, a trapezoidal correction function for projection needs to be used.
In the related art, the projected trapezoidal correction is usually performed manually or automatically, and the screen shape is adjusted by manually controlling the positions of several vertexes of the projected screen by manually calling out a calibration setting menu by a user; the automatic mode is to collect projection plane information through an image collecting module, and automatically corrects the picture into a rectangle through automatic compensation of the projection position. However, whether manual or automatic, it uses digital adjustment to adjust the image, that is, the position of the projected picture pixels is changed by a software algorithm, which has two drawbacks: 1) The adjusted picture resolution and picture quality may be lost due to scaling; 2) After adjustment, the normal display content can be reduced, but the inner structure of the optical machine cannot be completely shaded, so that a user can see that the periphery of the normal picture content has obvious gray edges, and the smaller the picture adjustment is, the larger the gray edges are.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the application provides a projection correction method, a projection correction device and a projection system, which are used for at least solving the technical problems of image quality loss and gray edge effect when a projection picture is corrected in the related technology.
According to an aspect of embodiments of the present application, there is provided a projection correction method applied to a projection system including at least: a projection light engine supporting an optical shift axis and a rotation mechanism for adjusting a projection direction of the projection light engine, the method comprising: obtaining projection information of the projection optical machine; acquiring the attitude information of the projection optical machine; determining first angle information required to be rotated by the rotating mechanism when the projection direction of the projection optical machine is adjusted to be opposite to a projection surface according to the projection information and the gesture information, and rotating the rotating mechanism according to the first angle information, wherein the projection surface is a plane where a target projection area is located; and determining a first offset of the optical shift axis according to the first angle information, and carrying out optical shift on the projection optical machine according to the first offset.
Optionally, the image acquisition module acquires projection information of the projection optical machine, where the projection information includes at least one of the following: projection picture information, feature map information, and depth information of the projection surface.
Optionally, the posture information of the projection optical machine is obtained through a posture sensor, and the posture information at least comprises posture angle information of the projection optical machine.
Optionally, determining three-dimensional point cloud information and picture coordinate information of the projection surface according to the projection information; performing plane fitting according to the three-dimensional point cloud information and the picture coordinate information to obtain a plane equation of the projection surface; determining a horizontal rotation angle of the projection light machine according to the plane equation, wherein the horizontal rotation angle is an angle at which the rotation mechanism rotates in the horizontal direction when the projection direction of the projection light machine is adjusted to be opposite to the projection surface; determining a vertical pitching angle of the projection light machine according to the plane equation or the attitude angle information, wherein the vertical pitching angle is an angle at which the rotating mechanism rotates in the vertical direction when the projection direction of the projection light machine is adjusted to be opposite to the projection surface; determining an inclination angle of the projection light machine according to the attitude angle information, wherein the inclination angle is an angle at which the rotating mechanism rotates when the projection light machine is adjusted to be parallel to a horizontal plane; and taking the horizontal rotation angle, the vertical pitching angle and the tilting angle as the first angle information.
Optionally, the rotation mechanism is driven to rotate by a first motor, and rotates the rotation mechanism according to the first angle information, including: determining a first correspondence between the number of rotational steps of the first motor and the rotation angle of the rotation mechanism; determining the direction in which the first motor needs to rotate and the rotation step number in the corresponding direction according to the first corresponding relation and the first angle information; and controlling the first motor to drive the rotating mechanism to rotate according to the rotating direction and the rotating step number.
Optionally, determining a second correspondence between the rotation angle of the rotation mechanism and the offset of the optical shift axis; and determining a first offset of an optical shift axis when the projection picture of the projection optical machine is adjusted to the target projection area according to the second corresponding relation and the first angle information, wherein the first offset comprises a first horizontal offset in the horizontal direction and a first vertical offset in the vertical direction.
Optionally, determining the first horizontal offset according to the second correspondence and the horizontal rotation angle; and determining the first vertical offset according to the second corresponding relation and the vertical pitching angle.
Optionally, acquiring texture information of the projection surface, and determining obstacle information in the target projection area according to the texture information; and determining a second offset of the optical axis shifting when the projection picture avoids the obstacle according to the obstacle information.
Optionally, when the projection screen is avoided from the obstacle according to the obstacle information, determining second angle information which needs to be rotated by the rotating mechanism, wherein the second angle information comprises a horizontal offset angle of the rotating mechanism rotating in the horizontal direction and a vertical offset angle of the rotating mechanism rotating in the vertical direction; determining a second horizontal offset according to the second corresponding relation and the horizontal offset angle; and determining a second vertical offset according to the second corresponding relation and the vertical offset angle.
Optionally, performing an optical horizontal axis on the projector according to the first horizontal offset and the second horizontal offset; and carrying out optical vertical axis shifting on the projection optical machine according to the first vertical offset and the second vertical offset.
Optionally, obtaining second projection information and second posture information of the projection optical machine; and determining third angle information required to be rotated by the rotating mechanism when the projection direction of the projection optical machine is adjusted to be opposite to the projection surface according to the second projection information and the second gesture information, and rotating the rotating mechanism according to the third angle information.
Optionally, the projection optical engine has a digital correction function, and after the optical axis of the projection optical engine is shifted according to the first offset, a correction instruction of the target object is received, and the projection picture is corrected according to the correction instruction, where the correction instruction is used to instruct the projection picture to be corrected again by the digital correction function.
According to another aspect of embodiments of the present application, there is provided another projection correction method applied to a projection system including at least: a projection light engine supporting an optical shift axis, the method comprising: obtaining projection information of the projection optical machine; acquiring position information of a target projection area; determining a first offset of an optical shift axis in the projection optical machine according to the projection information and the position information; and carrying out optical axis shifting on the projection optical machine according to the first offset so as to adjust the projection picture of the projection optical machine to the target projection area.
