CN115243021A - Projection equipment and obstacle avoidance projection method - Google Patents

Abstract

Some embodiments of the application provide a projection device and an obstacle avoidance projection method, and the method includes responding to an obstacle avoidance correction mode instruction to obtain laser parameters; adjusting the output power of the laser according to the laser parameters to change the duty ratio of at least one color in the projected content image; acquiring the adjusted projection content image through a camera; if the target color proportion in the projection content image is larger than the proportion threshold value, adjusting the output power of the laser corresponding to at least one color again until the target color proportion in the projection content image is smaller than or equal to the proportion threshold value; and determining a non-obstacle area according to the projection content image and controlling the optical machine to project the playing content to the projection area according to the non-obstacle area. The projection content image actually shot by the projection equipment has undistorted and clearer effect, so that the position, size and the like of the obstacle are more accurately extracted after the projection content image is processed by gray scale and the like, and the problem of low obstacle recognition rate in the existing obstacle avoidance processing is solved.

Description

Projection equipment and obstacle avoidance projection method

Technical Field

Some embodiments of the present application relate to the technical field of display devices, and in particular, to a projection device and an obstacle avoidance projection method.

Background

A projection device is a display device that can project an image or video onto a screen. The projection device can project laser light of a specific color to a screen to form a specific image through the refraction effect of the optical lens assembly. In the projection process, a certain distance needs to be kept between the projection device and the screen, so that an image formed on the screen can conform to the focal length range of the optical lens assembly, and a clear image can be obtained.

In order to improve the projection effect of the projection equipment, an automatic obstacle avoidance algorithm can be used for detecting obstacles, so that the curtain can be identified, the projection picture is corrected into the curtain to be displayed by utilizing projection change, and the effect of aligning with the edge of the curtain is realized. However, due to the characteristics of the laser light source, a laser projection picture shot by the camera is reddish, and an algorithm for avoiding an obstacle during geometric correction is further influenced. For example, when the long-focus laser performs the obstacle avoidance process, a pure white card is projected first, and a camera inside the projection device captures the pure white card, that is, captures a laser projection picture and obtains a captured projection content image. And after the projection content image is subjected to gray scale processing and the like, extracting information such as the position, the size and the like of an obstacle in the projection content image, calculating the size and the position deviation of an output picture according to the obtained information such as the position, the size and the like of the obstacle, and adjusting the size and the position of the output picture.

The problem that obstacle avoidance processing is carried out by the long-focus laser is that due to the discontinuous characteristics of the light sensitivity and the laser projection spectrum of the camera, the camera usually cannot be used for carrying out independent image quality adjustment and calibration specially aiming at the laser, so that the camera is more sensitive to red light, and the red light wavelength causes the picture shot by the camera to be red. In addition, the characteristics of projection cause the aperture brightness of the central part of the actually projected picture to be higher, the brightness around the picture to be relatively lower, and even if the projection content image is shot in a shooting scene under a pure white field picture scene, the shot projection content image is not uniform. On the basis, the gray level image is converted to be more uneven, for example, shadows with different colors may exist on a background wall, so that the judgment on the size and the position of the actual barrier is not facilitated, and the identification rate of the barrier is further reduced.

Disclosure of Invention

Some embodiments of the present application provide a projection device and an obstacle avoidance projection method, so as to solve the problem that the obstacle recognition rate is low when the current obstacle avoidance processing is performed.

In a first aspect, some embodiments of the present application provide a projection apparatus, including:

the optical machine is configured to project the playing content to a projection area in the projection surface; the optical machine comprises a plurality of lasers, and the lasers are used for projecting light with specified colors;

a camera configured to capture a projected content image in a projection plane;

a controller configured to:

responding to an obstacle avoidance and correction mode instruction, and acquiring laser parameters;

adjusting the output power of the laser according to the laser parameters to change the duty ratio of at least one color in the projected content image;

acquiring the adjusted projection content image through a camera;

if the proportion of the target color in the projection content image is larger than the proportion threshold value, the output power of the laser corresponding to at least one color is adjusted again until the proportion of the target color in the projection content image is smaller than or equal to the proportion threshold value;

and if the target color proportion in the projection content image is smaller than or equal to the proportion threshold value, determining a non-obstacle area according to the projection content image, and controlling the optical machine to project the playing content to the projection area according to the non-obstacle area.

In a second aspect, some embodiments of the present application provide an obstacle avoidance projection method, which is applied to the projection apparatus in the first aspect, where the projection apparatus includes an optical engine, a camera, and a controller; the optical machine comprises a plurality of lasers, and the lasers are used for projecting light with specified colors; the obstacle avoidance projection method comprises the following steps:

responding to an obstacle avoidance and correction mode instruction, and acquiring laser parameters;

adjusting the output power of the laser according to the laser parameters to change the duty ratio of at least one color in the projected content image;

acquiring the adjusted projection content image through a camera;

if the target color proportion in the projection content image is larger than the proportion threshold value, adjusting the output power of the laser corresponding to at least one color again until the target color proportion in the projection content image is smaller than or equal to the proportion threshold value;

and if the target color proportion in the projection content image is smaller than or equal to the proportion threshold value, determining a non-obstacle area according to the projection content image, and controlling the optical machine to project the playing content to the projection area according to the non-obstacle area.

According to the technical scheme, the projection equipment and the obstacle avoidance projection method are provided in some embodiments of the application, and the method comprises the steps of responding to an obstacle avoidance correction mode instruction, and obtaining laser parameters; adjusting the output power of the laser according to the laser parameters to change the duty ratio of at least one color in the projected content image; acquiring the adjusted projection content image through a camera; if the proportion of the target color in the projection content image is larger than the proportion threshold value, the output power of the laser corresponding to at least one color is adjusted again until the proportion of the target color in the projection content image is smaller than or equal to the proportion threshold value; and if the target color proportion in the projection content image is smaller than or equal to the proportion threshold value, determining a non-obstacle area according to the projection content image, and controlling the optical machine to project the playing content to the projection area according to the non-obstacle area. Through the projection equipment, the effect of the actually shot projection content image is undistorted and clearer, so that the position, the size and the like of the obstacle are more accurately extracted after the projection content image is subjected to gray scale processing and the like, and the problem of low obstacle recognition rate in the existing obstacle avoidance processing is solved.