Optionally, acquiring obstacle information in the target projection area; determining a second offset of an optical shift axis in the projection optical machine according to the obstacle information; and carrying out optical axis shifting on the projection optical machine according to the second offset so as to avoid the obstacle on the projection picture.
According to another aspect of the embodiments of the present application, there is also provided a projection correction apparatus, including: the first acquisition module is used for acquiring projection information of the projection light machine and barrier information in a target projection area; the second acquisition module is used for acquiring the gesture information of the projection optical machine; the first determining module is used for determining first angle information required to be rotated by the rotating mechanism when the projection direction of the projection optical machine is adjusted to be opposite to a projection surface according to the projection information and the gesture information, wherein the projection surface is a plane where the target projection area is located; the rotating module is used for rotating the rotating mechanism according to the first angle information; the second determining module is used for determining a first offset of the optical shift axis according to the first angle information and determining a second offset of the optical shift axis according to the obstacle information; and the shift module is used for carrying out optical shift on the projection optical machine according to the first offset and the second offset.
According to another aspect of an embodiment of the present application, there is also provided a projection system including: a projection light machine supporting an optical axis shifting function for projecting a projection picture to a target projection area, wherein the optical axis shifting function is used for realizing adjustment of the position of the projection picture; the image acquisition module is used for acquiring projection information of the projection light machine and texture information of a projection surface, wherein the texture information is used for determining barrier information in the target projection area; the gesture information acquisition module is used for acquiring gesture information of the projection optical machine, and the gesture information at least comprises gesture angle information of the projection optical machine; the calculation processing module is used for determining first angle information which is required to be rotated by the rotation module when the projection direction of the projection optical machine is adjusted to be opposite to the projection surface according to the projection information and the gesture information; and the rotating module is used for adjusting the projection direction of the projection optical machine to be opposite to the projection surface according to the first angle information.
According to another aspect of the embodiments of the present application, there is further provided a nonvolatile storage medium, where the nonvolatile storage medium includes a stored program, and when the program runs, the device where the nonvolatile storage medium is controlled to execute the projection correction method described above.
In the embodiment of the application, the first angle information when the rotating mechanism rotates is determined by acquiring the projection information and the posture information of the projection optical machine, the rotating mechanism is rotated according to the first angle information, so that the projection direction of the projection optical machine is adjusted to be opposite to the projection surface, then the first offset of the optical shift axis is calculated according to the first angle information, and the optical shift axis is carried out on the projection optical machine, so that the projection picture is projected to the target projection area; meanwhile, obtaining barrier information in a target projection area, determining a second offset of an optical shift axis according to the barrier information, and carrying out optical shift on a projection optical machine so as to enable a projection picture to avoid barriers; because the embodiment of the application does not relate to scaling the projection picture, the technical problems of image quality loss and gray edge effect existing in the correction of the projection picture in the related technology can be effectively solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
FIG. 1a is a schematic view of an optical horizontal axis of a projection light machine according to an embodiment of the present application;
FIG. 1b is a schematic view of an optical vertical axis of movement of a projection light engine according to an embodiment of the present application;
FIG. 2a is a schematic diagram of a projected keystone correction resulting in a frame loss according to the related art;
FIG. 2b is a schematic diagram of gray edges generated by a projected trapezoidal correction according to the related art;
FIG. 3 is a schematic diagram of a projection system according to an embodiment of the present application;
FIG. 4 is a flow chart of a projection correction method according to an embodiment of the present application;
FIG. 5a is a schematic diagram of a horizontal rotation projection of a projection engine according to an embodiment of the present application;
FIG. 5b is a schematic diagram of a vertical rotation projection of a projection engine according to an embodiment of the present application;
FIG. 5c is a schematic view of an oblique projection of a projection engine according to an embodiment of the present application;
FIG. 6 is a schematic diagram illustrating a relationship between a rotation angle and a frame offset of a projector according to an embodiment of the present application;
fig. 7 is a schematic view of a projection screen avoiding an obstacle according to an embodiment of the present application;
FIG. 8 is a flow chart of a projection correction process according to an embodiment of the present application;
FIG. 9 is a flow chart of another projection correction method according to an embodiment of the present application;
Fig. 10 is a schematic structural view of a projection correction apparatus according to an embodiment of the present application.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
For a better understanding of the embodiments of the present application, some nouns or translations of terms that appear during the description of the embodiments of the present application are explained as follows:
optical shift axis: similar to the principle of camera shift, the projection optical machine also has an optical shift system, so that the projected optical picture can be shifted to a larger extent under the condition that the shape of the optical picture is almost unchanged by only slightly shifting the lens in the optical machine, and the shift change of the projected picture caused by the shift of the lens optical system is far larger than the shift change of the projected picture caused by the shift of the projection optical machine by the same size. In general, the optical shift axis of the projection light machine includes a horizontal shift axis and a vertical shift axis, fig. 1a is a schematic diagram of the optical horizontal shift axis, where 11 represents the projection light machine, 12 represents the projection plane, 13 represents the original projection screen of the projection light machine on the projection plane, 14 is the projection screen of the projection light machine on the projection plane after the horizontal shift axis, and the large displacement of the projection screen in the horizontal direction is realized by the light machine shift axis system; fig. 1b is a schematic view of an optical vertical axis, in which 11 represents a projection light machine, 12 represents a projection plane, 13 represents an original projection image of the projection light machine on the projection plane, and 15 represents a projection image of the projection light machine on the projection plane after the vertical axis is moved, which realizes a large displacement of the projection image in the vertical direction through the vertical axis of the light machine. Digital correction displacement of an image can be realized by electronic zoom scaling or control of pixel displacement, but the cost is that brightness, resolution and image quality are lost, gray edges are left when non-displayed parts are trapped, and therefore, the image quality is also compromised; the optical axis moving system can realize the physical displacement of the optical imaging picture under the condition of the fixed position of the projection optical machine by the precise movement of the complex optical lens group, thereby having no influence on the picture quality and the brightness, and being a lossless picture processing technology.
Example 1
In the related art, when performing trapezoidal correction on a projection screen, the screen shape is generally adjusted by manually controlling the positions of several vertices of the projection screen, or the projection screen information is collected by an image collecting module, and the projection screen is corrected into a rectangle by automatic compensation of the projection position, these modes are all to adjust the image by adopting a digital adjustment mode, that is, the position of the projected screen pixel is changed by a software algorithm, which has two disadvantages: 1) The adjusted resolution and quality of the picture will be lost due to scaling, taking fig. 2a as an example, where 21 is a standard projection picture and its horizontal pixels are 1920;22 is a projection picture when the keystone distortion occurs, and the bottom side scaling is corrected; 23 is a rectangular picture obtained after correction, and the transverse pixels are smaller than 1920, namely the picture quality is lost; 2) After adjustment, the normal display content will be smaller, but because the internal structure of the optical machine cannot be completely shielded, obvious gray edges exist around the projection picture, as shown in fig. 2b, wherein 24 is a trapezoid projection picture before correction, 26 is a rectangle projection picture after correction, and 25 is a generated gray edge.
To solve the above problems, embodiments of the present application provide a projection system, which at least includes: the projection optical machine supporting the optical shift shaft and the rotating mechanism for adjusting the projection direction of the projection optical machine are used for realizing optical lossless automatic trapezoidal correction of a projection picture and intelligent adaptive correction avoiding obstacles, so that the problems of image quality loss and gray edges under projection digital trapezoidal correction and digital adaptive correction are optimized.
FIG. 3 is a schematic diagram of an alternative projection system according to an embodiment of the present application, as shown in FIG. 3, including the following modules:
a projection light machine 30 supporting an optical axis shifting function for projecting a projection image to a target projection area, wherein the projection image can be displaced in a horizontal direction and a vertical direction by the optical axis shifting function to realize position adjustment of the projection image; in general, a projection optical engine is provided with an optical engine axis-moving motor control module, and the axis-moving direction and the offset are controlled by a program.
The image acquisition module 32 is configured to acquire projection information of the projection light machine and texture information of the projection surface, where the texture information is used to determine obstacle information in the target projection area; optionally, the image acquisition module includes a camera module or other depth information measurement module, such as tof (time of flight) module.
A posture information acquisition module 34, configured to acquire posture information of the projection light machine, where the posture information includes at least posture angle information of the projection light machine (typically, a posture angle caused by placing an object plane of the projection light machine or hoisting the projection light machine not horizontally); optionally, the gesture information acquisition module includes an IMU (Inertial Measurement Unit, i.e., inertial measurement unit) Sensor such as a gyroscope or G-Sensor (gravity Sensor), and the like.
The calculation processing module 36 includes units with calculation processing capability, such as an MCU/CPU/GPU, and is configured to determine, according to the projection information and the posture information, first angle information that the rotation module needs to rotate when the projection direction of the projection light machine is adjusted to be opposite to the projection surface;
the rotation module 38 is connected to the projection light machine 30, and is configured to adjust a projection direction of the projection light machine to be opposite to the projection surface according to the first angle information; the general mechanical rotation module comprises a mechanical structure with up-down, left-right and inclination six-direction adjusting capability and a driving motor module, and the projection optical machine can be driven by the program control motor to carry out six-direction mechanical rotation.
In the above-described operating environment, the embodiments of the present application provide a projection correction method, it should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions, and although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
Fig. 4 is a schematic flow chart of a projection correction method according to an embodiment of the present application, as shown in fig. 4, the method includes the following steps:
step S402, obtain the projection information of the projection optical machine.
In some optional embodiments of the present application, the image acquisition module acquires projection information of the projection light machine, where the projection information includes at least one of the following: projection picture information, feature map information and depth information of a projection plane, wherein the projection plane is a plane where a target projection area is located.
Specifically, the projection screen may be projected approximately in the target projection area, where the projection light machine projects the original projection screen, or the specific image information that the image sensor needs to recognize is projected (if the depth information sensor is used to collect data, the projection screen may not need to be projected), where the projection screen may be in a distorted trapezoid shape if the projection direction of the projection light machine is not opposite to the projection plane. Then, an RGB camera module or a module with depth information acquisition capability, such as a tof camera module, a multi-point tof module, a binocular camera or a structured light module, is used to acquire projected image information, feature map information, or projection plane depth information for three-dimensional reconstruction or calculation of projection attitude angles.
In some optional embodiments of the present application, texture information of the projection surface may also be acquired by the image acquisition module, and the obstacle information in the target projection area may be determined according to the texture information. For example, texture information of the projection surface is captured by a camera, whether an obstacle such as a switch socket or a wall painting exists in the target projection area is judged, and if the obstacle exists, position information of the obstacle is determined and used for subsequent calculation of a distance required to offset to avoid the obstacle.
Step S404, acquiring the posture information of the projection optical machine.
In some optional embodiments of the present application, the attitude information of the projection light machine may be obtained through an attitude sensor, such as a gyroscope or other gravity sensor, where the attitude information includes at least the attitude angle information of the projection light machine, for example, when the projection light machine is placed on an inclined desktop, the attitude angle of the projection light machine may be obtained through the attitude sensor, including the pitch angle and the inclination angle of the projection light machine in the vertical direction.
Step S406, determining first angle information required to rotate by the rotating mechanism when the projection direction of the projection optical machine is adjusted to be opposite to the projection surface according to the projection information and the gesture information, and rotating the rotating mechanism according to the first angle information, wherein the projection surface is a plane where the target projection area is located.
In some optional embodiments of the present application, the first angle information includes: the horizontal rotation angle, the vertical pitch angle, and the tilt angle, specifically, the first angle information may be determined by:
in step S4061, three-dimensional point cloud information and frame coordinate information of the projection plane are determined according to the obtained projection information such as the projection frame information or the projection plane depth information, and the frame coordinate information may be spatial coordinates of four vertices of the projection frame, which is used to calculate a plane equation of the projection plane.