Drawings

In order to more clearly illustrate some embodiments of the present application or technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic view illustrating a projection arrangement state of a projection apparatus according to an embodiment of the present disclosure;

FIG. 2 is a schematic optical path diagram of a projection apparatus according to an embodiment of the present disclosure;

fig. 3 is a schematic circuit architecture diagram of a projection apparatus according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of a projection apparatus provided in an embodiment of the present application;

fig. 5 is a schematic view of a lens structure of a projection apparatus according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a distance sensor and a camera of a projection apparatus provided in an embodiment of the present application;

FIG. 7 is a schematic diagram of a system framework for implementing display control of a projection device according to an embodiment of the present application;

fig. 8 is a schematic flowchart of a process of performing obstacle avoidance projection by using a projection apparatus according to an embodiment of the present application;

fig. 9 is a schematic flowchart illustrating a process of adjusting the output power of a laser by a projection apparatus according to an embodiment of the present application;

fig. 10 is a schematic diagram illustrating determination of color attributes of a projection content image according to an embodiment of the present application;

FIG. 11 is a schematic diagram of a process for readjusting the output power of the laser according to an embodiment of the present disclosure;

fig. 12 is a schematic flowchart illustrating a process of a projection device identifying parameters of a projection content image according to an embodiment of the present application;

fig. 13 is a schematic flowchart of determining a non-obstacle region according to color information, luminance information, and contrast information according to an embodiment of the present application;

fig. 14 is a schematic diagram illustrating an effect of pop-up prompt information of a projection device according to an embodiment of the present application.

Detailed Description

To make the purpose and embodiments of the present application clearer, the following will clearly and completely describe the exemplary embodiments of the present application with reference to the attached drawings in the exemplary embodiments of the present application, and it is obvious that the described exemplary embodiments are only a part of the embodiments of the present application, and not all of the embodiments.

It should be noted that the brief descriptions of the terms in the present application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of the present application. These terms should be understood in their ordinary and customary meaning unless otherwise indicated.

The terms "first," "second," "third," and the like in the description and claims of this application and in the above-described drawings are used for distinguishing between similar or analogous objects or entities and not necessarily for describing a particular sequential or chronological order, unless otherwise indicated. It is to be understood that the terms so used are interchangeable under appropriate circumstances.

The terms "comprises" and "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a product or apparatus that comprises a list of elements is not necessarily limited to all elements expressly listed, but may include other elements not expressly listed or inherent to such product or apparatus.

The term "module" refers to any known or later developed hardware, software, firmware, artificial intelligence, fuzzy logic, or combination of hardware and/or software code that is capable of performing the functionality associated with that element.

The embodiment of the application can be applied to various types of projection equipment. The projection apparatus and the automatic focusing method will be explained below by taking the projection apparatus as an example.

The projection device is a device capable of projecting images or videos onto a screen, and the projection device can be connected with a computer, a broadcast television network, the internet, a VCD (Video Compact Disc), a DVD (Digital Versatile Disc Recordable), a game machine, a DV (Digital Video Disc) and the like through different interfaces to play corresponding Video signals. Projection devices are widely used in homes, offices, schools, entertainment venues, and the like.

Fig. 1 shows a schematic view of a placement state of a projection apparatus according to an embodiment of the present application, and fig. 2 shows a schematic view of an optical path of the projection apparatus according to an embodiment of the present application.

In some embodiments, referring to fig. 1-2, the present application provides a projection device comprising a projection screen 1 and a projection device 2. The projection screen 1 is fixed on the first position, and the projection device 2 is placed on the second position, so that the projected picture is matched with the projection screen 1. The projection device comprises a laser light source 100, an optical engine 200, a lens 300 and a projection medium 400. The laser light source 100 provides illumination for the optical engine 200, and the optical engine 200 modulates light source beams, outputs the modulated light source beams to the lens 300 for imaging, and projects the modulated light source beams to the projection medium 400 to form a projection image.

In some embodiments, the laser source 100 of the projection apparatus 2 includes a laser assembly 110 and an optical lens assembly 120, and a light beam emitted from the laser assembly 110 can pass through the optical lens assembly 120 to provide illumination for the light engine 200.

In some embodiments, the light engine 200 of the projection apparatus 2 may be implemented to include a blue light engine, a green light engine, a red light engine, and may further include a heat dissipation system, a circuit control system, and the like. It should be noted that, in some embodiments, the light emitting component of the projection device 2 may also be implemented by an LED light source.

Fig. 3 is a schematic diagram illustrating a circuit architecture of a projection device according to an embodiment of the present application. In some embodiments, the projection device 2 may include a display control circuit 10, a laser light source 20, at least one laser driving assembly 30, and at least one brightness sensor 40, and the laser light source 20 may include at least one laser in one-to-one correspondence with the at least one laser driving assembly 30.

Based on the circuit architecture, the projection device 2 can implement adaptive adjustment. For example, by providing the luminance sensor 40 in the light outgoing path of the laser light source 20, the luminance sensor 40 can detect a first luminance value of the laser light source and send the first luminance value to the display control circuit 10.

The display control circuit 10 may obtain a second brightness value corresponding to the driving current of each laser, and determine that the laser has a COD fault when it is determined that a difference between the second brightness value of the laser and the first brightness value of the laser is greater than a difference threshold; the display control circuit can adjust the current control signal of the corresponding laser driving component of the laser until the difference value is less than or equal to the difference value threshold value, so as to eliminate the COD fault of the blue laser; this projection equipment 2 can in time eliminate the COD trouble of laser instrument, reduces the spoilage of laser instrument, improves projection equipment 2's image display effect.

Fig. 4 shows a schematic structural diagram of a projection device according to an embodiment of the present application.

In some embodiments, the laser light source 20 in the projection apparatus 2 may include a blue laser 201, a red laser 202, and a green laser 203, which are independently disposed, and the projection apparatus 2 may also be referred to as a three-color projection apparatus, and the blue laser 201, the red laser 202, and the green laser 203 are all module light weight (MCL) package lasers, which have a small volume and are favorable for compact arrangement of optical paths.

In some embodiments, the controller includes at least one of a Central Processing Unit (CPU), a video processor, an audio processor, a Graphic Processing Unit (GPU), a RAM Random Access Memory (RAM), a ROM (Read-Only Memory), a first interface to an nth interface for input/output, a communication Bus (Bus), and the like.

In some embodiments, the projection device 2 may directly enter the display interface of the signal source selected last time after being started, or the signal source selection interface, where the signal source may be a preset video-on-demand program, or may be at least one of an HDMI interface, a live tv interface, and the like, and after the user selects different signal sources, the projector may display contents obtained from different signal sources.

In some embodiments, the projection device 2 may be configured with a camera for cooperating with the projection device 2 to effect adjustment control of the projection process. For example, the camera configured for the projection device 2 may be embodied as a 3D camera, or a binocular camera; when the camera is implemented as a binocular camera, the camera specifically comprises a left camera and a right camera; the binocular camera may acquire a curtain corresponding to the projection device 2, that is, an image and play content presented by the projection plane, and the image or the play content is projected by an optical machine 200 built in the projection device 2.

The camera may be used to capture an image displayed on the projection surface, and may be a camera. The camera may include a lens assembly in which a light sensing element and a lens are disposed. The lens can make the light of the image of the scenery irradiate on the photosensitive element through the refraction effect of the plurality of lenses on the light.

Fig. 5 shows a schematic view of the lens structure of the projection device 2 in some embodiments. To support the autofocus process of the projection device 2, the lens 300 of the projection device 2 may further include an optical assembly 310 and a drive motor 320, as shown in fig. 5. The optical assembly 310 is a lens assembly composed of one or more lenses, and can refract the light emitted by the optical engine 200, so that the light emitted by the optical engine 200 can be transmitted onto the projection surface to form a transmission content image.

The optical assembly 310 may include a lens barrel and a plurality of lenses disposed within the lens barrel. The lens in the optical assembly 310 can be divided into a moving lens 311 and a fixed lens 312 according to whether the position of the lens can be moved, and the overall focal length of the optical assembly 310 can be changed by changing the position of the moving lens 311 and adjusting the distance between the moving lens 311 and the fixed lens 312. Therefore, the driving motor 320 can drive the movable lens 311 to move by connecting the movable lens 311 in the optical assembly 310, thereby implementing an auto-focusing function.

It should be noted that the focusing process described in this embodiment of the present application refers to adjusting the distance between the movable lens 311 and the fixed lens 312, i.e. adjusting the image plane position, by changing the position of the movable lens 311 through the driving motor 320, so as to adjust the imaging principle of the lens assembly in the optical assembly 310, and the adjusting the focal distance is actually adjusting the image distance, but in terms of the overall structure of the optical assembly 310, adjusting the position of the movable lens 311 is equivalent to adjusting the overall focal distance of the optical assembly 310.

When the projection device 2 is at different distances from the projection surface, the lens of the projection device 2 is required to adjust different focal lengths so as to transmit a clear image on the projection surface. In the projection process, the distance between the projection device 2 and the projection plane may be different depending on the placement position of the user, and thus different focal lengths may be required. Therefore, to accommodate different usage scenarios, the projection device 2 needs to adjust the focal length of the optical assembly 310.

FIG. 6 shows a schematic of a distance sensor and camera configuration in some embodiments. As shown in fig. 6, the projection device 2 may further include or be externally connected to a camera 700, and the camera 700 may capture images of the pictures projected by the projection device 2 to obtain the projected content images. The projection device 2 determines whether the current focal length of the lens is proper or not by performing definition detection on the projected content image, and performs focal length adjustment when the current focal length is not proper. When automatic focusing is performed based on a projection content image captured by the camera 700, the projection device 2 may continuously adjust the lens position and photograph the image, and find the focusing position by comparing the sharpness of the front and rear position images, thereby adjusting the movable lens 311 in the optical assembly to a suitable position.

Fig. 7 is a schematic diagram of a system framework for implementing display control of a projection device according to an embodiment of the present application.

In some embodiments, the projection device 2 has the feature of long-focus micro-projection, and the controller thereof can perform display control on the projection light image through a preset algorithm, so as to realize functions of automatic trapezoidal correction of a display picture, automatic screen entry, automatic obstacle avoidance, automatic focusing, eye protection, and the like.

In some embodiments, the projection device 2 is configured with a gyro sensor; in the moving process of the equipment, the gyroscope sensor can sense the position movement and actively acquire moving data; and then, the acquired data is sent to an application program service layer through a system framework layer, application data required in the user interface interaction and application program interaction processes are supported, and the acquired data can also be used for data calling of the controller in the algorithm service implementation.

In some embodiments, the projection device 2 is configured with a time-of-flight sensor, and after the time-of-flight sensor collects corresponding data, the data will be sent to a time-of-flight service corresponding to the service layer; after the flight time service acquires the data, the acquired data is sent to an application program service layer through a process communication framework, and the data is used for data calling, a user interface, program application and the like of the controller in an interactive mode.

In some embodiments, the camera 700 of the projection device 2 configuration may be a binocular camera, a depth camera, a 3D camera, or the like; the data collected by the camera 700 is sent to the camera service, and then the camera service sends the collected image data to the process communication framework and/or the projection equipment correction service; the projection equipment correction service can receive camera acquisition data sent by the camera service, and the controller can call corresponding control algorithms in the algorithm library according to different functions to be realized.

In some embodiments, data interaction is performed with the application service through the process communication framework, and then the calculation result is fed back to the correction service through the process communication framework; the correction service sends the acquired calculation result to the operating system of the projection device 2 to generate a control signaling, and sends the control signaling to the optical machine 200 control driver to control the working condition of the optical machine 200 and realize the automatic correction of the display image.

In some embodiments, the projection device 2 may correct the projected image when an image correction instruction is detected. For the correction of the projected image, the correlation among the distance, the horizontal angle, and the offset angle may be created in advance. Then, the controller in the projection device 2 determines an included angle between the optical machine 200 and the projection surface at that moment by acquiring the current distance between the optical machine 200 and the projection surface and combining the affiliated association relationship, so as to realize projection image correction. The included angle is embodied as an included angle between a central axis of the optical machine 200 and the projection plane.