Step S4062, performing plane fitting according to the obtained three-dimensional point cloud information and the picture coordinate information to obtain a plane equation Fn of the projection surface, and calculating a normal vector n of the projection surface.
In step S4063, according to the plane equation Fn and the normal vector n, the horizontal rotation angle ang_h of the projector is determined, wherein the horizontal rotation angle ang_h is the angle at which the rotation mechanism rotates in the horizontal direction when the projection direction of the projector is adjusted to be opposite to the projection plane, and the schematic diagram is shown in fig. 5a, in which 51 represents the projector, 52 represents the projection plane, 53 represents a trapezoid projection picture of the projector on the projection plane, and 54 represents a forward projection rectangular projection picture obtained by rotating the projector in the horizontal direction by the angle ang_h.
Step S4064, determining a vertical pitching angle Ang_V of the projection optical machine according to a plane equation Fn and a normal vector n, wherein the vertical pitching angle Ang_V is an angle of the rotation mechanism rotating in the vertical direction when the projection direction of the projection optical machine is adjusted to be opposite to the projection plane, and the schematic diagram is shown in FIG. 5b, wherein 51 represents the projection optical machine, 52 represents the projection plane, 55 represents a trapezoid projection picture of the projection optical machine on the projection plane, and 56 represents a forward projection rectangular projection picture obtained by rotating the projection optical machine in the vertical direction by the angle Ang_V; alternatively, the vertical pitch angle ang_v may be determined according to the obtained attitude angle information of the projection optical machine.
In step S4065, the tilt angle ang_z of the projection light machine is determined according to the posture angle information, and the tilt angle ang_z is the angle rotated by the rotation mechanism when the projection light machine is adjusted to be parallel to the horizontal plane, and the schematic diagram is shown in fig. 5c, wherein 51 represents the projection light machine, 52 represents the projection plane, 57 represents the tilted projection screen of the projection light machine on the projection plane, and 58 represents the forward projection rectangular projection screen obtained by rotating the projection light machine by the angle ang_z to be parallel to the horizontal plane.
After the first angle information is determined, the rotation mechanism may be rotated in accordance with the first angle information. Typically, the rotation mechanism is driven to rotate by a first motor, which may be a dc motor or a stepper motor. In some alternative embodiments of the present application, a first correspondence between the number of rotational steps of the first motor and the rotation angle of the rotation mechanism may be determined first; then determining the direction in which the first motor needs to rotate and the number of rotation steps in the corresponding direction according to the first corresponding relation and the first angle information; and then the first motor drives the rotating mechanism to rotate according to the rotating direction and the rotating step number.
Specifically, a first correspondence between the number of rotation steps of the first motor and the rotation angle of the rotation mechanism needs to be established by acquiring data in advance, and an alternative embodiment is as follows: assuming that the relationship between the rotation step number Hx of the first motor in the horizontal direction and the actual rotation angle Hy of the rotating mechanism in the horizontal direction is linear, there is hy=a×hx+b, where a and b are calculated by collecting the actual rotation effects of the motor and the rotating mechanism; of course, the relation between the actual rotation angle and the number of rotation steps may be a nonlinear relation, and at this time, hy=f (Hx) may be fitted by acquiring a measured data set in advance. Similarly, the relation between the number of rotation steps Vx of the first motor in the vertical direction and the actual rotation angle Vy of the rotating mechanism in the vertical direction can be obtained by fitting data, wherein vy=c×vx+d or vy=f (Vx); the relation between the number of rotation steps Zx of the first motor in the tilting direction and the actual rotation angle Zy of the rotation mechanism in the tilting direction is fit as zy=e×zx+f or zy=f (Zx).
When the rotating mechanism is rotated according to the first angle information, the rotation steps of the first motor in the horizontal, vertical and inclined directions can be calculated through the determined first corresponding relation, and the first motor is controlled by a program to drive the rotating mechanism to rotate, so that the projection direction of the projection light machine is opposite to the projection surface.
It should be noted that, after the projection direction of the projection light machine is opposite to the projection plane through the above process, the projection screen can be adjusted to be rectangular, but the projection screen at this time is already deviated from the original target projection area, and the position of the projection screen needs to be further adjusted through the optical shift axis.
In step S408, a first offset of the optical shift axis is determined according to the first angle information, and the optical shift axis is performed on the projection optical machine according to the first offset.
In order to adjust the projection screen to the target projection area, a first offset of the optical shift axis needs to be determined. In some optional embodiments of the present application, a second correspondence between the rotation angle of the projection light engine (i.e., the rotation angle of the rotation mechanism) and the offset of the optical shift axis may be determined first; and determining a first offset of the optical shift axis when the projection picture of the projection optical machine is adjusted to the target projection area according to the second corresponding relation and the first angle information. Since the first offset includes a first horizontal offset in a horizontal direction and a first vertical offset in a vertical direction, the first horizontal offset can be determined according to the second correspondence and the horizontal rotation angle; and determining the first vertical offset according to the second corresponding relation and the vertical pitching angle.
Specifically, as shown in fig. 6, where 61 represents a projection light machine, 62 represents a projection plane, 63 represents a trapezoid projection picture of the projection light machine in a target projection area of the projection plane, 64 represents a front projection rectangle projection picture of the projection light machine on the projection plane after being adjusted by a rotation mechanism, and a distance L between the two is a final picture offset of a horizontal shift axis, and because an angle ang_h of the horizontal rotation of the projection light machine and a final picture offset L of the horizontal shift axis have a relationship similar to a right triangle, the final picture offset L of the horizontal shift axis is in a linear relationship in proportion to the rotation angle ang_h, on this basis, a data table between ang_h and a horizontal shift axis motor offset len_h of the light machine can be established, and the data table can be obtained by collecting corresponding optical shift axis motor offset steps obtained by different angles, that is len_h=a×ang_h+b, where a and b need to be combined with the design of the projection light machine and the actual optical shift axis motor motion effect calculation fit; alternatively, considering that there may be errors in the actual image offset of the optical shift axis within the motor motion interval rather than absolute linearity, enough data may be collected to fit through the actual nonlinear relationship, i.e., len_h=f (ang_h). Similarly, the corresponding relation between the offset Len_V of the vertical axis motor of the light engine and the vertical rotation angle Ang_V of the projection light engine can be obtained: len_v=c ang_v+d or len_v=f (ang_v).
Considering that obstacles such as a switch socket, a wall painting and the like may exist in the target projection area, the obstacles need to be avoided when projection is performed, in some alternative embodiments of the present application, texture information of a projection surface may be acquired, and the obstacle information in the target projection area is determined according to the texture information; and when the projection picture is determined to avoid the obstacle according to the obstacle information, performing a second offset of the optical shift axis. Specifically, when the projection screen is determined to avoid the obstacle according to the acquired obstacle information, the rotation mechanism needs to rotate second angle information, wherein the second angle information comprises a horizontal offset angle of the rotation mechanism rotating in the horizontal direction and a vertical offset angle of the rotation mechanism rotating in the vertical direction; and then, determining a second horizontal offset according to the second corresponding relation and the horizontal offset angle, determining a second vertical offset according to the second corresponding relation and the vertical offset angle, and taking the determined second horizontal offset and second vertical offset as second offsets.
For example, whether an obstacle exists in the target projection area is determined by the acquired texture information of the projection surface, if so, the direction and the coordinate value of the displacement of the projection screen in the up-down or left-right direction are calculated, and since the depth information of the projection light machine and the projection surface, namely the vertical distance, is acquired in the above process, the angle ang_h ' or ang_v ' of the projection position screen in which fine adjustment of the up-down, left-right direction is required is calculated according to the triangle principle according to the difference between the target coordinate value and the original screen coordinate value, as shown in fig. 7, wherein 71 represents the projection light machine, 72 represents the projection surface, 73 represents the obstacle, 74 represents the corrected rectangular projection screen, 75 represents the projection screen after the horizontal displacement axis is horizontally shifted by the first horizontal displacement, part of the projection screen is covered on the obstacle, and 76 represents the projection screen obtained after fine adjustment of the projection light machine by the angle ang_h ' is avoided; according to the determined second corresponding relation len_h=a, ang_h+b or len_h=f (ang_h), the horizontal offset d_h=a, ang_h '+b or d_h=f (ang_h') of the horizontal axis of the optical machine for avoiding the obstacle can be calculated; similarly, a vertical offset d_v=c, ang_v '+d, or d_v=f (ang_v') can be obtained by which the vertical axis of movement of the optical machine needs to move to avoid the obstacle.
Finally, carrying out optical horizontal axis shifting on the projection optical machine according to the first horizontal offset Len_H and the second horizontal offset D_H; and performing optical vertical movement on the projection optical machine according to the first vertical offset Len_H and the second vertical offset D_V, so that the projection picture is projected to the target projection area and avoids the obstacle.
In practical implementation, due to errors in rotation or axis movement of the motor, the shape of the obtained projection image may have some small shape distortion, and at this time, the projection information acquisition and plane equation calculation steps may be repeated to calculate rotation angles ang_h_1, ang_v_1, ang_z_1 that need to satisfy fine adjustment for the projection image to be rectangular. In some optional embodiments of the present application, second projection information and second pose information of the projection optical machine are obtained; and determining third angle information which needs to be rotated by the rotating mechanism when the projection direction of the projection optical machine is adjusted to be opposite to the projection surface according to the second projection information and the second posture information, and rotating the rotating mechanism according to the third angle information. Thus, the physical correction of the projection picture is completed, the projection picture in the target projection area is rectangular finally, no image quality loss and gray edges caused by digital correction are generated, and meanwhile, the obstacle is avoided.
In general, a projection optical engine has a digital correction function, which changes the position of a projected picture pixel through a software algorithm, and has two modes of manual operation and automatic operation, wherein a user manually calls out a correction setting menu, and the picture shape is adjusted through manually controlling the positions of a plurality of vertexes of a projection picture; the automatic mode is to collect projection plane information through an image collecting module, and automatically corrects the picture into a rectangle through automatic compensation of the projection position.
In some optional embodiments of the present application, after the optical axis shifting of the projection optical engine according to the first offset, a correction instruction of the target object may be received, and the projection image is corrected according to the correction instruction, where the correction instruction is used to instruct that the projection image is corrected again by the digital correction function.
It can be understood that the projection light machine can correct the projection picture according to the projection correction method, and can correct the projection picture through a digital correction function. For example, when the rotation mechanism fails and automatic correction of the projection picture cannot be achieved, or when the user is still not satisfied with the corrected projection picture, the projection picture can be corrected again by the digital correction function according to the user instruction by receiving the user instruction.