In some embodiments, the projection device 2 automatically completes the post-correction refocusing and the controller will detect whether the autofocus function is on; when the automatic focusing function is not started, the controller ends the automatic focusing service; when the automatic focusing function is turned on, the projection apparatus 2 acquires the detection distance of the time-of-flight sensor through the middleware and calculates it.

The controller queries a preset mapping table according to the acquired distance to acquire the focal length of the projection device 2; then the middleware sets the acquisition focal length to the optical engine 200 of the projection device 2; the middleware is a series of application programs related to the focusing control process. After the optical machine 200 emits laser light at the focal length, the camera executes a photographing instruction; the controller determines whether or not the focusing process of the projection apparatus 2 is completed based on the acquired captured image and the evaluation function.

If the judgment result meets the preset completion condition, controlling the automatic focusing process to end; if the determination result does not meet the preset completion condition, the middleware finely adjusts the focal length parameter of the optical-mechanical device 200 of the projection equipment 2, for example, the focal length can be gradually finely adjusted by preset step length, and the adjusted focal length parameter is set to the optical-mechanical device 200 again; therefore, the steps of repeated photographing and definition evaluation are realized, and finally the optimal focal distance is found through definition contrast to complete automatic focusing.

In some embodiments, after the user turns on the projection device 2, the projection device 2 may project the content preset by the user into a projection surface, where the projection surface may be a wall surface or a curtain, and a projection image may be displayed in the projection surface for the user to watch.

In some embodiments, by using an automatic obstacle avoidance algorithm, the projection device 2 may perform obstacle detection, so as to identify the curtain, and correct the projection picture into the curtain to be displayed by using the projection change, thereby achieving the effect of aligning with the edge of the curtain. For example, when the projection device 2 is ready to project, geometric correction is triggered first, then the pure white card is turned on, and in the case that the obstacle avoidance algorithm is turned on, the camera captures a projection content image in the projection plane. And after the camera finishes shooting, converting the projection content image into a grey-white picture, then identifying obstacles in the grey-white picture, and calculating the position, the size and the like of the obstacles. Finally, the picture size of the optical machine 200 is adjusted according to the position and size of the obstacle.

However, due to the characteristics of the laser light source, a laser projection picture shot by the camera is reddish, and an algorithm for avoiding obstacles during geometric correction is further affected. For example, a three-color laser source consists of three independent wavelength colors of RGB, and the wavelength is discontinuous compared to a common LED source. Because the camera has different light response sensitivities to different wavelengths, the color cast of the image formed by the camera is greatly influenced.

When the long-focus laser carries out obstacle avoidance processing, a pure white graphic card is firstly projected, and the pure white graphic card can be used for light supplement, range identification and the like. Meanwhile, a camera inside the projection device 2 captures the pure white picture card, that is, captures a laser projection picture and obtains a captured projection content image. And after the projection content image is subjected to gray scale processing and the like, extracting information such as the position, the size and the like of an obstacle in the projection content image, calculating the size and the position deviation of an output picture according to the obtained information such as the position, the size and the like of the obstacle, and adjusting the size and the position of the output picture.

The problem that the obstacle avoidance processing is performed by the long-focus laser is that although a pure white picture card is projected by laser projection, due to the discontinuous characteristics of the light sensitivity of the camera and the laser projection spectrum, the camera usually cannot be used for carrying out independent picture quality adjustment and calibration specially aiming at the laser, so that the camera is more sensitive to red light, and the picture shot by the camera is reddish due to the red light wavelength. In addition, the characteristics of projection cause the aperture brightness of the central part of the actually projected picture to be higher, the brightness around the picture to be relatively lower, and even if the projection content image is shot in a shooting scene under a pure white field picture scene, the shot projection content image is not uniform. On the basis, the gray level image is converted to be more uneven, for example, shadows with different colors may exist on a background wall, so that the judgment on the size and the position of the actual barrier is not facilitated, and the identification rate of the barrier is further reduced.

In order to solve the problem of low obstacle recognition rate in the current obstacle avoidance process, some embodiments of the present application provide a projection device 2. The projection device 2 may include a light engine 200, a camera 700, and a controller 500. The optical engine 200 is configured to project the playing content to a projection area in a projection surface, where the projection surface may be a wall surface or a curtain. The light engine 200 may include a plurality of lasers 210, the lasers 210 for projecting light of a specified color. For example, the lasers 210 may include a blue laser 201, a red laser 202, and a green laser 203, it being understood that the blue laser 201 is used to project blue light, the red laser 202 is used to project red light, and the green laser 203 is used to project green light. The camera 700 is used to capture a projection content image in the projection plane, and the controller 500 is used to perform an obstacle avoidance projection process. Through the projection equipment 2, the actually shot projection content image is enabled to be undistorted and clearer, so that the position, the size and the like of the obstacle are extracted more accurately after the projection content image is subjected to gray level processing and the like, and the problem of low obstacle recognition rate in the existing obstacle avoidance processing is solved.

Fig. 8 is a schematic flow chart of the projection device performing the obstacle avoidance projection according to the embodiment of the present application, and the following describes a process of the obstacle avoidance projection according to some embodiments of the present application with reference to fig. 8. As shown in fig. 8, the controller 500 in the projection device 2 is configured to perform the following steps, including:

s1, responding to an obstacle avoidance and correction mode instruction, and enabling the projection equipment 2 to acquire parameters of the laser 210.

In order to improve the identification rate of the obstacle, after receiving the instruction of the obstacle avoidance correction mode, the projection device 2 may acquire the parameter of the laser 210, and start the obstacle avoidance correction mode. The parameters of the laser 210 may include output power, color ratio, etc., and it is understood that different lasers 210 may have different parameters. In the embodiment of the present application, the instruction of the obstacle avoidance correction mode refers to a control instruction for triggering the projection device 2 to automatically perform an obstacle avoidance correction process.