In an alternative embodiment of the present application, the complete flow of correction of the projection image is shown in fig. 8:
1) Collecting depth information of a projection picture/a projection surface through an image collecting module;
2) Calculating three-dimensional point cloud information and picture coordinate information of a projection surface according to the acquired image or depth information;
3) Performing plane fitting according to the three-dimensional point cloud information and the picture coordinate information to obtain a plane equation of the projection surface;
4) Calculating the horizontal rotation angle Ang_H of the projection optical machine according to a plane equation;
5) Determining a vertical pitching angle Ang_V of the projection optical machine according to a plane equation or an IMU attitude sensor;
6) Determining an inclination angle Ang_Z of the projection optical machine according to the IMU attitude sensor;
7) Determining the direction and the rotation step number of the motor to be rotated according to the first corresponding relation between the rotation step number and the rotation angle of the motor and the determined Ang_ H, ang _ V, ang _Z;
8) Controlling the motor to drive the rotating mechanism to rotate according to the determined rotating direction and the rotating step;
9) Calculating a first horizontal offset Len_H of the optical horizontal axis according to the horizontal rotation angle Ang_H;
10 Controlling the optical machine to perform horizontal axis according to len_h, so that the projection picture is projected on the target projection area;
11 Acquiring texture information of a projection surface through a camera, identifying an obstacle and calculating a second horizontal offset D_H or a second vertical offset D_V required to be moved by a moving shaft of the optical machine when a projection picture avoids the obstacle;
12 Controlling the optical engine to perform horizontal or vertical axis movement fine adjustment according to D_H or D_V, so that the projection picture is projected to the target projection area and avoids the obstacle;
13 Repeating the processes of projection information acquisition and plane equation calculation, and calculating rotation angles Ang_H_1, ang_V_1 and Ang_Z_1 which are required to meet the requirement that a projection picture is rectangular and are finely adjusted;
14 Determining the direction and the rotation step number of the motor to be rotated according to the first corresponding relation and the Ang_H_1, the Ang_V_1 and the Ang_Z_1;
15 A motor is controlled to drive the rotating mechanism to rotate according to the determined rotating direction and the rotating step;
16 The projection picture is rectangular, no image quality loss and gray edges caused by digital correction are generated, and meanwhile, the obstacle is avoided.
In the embodiment of the application, the first angle information when the rotating mechanism rotates is determined by acquiring the projection information and the posture information of the projection optical machine, the rotating mechanism is rotated according to the first angle information, so that the projection direction of the projection optical machine is adjusted to be opposite to the projection surface, then the first offset of the optical shift axis is calculated according to the first angle information, and the optical shift axis is carried out on the projection optical machine, so that the projection picture is projected to the target projection area; meanwhile, obtaining barrier information in a target projection area, determining a second offset of an optical shift axis according to the barrier information, and carrying out optical shift on a projection optical machine so as to enable a projection picture to avoid barriers; because the embodiment of the application does not relate to scaling the projection picture, the technical problems of image quality loss and gray edge effect existing in the correction of the projection picture in the related technology can be effectively solved.
Example 2
According to an embodiment of the present application, there is also provided another projection correction method that may also be run in the projection system of embodiment 1, it being noted that the steps shown in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be performed in an order other than that shown.
Fig. 9 is a schematic flow chart of a projection correction method according to an embodiment of the application, as shown in fig. 9, the method includes the following steps:
in step S902, projection information of the projection light machine is obtained.
In some optional embodiments of the present application, the image acquisition module acquires projection information of the projection light machine, where the projection information includes at least one of the following: projection picture information, feature map information and depth information of a projection plane, wherein the projection plane is a plane where a target projection area is located.
In step S904, position information of the target projection area is acquired.
Step S906, determining a first offset of the optical shift axis in the projection light machine according to the projection information and the position information.
In step S908, the optical axis of the projection light machine is shifted according to the first offset, so as to adjust the projection image of the projection light machine to the target projection area.
In some optional embodiments of the present application, obstacle information in the target projection region may also be acquired; determining a second offset of the optical shift axis in the projection optical machine according to the obstacle information; and carrying out optical axis shifting on the projection optical machine according to the second offset so as to avoid the obstacle on the projection picture.
It should be noted that, the partial flow of the projection correction method in the embodiment of the present application is the same as that of the projection correction method in embodiment 1, and since the detailed description has been given in embodiment 1, reference may be made to embodiment 1 for details that are not shown in part in the present embodiment.
In the embodiment of the application, the first offset of the optical shift axis is determined by acquiring the projection information of the projection optical machine and the position information of the target projection area, and the optical shift axis is carried out on the projection optical machine, so that a projection picture can be projected to the target projection area; meanwhile, the obstacle information in the target projection area is acquired, the second offset of the optical shift axis is determined according to the obstacle information, and the optical shift axis is carried out on the projection optical machine, so that the projection picture can avoid the obstacle.
Example 3
According to an embodiment of the present application, there is further provided a projection correction apparatus for implementing the above projection correction method, as shown in fig. 10, where the apparatus includes a first acquisition module 100, a second acquisition module 102, a first determination module 104, a rotation module 106, a second determination module 108, and a shift axis module 110, where:
The first acquisition module 100 is configured to acquire projection information of the projection light machine and obstacle information in a target projection area.
In some optional embodiments of the present application, the image acquisition module acquires projection information of the projection light machine, where the projection information includes at least one of the following: projection picture information, feature map information and depth information of a projection plane, wherein the projection plane is a plane where a target projection area is located; texture information of the projection surface is acquired through the image acquisition module, and barrier information in the target projection area is determined according to the texture information.
The second obtaining module 102 is configured to obtain pose information of the projection light machine.
In some alternative embodiments of the present application, the attitude information of the projection light engine may be obtained by an attitude sensor, such as a gyroscope or other gravity sensor, where the attitude information includes at least an inclination angle between the projection light engine and a horizontal plane.
The first determining module 104 is configured to determine, according to the projection information and the gesture information, first angle information that the rotation mechanism needs to rotate when the projection direction of the projection light machine is adjusted to be opposite to the projection plane, where the projection plane is a plane where the target projection area is located.
In some optional embodiments of the present application, three-dimensional point cloud information and picture coordinate information of a projection plane are determined according to the obtained projection information such as projection picture information or projection plane depth information; performing plane fitting according to the obtained three-dimensional point cloud information and the picture coordinate information to obtain a plane equation of a projection plane; determining a horizontal rotation angle of the rotation mechanism in the horizontal direction when the projection direction of the projection optical machine is adjusted to be opposite to the projection surface according to a plane equation; determining a vertical pitching angle of the rotating mechanism in the vertical direction when the projection direction of the projection optical machine is adjusted to be opposite to the projection surface according to a plane equation or the posture information of the projection optical machine; determining the inclination angle of the projection optical machine according to the posture information; the horizontal rotation angle, the vertical pitch angle, and the inclination angle are taken as first angle information.
The rotation module 106 is configured to rotate the rotation mechanism according to the first angle information.
In some alternative embodiments of the present application, since the rotation mechanism is driven to rotate by the first motor, a first correspondence relationship between the number of rotation steps of the first motor and the rotation angle of the rotation mechanism may be determined first; then determining the direction in which the first motor needs to rotate and the number of rotation steps in the corresponding direction according to the first corresponding relation and the first angle information; and then the first motor drives the rotating mechanism to rotate according to the rotating direction and the rotating step number.
The second determining module 108 is configured to determine a first offset of the optical shift axis according to the first angle information, and determine a second offset of the optical shift axis according to the obstacle information.
In some optional embodiments of the present application, a second correspondence between the rotation angle of the projection light engine and the offset of the optical shift axis may be determined first; and determining a first horizontal offset of the optical horizontal axis and a first vertical offset of the optical vertical axis when the projection picture of the projection optical machine is adjusted to the target projection area according to the second corresponding relation and the first angle information. Considering that an obstacle may exist in the target projection area, second angle information that the rotation mechanism needs to rotate when the projection screen is avoided from the obstacle may be determined according to the acquired obstacle information, the second angle information including a horizontal offset angle by which the rotation mechanism rotates in a horizontal direction and a vertical offset angle by which the rotation mechanism rotates in a vertical direction; and then, determining a second horizontal offset according to the second corresponding relation and the horizontal offset angle, determining a second vertical offset according to the second corresponding relation and the vertical offset angle, and taking the determined second horizontal offset and second vertical offset as second offsets.
The shift module 110 is configured to optically shift the projection light machine according to the first offset and the second offset.
In some optional embodiments of the present application, the optical horizontal axis of the projection light engine is performed according to the first horizontal offset and the second horizontal offset; and performing optical vertical movement on the projector according to the first vertical offset and the second vertical offset, so that the projection picture is projected on the target projection area and avoids the obstacle.
It should be noted that, each module in the projection correction apparatus in the embodiment of the present application corresponds to an implementation step of the projection correction method in embodiment 1 one by one, and since the embodiment 1 has been described in detail, some details not shown in the embodiment may refer to embodiment 1, and will not be described in detail here.
Example 3
According to an embodiment of the present application, there is further provided a nonvolatile storage medium including a stored program, where the apparatus in which the nonvolatile storage medium is controlled to execute the above-described projection correction method when the program runs.
Optionally, the program controls the device in which the nonvolatile storage medium is located to execute the following steps when running: acquiring projection information of a projection light machine and barrier information in a target projection area; acquiring attitude information of a projection optical machine; determining first angle information required to be rotated by the rotating mechanism when the projection direction of the projection optical machine is adjusted to be opposite to the projection surface according to the projection information and the gesture information, and rotating the rotating mechanism according to the first angle information, wherein the projection surface is a plane where a target projection area is located; and determining a first offset of the optical shift axis according to the first angle information, determining a second offset of the optical shift axis according to the obstacle information, and performing optical shift on the projection optical machine according to the first offset and the second offset.
Optionally, the program controls the device in which the nonvolatile storage medium is located to execute the following steps when running: obtaining projection information of a projection optical machine; acquiring position information of a target projection area; determining a first offset of an optical shift axis corresponding to the projection picture when the projection picture is adjusted to a target projection area according to the projection information and the position information; and carrying out optical axis shifting on the projection optical machine according to the first offset.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of units may be a logic function division, and there may be another division manner in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution, in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application and are intended to be comprehended within the scope of the present application.

Claims (15)

1. A projection correction method, the method being applied to a projection system, the projection system comprising at least: a projection light engine supporting an optical shift axis and a rotation mechanism for adjusting a projection direction of the projection light engine, the method comprising:
obtaining projection information of the projection optical machine;
acquiring the attitude information of the projection optical machine;
determining first angle information required to be rotated by the rotating mechanism when the projection direction of the projection optical machine is adjusted to be opposite to a projection surface according to the projection information and the gesture information, and rotating the rotating mechanism according to the first angle information, wherein the projection surface is a plane where a target projection area is located;
determining a first offset of an optical shift axis when a projection picture of the projection optical engine is adjusted to the target projection area according to the first angle information;
Acquiring texture information of the projection surface, determining barrier information in the target projection area according to the texture information, and determining a second offset for performing optical axis shifting when the projection picture avoids a barrier according to the barrier information;
and carrying out optical axis shifting on the projection optical machine according to the first offset and the second offset.
2. The method of claim 1, wherein obtaining projection information of the projection engine comprises:
the method comprises the steps of obtaining projection information of the projection light machine through an image acquisition module, wherein the projection information comprises at least one of the following steps: projection picture information, feature map information, and depth information of the projection surface.
3. The method of claim 2, wherein obtaining pose information of the projection light engine comprises:
and acquiring the posture information of the projection optical machine through a posture sensor, wherein the posture information at least comprises the posture angle information of the projection optical machine.
4. The method of claim 3, wherein determining, based on the projection information and the posture information, first angle information that the rotation mechanism needs to rotate when adjusting the projection direction of the projection light machine to be opposite to the projection surface includes:
Determining three-dimensional point cloud information and picture coordinate information of the projection surface according to the projection information;
performing plane fitting according to the three-dimensional point cloud information and the picture coordinate information to obtain a plane equation of the projection surface;
determining a horizontal rotation angle of the projection light machine according to the plane equation, wherein the horizontal rotation angle is an angle at which the rotation mechanism rotates in the horizontal direction when the projection direction of the projection light machine is adjusted to be opposite to the projection surface;
determining a vertical pitching angle of the projection light machine according to the plane equation or the attitude angle information, wherein the vertical pitching angle is an angle at which the rotating mechanism rotates in the vertical direction when the projection direction of the projection light machine is adjusted to be opposite to the projection surface;
determining an inclination angle of the projection light machine according to the attitude angle information, wherein the inclination angle is an angle at which the rotating mechanism rotates when the projection light machine is adjusted to be parallel to a horizontal plane;
and taking the horizontal rotation angle, the vertical pitching angle and the tilting angle as the first angle information.