In some embodiments, the obstacle avoidance correction mode instruction may be an instruction actively input by a user. For example, after the power of the projection apparatus 2 is turned on, the projection apparatus 2 may project an image on the projection area a in the projection plane. At this time, the user may press an automatic obstacle avoidance and correction mode switch preset in the projection device 2, or an automatic obstacle avoidance and correction mode button on a remote controller matched with the projection device 2, so that the projection device 2 starts an automatic obstacle avoidance and correction mode to perform automatic obstacle avoidance and correction and obstacle detection on the projection area a.

And S2, after the projection equipment 2 acquires the parameters of the laser 210, the output power of the laser 210 can be adjusted according to the parameters of the laser 210, so that the duty ratio of at least one color in the projection content image can be changed.

In order to make the shot projection content image undistorted and clearer, in some embodiments, the duty ratio of at least one color in the projection content image needs to be changed. To this end, the lasers 210 may include at least a first laser 211 projecting red light and a second laser 212 projecting green light. Fig. 9 is a schematic flowchart of a process of adjusting the output power of the laser by the projection apparatus according to an embodiment of the present application, and as shown in fig. 9, in the process of executing the process of adjusting the output power of the laser 210 according to the parameter of the laser 210, the controller 500 may include the following steps:

s91: the laser 210 parameters are resolved.

Fig. 9 includes a first laser 211 and a second laser 212, wherein the first laser 211 is configured to project red light and the second laser 212 is configured to project green light. Projection device 2 may resolve parameters in first laser 211 and second laser 212, such as parameters that may include output power, laser model, etc.

S92: the output power of the first laser 211 is adjusted according to the laser 210 parameters to adjust the first duty cycle corresponding to the red color, and the output power of the second laser 212 is adjusted according to the laser 210 parameters to adjust the second duty cycle corresponding to the green color.

After obtaining the parameters of the first laser 211 and the second laser 212, the projection device 2 may adjust the output powers of the first laser 211 and the second laser 212 according to the parameters. The first duty cycle corresponding to red may be adjusted by adjusting the output power of first laser 211 and the second duty cycle corresponding to green may be adjusted by adjusting the output power of second laser 212.

In some embodiments, a Digital Light Processing (DLP) module of a laser, hereinafter referred to as DLP module, may be disposed within the projection device 2. Before the projection device 2 needs to perform the obstacle avoidance correction, the controller 500 is notified to enter the obstacle avoidance correction mode, for example, the notification may be performed in a Universal Serial Bus (usb) Universal Serial Bus (Serial Bus) Bus manner, and after receiving the instruction of the obstacle avoidance correction mode, the controller 500 may control the optical machine 200 to project the white graphic card to the projection area in the projection plane, and at the same time, notify the DLP module of the laser 210 through the usb. And after receiving the notification, the DLP module increases or decreases the output power by adjusting the color ratio.

In order to adjust the duty ratios of different colors, the adjustment process is described in detail below with reference to specific examples. After the optical engine 200 projects the white card, the projection device 2 controls the camera 700 to capture the image of the projection content in the projection plane. Due to the characteristics of the laser light source, the projected content image captured by the camera 700 may be reddish, and the reddish problem needs to be addressed.

In order to eliminate the phenomenon that the image of the projection content is reddish, in some embodiments, the DLP module may reduce the output power of the first laser 211 according to the parameter of the first laser 211 by using a serial port or the like, that is, reduce the first duty ratio corresponding to red, so as to reduce the duty ratio of the red laser light source. Meanwhile, the DLP module increases the output power of the second laser 212 according to the parameter of the second laser 212, that is, increases the second duty ratio corresponding to green, so as to increase the duty ratio of the green laser light source. Referring to table 1, the process of adjusting the duty cycle of each color by the laser output power is recorded in table 1:

table 1: adjusting individual color duty cycles by laser output power

	Before adjustment (Normal mode)	Before adjustment (obstacle avoidance correction mode)	Range of variation
				Red	14.5	11.5	The reduction is 3 percent
Green	41.8	44.8	Increase by 3 percent
				Blue	13.7	13.7	Is not changed
Cyan	19	19	Is not changed
				Yellow	11	11	Is not changed

In table 1, when the projection apparatus 2 is in the normal mode, the duty ratios of the original colors are 14.5% Red, 41.8% Green, 13.7% Blue, 19% Cyan and 11% Yellow, respectively. After the output powers of the first laser 211 and the second laser 212 are adjusted, red becomes 11.5%, green becomes 44.8%, blue does not change, cyan does not change, and Yellow does not change, and thus, the duty ratio of Red is reduced by 3%, and thus, the brightness and the duty ratio of Red output by the first laser 211 can be reduced. At the same time, the green duty cycle is increased by 3%, and thus, the green brightness and duty cycle of the output of second laser 212 may be increased. Therefore, after the red brightness and the duty ratio are reduced and the green brightness and the duty ratio are improved, the whole effect of the projection content image is slightly greenish and grayish, and the brightness is slightly reduced.

S93: and saving the adjusted first duty ratio and the second duty ratio.

In order to facilitate subsequent use, in some embodiments, the adjusted first duty cycle and the adjusted second duty cycle may be saved, so that the adjusted parameters may be directly used during subsequent use, thereby avoiding repeated adjustment, and improving efficiency.

And S3, after the first duty ratio and the second duty ratio are adjusted, the adjusted projection content image is obtained through the camera 700.

After the adjustment of the first duty ratio and the second duty ratio is completed, when the camera 700 is used for shooting the projection picture, the actual effect of the projection content image is not reddish, the difference between the central range and the brightness around the projection content image is not obvious, and finally the information such as the position and the size of the obstacle in the projection content image is extracted after the projection content image is subjected to gray scale processing and the like, so that the information is more accurate and more accords with the actual effect. For example, after adjustment, the overall picture brightness of the shot projection content image is slightly reduced, so that the picture uniformity is increased, obstacle identification is facilitated, and an obstacle avoidance correction effect can be optimized.

In order to facilitate the determination of the color of the projection content image, for example, whether the color attribute of the projection content image is reddish or greenish, in some embodiments, after the adjusted projection content image is obtained by the camera 700, the projection device 2 may further calculate the average color level value of each color through the pixel points, so as to determine the color attribute of the projection content image according to the average color level value. Fig. 10 is a schematic diagram of determining a color attribute of a projection content image according to an average color level value according to an embodiment of the present disclosure, and as shown in fig. 10, the projection device 2 may analyze a red color level value and a green color level value from the projection content image, and after the red color level value and the green color level value are analyzed, the projection device 2 may traverse all pixel points in the projection content image to calculate a first average color level value of the red color level value and a second average color level value of the green color level value. It is understood that if the first average gradation value is greater than the second average gradation value, the projected content image may be reddish; conversely, if the first average color level value is less than the second average color level value, the projected content image may be greenish; if the first average color level value is comparable to the second average color level value, i.e., the difference between the first average color level value and the second average color level value is small, the projected content image may exhibit an effect of reddish or greenish.

And S4, if the proportion of the target color in the projection content image is greater than the proportion threshold value, adjusting the output power of the laser 210 corresponding to at least one color again until the proportion of the target color in the projection content image is less than or equal to the proportion threshold value.

In order to make the color of the adjusted projection content image conform to the actual effect, after the first duty ratio and the second duty ratio are adjusted in steps S92 and S3 and the adjusted projection content image is acquired by the camera 700, if the ratio of the target color in the projection content image is greater than the ratio threshold, for example, the ratio of the red color is greater than the ratio threshold, where the ratio threshold may be set according to the actual situation, the output power of the laser 210 corresponding to at least one color is adjusted again. For example, if the red scale is greater than a scale threshold, then at least the output power of first laser 211 is adjusted, and if the green scale is greater than the scale threshold, then at least the output power of second laser 212 is adjusted such that the red or green scale is reduced until the target color in the projected content image is less than or equal to the scale threshold than, for example, the red or green scale.

Fig. 11 is a schematic flowchart of a process of readjusting the output power of the laser according to an embodiment of the present disclosure, and as shown in fig. 11, the step of readjusting the output power of the laser 210 corresponding to at least one color by the controller 500 may include the following steps:

s111: and comparing the first average color level value and the second average color level value according to the adjusted projection content image.

After the adjusted projection content image is obtained by the camera 700, the first average color level value of the red color level value and the second average color level value of the green color level value can be obtained by the projection content image, and the first average color level value and the second average color level value are compared, so as to determine the color attribute of the projection content image according to the comparison result, i.e. the difference between the two values.

S112: if the difference between the first average tone level value and the second average tone level value is greater than the difference threshold, the output power of the first laser 211 is decreased, and the output power of the second laser 212 is increased.

After the difference between the first average color level value and the second average color level value is obtained, the difference may be compared with a difference threshold. The value of the difference threshold can be set according to actual conditions, and meanwhile, certain judgment rules can be set. For example, the determination rule may be that, if the difference is greater than the difference threshold, it indicates that the ratio of a certain color is too high, so that the color attribute of the projected content image is biased to be too severe for the color, and the ratio of the color needs to be adjusted. For example, when the first average grayscale value corresponding to red is subtracted from the second average grayscale value corresponding to green, if a difference between the first average grayscale value and the second average grayscale value is greater than a difference threshold, which indicates that the duty ratio of red is too large, resulting in a reddish projected content image, the output power of the first laser 211 needs to be reduced at this time, so as to reduce the duty ratio of red, and the output power of the second laser 212 needs to be increased, so as to increase the duty ratio of green.

And S5, if the target color proportion in the projection content image is smaller than or equal to the proportion threshold, determining a non-obstacle area according to the projection content image, and controlling the optical machine 200 to project the playing content to the projection area A according to the non-obstacle area.

In some embodiments, if the target color ratio in the projected content image is less than or equal to the ratio threshold, which indicates that the ratio of each color in the projected content image meets the preset standard, the obstacle region and the non-obstacle region may be determined based on the currently captured projected content image. The obstacle area and the non-obstacle area identified under the condition can be more accurate, so that the problem of low obstacle identification rate in obstacle avoidance processing is solved.

In order to make the image quality of the broadcast content projected to the projection area clearer, in some embodiments, after the step of projecting the broadcast content to the projection area by the projection device 2 controlling the optical machine 200 according to the non-obstacle area, the broadcast content may be projected according to the adjusted duty ratios of the colors, it should be noted that, in the adjusted duty ratios of the colors, the target color ratio is less than or equal to the ratio threshold value, so that the corresponding color of the projected content image is not reddish or greenish, and the like, so that the definition and accuracy of the projected broadcast content are ensured.

In order to further improve the accuracy of obstacle identification during obstacle avoidance processing, the projection device 2 may further identify corresponding parameter information in the projection content image. Fig. 12 is a schematic flowchart of a process of identifying a parameter of a projection content image by a projection device according to an embodiment of the present application, and as shown in fig. 12, the projection device 2 may perform the following steps in the process of identifying a parameter of a projection content image:

s121: and traversing the parameter information of each color in the projection content image.

In order to analyze the projected content image to provide a data reference for obstacle avoidance correction, the projection device 2 may traverse parameter information of each color in the projected content image. In some embodiments, the parameter information of the projected content image may include color information, brightness information, contrast information, and the like. Color information such as the situation where the projected content image captured may be reddish or greenish; brightness information such as the situation that the projection content image is likely to be too bright in the central area and slightly dark at the periphery to cause the image to be unclear and the like; contrast information such as the ratio between the brightest and darkest areas of the projected content image is too large or too small, lines are too light or too heavy, etc. resulting in low image sharpness, etc.

S122: the color information, the brightness information, and the contrast information are analyzed.

The projection apparatus 2 may parse the color information, the luminance information, and the contrast information after acquiring the color information, the luminance information, and the contrast information of the projection content image. During the parsing process, different criteria may be formulated for different parameters. For example, taking the color information as an example, different color duty ratio thresholds may be set for different colors, and if a certain color exceeds the duty ratio threshold, it may be determined that the duty ratio of the color is too high, and the duty ratio of the color needs to be reduced. Further, taking the luminance information as an example, each color may correspond to different luminance, and a luminance threshold may be set for each color as well. The brightness threshold may be set according to a rule that if a certain brightness threshold is exceeded, the brightness is required to be decreased if the brightness threshold is exceeded, and if the brightness threshold is fallen below, the brightness is required to be increased if the brightness threshold is fallen below the brightness minimum. The principle of the contrast information setting rule is the same as that of the brightness information setting rule, and the description thereof is not repeated here.