5. The method of claim 1, wherein the rotation mechanism is rotated by a first motor, the rotation mechanism being rotated in accordance with the first angle information, comprising:
Determining a first correspondence between the number of rotational steps of the first motor and the rotation angle of the rotation mechanism;
determining the direction in which the first motor needs to rotate and the rotation step number in the corresponding direction according to the first corresponding relation and the first angle information;
and controlling the first motor to drive the rotating mechanism to rotate according to the rotating direction and the rotating step number.
6. The method of claim 4, wherein determining a first offset of an optical shift axis based on the first angle information comprises:
determining a second correspondence between the rotation angle of the rotation mechanism and the offset of the optical shift axis;
and determining a first offset of an optical shift axis when the projection picture of the projection optical machine is adjusted to the target projection area according to the second corresponding relation and the first angle information, wherein the first offset comprises a first horizontal offset in the horizontal direction and a first vertical offset in the vertical direction.
7. The method of claim 6, wherein determining a first offset for optically shifting the projection screen of the projection engine to the target projection area according to the second correspondence and the first angle information comprises:
Determining the first horizontal offset according to the second corresponding relation and the horizontal rotation angle;
and determining the first vertical offset according to the second corresponding relation and the vertical pitching angle.
8. The method of claim 7, wherein determining a second offset amount for optically shifting the projection screen to avoid an obstacle based on the obstacle information comprises:
determining second angle information which needs to be rotated by the rotating mechanism when the projection picture avoids the obstacle according to the obstacle information, wherein the second angle information comprises a horizontal offset angle rotated by the rotating mechanism in the horizontal direction and a vertical offset angle rotated in the vertical direction;
determining a second horizontal offset according to the second corresponding relation and the horizontal offset angle;
and determining a second vertical offset according to the second corresponding relation and the vertical offset angle.
9. The method of claim 8, wherein optically shifting the projection optics in accordance with the first offset and the second offset comprises:
performing optical horizontal axis shifting on the projection optical machine according to the first horizontal offset and the second horizontal offset;
And carrying out optical vertical axis shifting on the projection optical machine according to the first vertical offset and the second vertical offset.
10. The method of claim 1, further comprising, after optically shifting the projection light engine by the first offset amount:
acquiring second projection information and second posture information of the projection optical machine;
and determining third angle information required to be rotated by the rotating mechanism when the projection direction of the projection optical machine is adjusted to be opposite to the projection surface according to the second projection information and the second gesture information, and rotating the rotating mechanism according to the third angle information.
11. The method of claim 1, wherein the projection optics have a digital correction function, and wherein after optically shifting the projection optics by the first offset, the method further comprises:
and receiving a correction instruction of the target object, and correcting the projection picture according to the correction instruction, wherein the correction instruction is used for indicating the projection picture to be corrected again through the digital correction function.
12. A projection correction method, the method being applied to a projection system, the projection system comprising at least: a projection light engine supporting an optical shift axis, the method comprising:
Obtaining projection information of the projection optical machine;
acquiring position information of a target projection area, and acquiring barrier information in the target projection area; determining a first offset of an optical shift axis in the projection optical engine according to the projection information and the position information, and determining a second offset of the optical shift axis in the projection optical engine according to the obstacle information; and carrying out optical axis shifting on the projection optical machine according to the first offset and the second offset so as to adjust a projection picture of the projection optical machine to the target projection area and avoid an obstacle.
13. A projection correction apparatus, comprising:
the first acquisition module is used for acquiring projection information of the projection optical machine and acquiring texture information of a projection surface;
the second acquisition module is used for acquiring the gesture information of the projection optical machine;
the first determining module is used for determining first angle information required to be rotated by the rotating mechanism when the projection direction of the projection optical machine is adjusted to be opposite to the projection surface according to the projection information and the gesture information, wherein the projection surface is a plane where a target projection area is located;
the rotating module is used for rotating the rotating mechanism according to the first angle information;
The second determining module is used for determining a first offset of an optical axis shifting when a projection picture of the projection optical engine is adjusted to the target projection area according to the first angle information, determining barrier information in the target projection area according to the texture information, and determining a second offset of the optical axis shifting when the projection picture is avoided from barriers according to the barrier information;
and the shift module is used for carrying out optical shift on the projection optical machine according to the first offset and the second offset.
14. A projection system, comprising: a projection light machine supporting an optical axis shifting function for projecting a projection picture to a target projection area, wherein the optical axis shifting function is used for realizing adjustment of the position of the projection picture;
the image acquisition module is used for acquiring projection information of the projection optical machine;
the gesture information acquisition module is used for acquiring gesture information of the projection optical machine, and the gesture information at least comprises gesture angle information of the projection optical machine;
the calculation processing module is used for determining first angle information required to be rotated by the rotation module when the projection direction of the projection light machine is adjusted to be opposite to a projection surface according to the projection information and the gesture information, determining barrier information in the target projection area according to texture information of the projection surface, and determining second offset of an optical axis shifting of the projection light machine when the projection picture avoids barriers according to the barrier information;
And the rotating module is used for adjusting the projection direction of the projection optical machine to be opposite to the projection surface according to the first angle information.
15. A non-volatile storage medium, characterized in that the non-volatile storage medium comprises a stored program, wherein the program, when run, controls a device in which the non-volatile storage medium is located to perform the projection correction method of any one of claims 1 to 12.
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CN110677634A (en) * 2019-11-27 2020-01-10 成都极米科技股份有限公司 Trapezoidal correction method, device and system for projector and readable storage medium
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