S123: an analysis result of the color information, the luminance information, and the contrast information is generated.

After the projection device 2 completes the analysis of the color information, the brightness information, and the contrast information, the analysis result of the color information, the brightness information, and the contrast information may be generated. For example, whether the three pieces of information satisfy the corresponding threshold values or not, whether the color is biased to a certain color, whether the brightness is too bright or too dark, whether the contrast is too high or too low, and the like exist or not, so as to assist the obstacle avoidance correction process.

For more accurate determination of non-obstacle regions, the projection device 2 may also determine non-obstacle regions from color information, brightness information, and contrast information. The following describes a process of triggering obstacle avoidance correction in combination with an actual operation process and a specific example. It should be noted that, in order to execute the process of obstacle avoidance correction, the projection device 2 may have a plurality of services, a plurality of application layers, a plurality of modules, and the like built therein. For example, an application layer for obstacle avoidance or geometric correction, a service adaptation layer, an intermediate control layer, a photographing service, an obstacle avoidance algorithm service, a geometric correction algorithm service, a micro control unit, an image processing service, a digital light processing module, and the like may be included.

In determining non-obstacle regions, the application layer may set parameters of the laser 210, such as duty cycles that may include red, green, blue, etc., via the interface and pass the parameters to the intermediate control layer. The middle control layer can send the parameters transmitted by the application layer to the digital optical processing module, and the digital optical processing module configures the duty ratios of three colors for the received color data respectively to control the output power of each color of the laser. After configuration is complete, the application layer may trigger a photographing service, such as the camera 700, to take a photograph. Fig. 13 is a schematic flowchart of a process of determining a non-obstacle area according to color information, luminance information, and contrast information according to an embodiment of the present application, and as shown in fig. 13, the determining of the non-obstacle area by the projection apparatus 2 may include the following steps:

s131: and intercepting a white field range in the projection content image.

After the projection content image actually shot by the current white scene is acquired, the projection device 2 may intercept the white field range in the projection content image. For example, the whitespace range may be intercepted based on the opencv method in cross-platform computer vision and machine learning software.

S132: and acquiring color information, brightness information and contrast information of the white field range according to the analysis result.

In order to analyze the white field range, after generating the analysis result of the color information, the brightness information and the contrast information in S123, the projection device 2 may obtain the color information, the brightness information and the contrast information of the white field range according to the analysis result to know the details of the three aspects of information. For example, after acquiring the color, brightness, and contrast of three colors of red, green, and blue, the projection device 2 may determine whether the projection content image meets the requirement of the obstacle avoidance algorithm. If the condition is met, a mark for marking that the obstacle avoidance requirement is met can be added, the subsequent steps are continued, if the condition is not met, the relevant parameters are continuously adjusted according to the analysis result until the condition is met or the adjustment reaches the preset times.

In order to facilitate subsequent use, the projection device 2 can also store the parameter setting conditions meeting the obstacle avoidance algorithm and return the parameter setting conditions to the application layer, so that the parameters meeting the obstacle avoidance algorithm can be directly called during subsequent use, the time for adjusting the parameters is saved, and meanwhile, the accuracy of projection contents is also ensured.

S133: the non-obstacle region is determined based on the color information, the luminance information, and the contrast information.

In order to ensure the accuracy of the non-obstacle area, after the color information, the brightness information and the contrast information meet the obstacle avoidance algorithm, the non-obstacle area is determined according to the color information, the brightness information and the contrast information.

In order to avoid the situation that the multiple adjustments still cannot meet the requirement of obstacle avoidance correction, in some embodiments, the projection device 2 may also pop up a prompt message when the multiple adjustments still do not meet the requirement. Fig. 14 is a schematic diagram illustrating the effect of the pop-up cue message provided by the embodiment of the application, as shown in fig. 14, the number of times that the output power of the laser 210 can be adjusted can be recorded by the projection device 2. For example, if the laser 210 outputs N times in total, where N is a positive integer, it represents that the laser 210 may have been adjusted N times, and if the target color ratio in the projection content image is still greater than the ratio threshold after the adjustment for the consecutive threshold times, the projection device 2 may exit the obstacle avoidance correction mode. The threshold number may be set according to actual conditions. Therefore, the problem of adjustment failure caused by equipment or other fault factors can be avoided, and if the equipment is in a hardware fault or other factors, the adjustment can not meet the requirement all the time, so that the obstacle avoidance correction mode can be directly exited under the condition. Meanwhile, in order to facilitate the user to check, the optical machine 200 can be controlled to project prompt information.

After the adjustment of the obstacle avoidance correction mode is completed, the projection device 2 may exit the obstacle avoidance correction mode and generate a normal mode instruction. In response to the normal mode command, the projection device 2 may restore the duty ratios of the respective colors. For example, the projection device 2 may notify the digital light processing module to restore red to a duty cycle of 14.5% before adjustment and green to a duty cycle of 41.8% before adjustment. In this way, the effect projected by the projection device 2 can be closer to the actual effect, although the projection content image shot after recovery may be reddish, the projection content image is not in the obstacle avoidance correction mode, and the projection content image cannot be shot again in the follow-up process, so that the projection effect and the user experience feeling cannot be influenced after recovery.

According to the technical scheme, when the projection equipment provided by the embodiment of the application is in the obstacle avoidance correction mode, the duty ratio of at least one color in the projection content image can be changed by adjusting the output power of the laser according to the laser parameters. Through the projection equipment 2, the actually shot projection content image is enabled to be undistorted and clearer, so that the position, the size and the like of the obstacle are extracted more accurately after the projection content image is subjected to gray level processing and the like, and the problem of low obstacle recognition rate in the existing obstacle avoidance processing is solved.

Based on the projection device 2 in the foregoing embodiment, some embodiments of the present application further provide an obstacle avoidance projection method, which may be applied to the projection device 2 in the foregoing embodiment. The projection device 2 includes a light engine 200, a camera 700, and a controller 500. The optical engine 200 may include a plurality of lasers 210, and the lasers 210 are configured to project light of a specific color.

The projection device 2 obtains parameters of the laser 210 in response to the obstacle avoidance correction mode command. The duty cycle of at least one color in the projected content image may be modified by adjusting the output power of the laser 210 based on parameters of the laser 210. After the output power of the laser 210 is adjusted, the adjusted projection content image may be acquired by the camera 700, and then the color ratio in the projection content image is analyzed. If the target color ratio in the projected content image is greater than the ratio threshold, the output power of the laser 210 corresponding to at least one color is adjusted again until the target color ratio in the projected content image is less than or equal to the ratio threshold. If the target color proportion in the projection content image is smaller than or equal to the proportion threshold, which indicates that the projection content image meets the requirement of an obstacle avoidance algorithm, a non-obstacle area is determined according to the projection content image, and the light machine 200 is controlled according to the non-obstacle area to project the playing content to the projection area.

The same and similar parts in the embodiments in this specification may be referred to one another, and are not described herein again.

Those skilled in the art will readily appreciate that the techniques of the embodiments of the present invention may be implemented as software plus a required general purpose hardware platform. Based on such understanding, the technical solutions in the embodiments of the present invention may be substantially or partially embodied in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, or the like, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the method of the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

The foregoing description, for purposes of explanation, has been presented in conjunction with specific embodiments. However, the illustrative discussions above are not intended to be exhaustive or to limit the embodiments to the precise forms disclosed above. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles and the practical application, to thereby enable others skilled in the art to best utilize the embodiments and various embodiments with various modifications as are suited to the particular use contemplated.

Claims (10)

1. A projection device, comprising:

the optical machine is configured to project the playing content to a projection area in the projection surface; the light engine comprises a plurality of lasers for projecting light of a specified color;

a camera configured to capture a projected content image in the projection plane;

a controller configured to:

responding to an obstacle avoidance and correction mode instruction, and acquiring laser parameters;

adjusting the output power of the laser according to the laser parameter to change the duty cycle of at least one color in the projected content image;

acquiring an adjusted projection content image through the camera;

if the target color proportion in the projection content image is larger than the proportion threshold value, adjusting the output power of the laser corresponding to at least one color again until the target color proportion in the projection content image is smaller than or equal to the proportion threshold value;

if the proportion of the target color in the projection content image is smaller than or equal to the proportion threshold value, determining a non-obstacle area according to the projection content image, and controlling the optical machine to project the playing content to the projection area according to the non-obstacle area.

2. The projection device of claim 1, wherein the lasers include at least a first laser projecting red light and a second laser projecting green light, the controller performing the adjusting the output power of the lasers according to the laser parameters, further configured to:

analyzing the laser parameters;

adjusting the output power of the first laser according to the laser parameter to adjust a first duty cycle corresponding to red, and adjusting the output power of the second laser according to the laser parameter to adjust a second duty cycle corresponding to green;

saving the adjusted first duty cycle and the second duty cycle.

3. The projection device of claim 2, wherein after the controller performs the acquiring of the adjusted projected content image by the camera, the controller is further configured to:

respectively analyzing a red color level value and a green color level value from the projection content image;

and traversing pixel points in the projection content image to calculate a first average color level value of the red color level value and a second average color level value of the green color level value.

4. The projection device of claim 3, wherein the controller performs readjustment of the output power of at least one color-corresponding laser, further configured to:

comparing the first average color level value with the second average color level value;

and if the difference value between the first average color level value and the second average color level value is larger than a difference threshold value, reducing the output power of the first laser and increasing the output power of the second laser.

5. The projection device of claim 2, wherein the controller is further configured to:

traversing parameter information of each color in the projection content image; the parameter information comprises color information, brightness information and contrast information;

analyzing the color information, the brightness information and the contrast information;

and generating an analysis result of the color information, the brightness information and the contrast information.

6. The projection device of claim 5, wherein the controller is further configured to:

intercepting a white field range in the projection content image;

acquiring color information, brightness information and contrast information of a white field range according to the analysis result;

determining the non-obstacle region from the color information, the brightness information, and the contrast information.

7. The projection device of claim 1, wherein the controller is further configured to:

recording the times of adjusting the output power of the laser;

if the target color proportion in the projection content image is still larger than the proportion threshold value after the adjustment of the continuous threshold value times, controlling the projection equipment to exit the obstacle avoidance correction mode;

and controlling the optical machine to project prompt information.

8. The projection device of claim 1, wherein the controller, after the step of controlling the light machine to project playout content to a projection area in accordance with the non-obstacle area, is further configured to:

projecting the playing content according to the adjusted duty ratio of each color; in the duty ratio of each color after adjustment, the target color proportion is smaller than or equal to the proportion threshold value.

9. The projection device of claim 8, wherein the controller, after performing the step of projecting the play content at the adjusted duty cycles of the respective colors, is further configured to:

controlling the projection equipment to exit an obstacle avoidance correction mode and generating a common mode instruction;

and restoring the duty ratio of each color in response to the common mode instruction.

10. The obstacle avoidance projection method is characterized by being applied to projection equipment, wherein the projection equipment comprises an optical machine, a camera and a controller; wherein the light engine comprises a plurality of lasers for projecting light of a specified color; the obstacle avoidance projection method comprises the following steps:

responding to an obstacle avoidance and correction mode instruction, and acquiring laser parameters;

adjusting the output power of the laser according to the laser parameter to change the duty cycle of at least one color in the projected content image;

acquiring an adjusted projection content image through the camera;

if the proportion of the target color in the projection content image is larger than the proportion threshold value, adjusting the output power of the laser corresponding to at least one color again until the proportion of the target color in the projection content image is smaller than or equal to the proportion threshold value;

if the proportion of the target color in the projection content image is smaller than or equal to the proportion threshold value, determining a non-obstacle area according to the projection content image, and controlling the optical machine to project the playing content to the projection area according to the non-obstacle area.

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