CN117631433A - Laser seamless splicing display system based on point cloud data - Google Patents
Laser seamless splicing display system based on point cloud data Download PDFInfo
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Abstract
The invention discloses a laser seamless splice display system based on point cloud data, which comprises at least two laser projectors used for projecting display images, a monitoring device and a data processing unit, wherein each laser projector at least comprises a three-primary-color laser light source and a lens used for imaging; the monitoring device comprises a projector monitoring unit for monitoring the working state of the projector and a point cloud data depth information acquisition unit for acquiring the sampling points of the projection display images; the data processing unit outputs a projector lens adjusting signal according to the information from the projector monitoring unit and the information from the depth information acquisition unit so as to obtain a seamless spliced image in which projection display images are aligned. The introduction of the point cloud data can enrich the information acquired by the data processing unit, and simultaneously, the color temperature information corresponding to each sampling point of the projection display image is utilized for color temperature correction, so that an image picture with better color temperature uniformity can be obtained.
Description
Technical Field
The present invention relates to the field of laser display. And more particularly, to a laser seamless tiled display system based on point cloud data.
Background
Currently, televisions and color displays have become a necessity for modern life, and particularly, large screen/ultra-large screen displays, which have been raised in recent years, have become popular products for people to pursue. Because of the great market potential and profits of such products, various countries are dedicated to developing high definition and large screen/ultra large screen products to meet the continuous updating demands of people on the products, and currently, the realization of large screen display mainly comprises two methods of flat large screen splicing display and projector splicing.
For flat panel large screen display, the manufacturing cost of the liquid crystal large screen exceeding 85 inches is extremely expensive, and the splicing is undoubtedly the highest cost performance technical means. However, large screen/extra large screen display realized by splicing is realized by a liquid crystal display (LCD, liquid Crystal Display), a plasma display panel (PDP, plasma Display Panel) or a quantum dot light emitting diode display (QLED, quantum Dots Light Emitting Diode Display), and there are visual mechanical seams which cannot be eliminated, so that viewing experience is affected, and high-end visual experience of 'being in the scene' is difficult to really realize. For large screen/super large screen display spliced by a plurality of projectors, mechanical seams can be eliminated, but the existing projectors mainly adopt bulbs as display light sources, mosaic effect can be generated due to different color temperatures when the plurality of sub-screens are spliced, and the technical difficulty of mosaic elimination is high because the color temperature of the light sources is not adjustable; meanwhile, at present, the splicing of a plurality of projectors mainly relies on manual adjustment and alignment, the manual adjustment process is time-consuming, and the micro displacement of the projectors after the alignment is finished can also cause picture tearing and needs to be adjusted again.
The laser display is used as a novel display technology, and adopts red, green and blue three-primary-color lasers as a display light source, and can realize high-fidelity image reproduction with ultrahigh resolution and large color gamut due to the characteristics of high laser brightness, narrow spectrum width and good directivity, and simultaneously can easily realize large-size display with more than 100 inches due to the projection technology based on the laser display. In addition, the light source composition of the laser display can be an independent laser tube or a module formed by combining a plurality of laser tubes, and the wavelength and the output power of the light source composition can be adjusted in real time as required, so that the intensity ratio and the intensity space distribution of the red, green and blue three-primary-color light sources can be accurately adjusted when a plurality of screens are spliced, namely, the color temperature of each sub-screen is controllable and the brightness is adjustable, further, a white field with consistent color coordinates is displayed, finally, the seamless splicing and color temperature consistent large-screen/oversized-screen display picture is truly realized, and the extreme requirements of human eyes on the large-format, ultra-high-definition and high-color saturation display picture quality are met. Accordingly, there is a need to provide a laser seamlessly tiled display system.
Disclosure of Invention
The invention aims to provide a laser seamless spliced display system based on point cloud data, which aims to solve at least one of the problems existing in the prior art.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the first aspect of the invention provides a laser seamless splice display system based on point cloud data, which comprises at least two laser projectors for projecting display images, a monitoring device and a data processing unit,
each laser projector at least comprises a three-primary-color laser light source and a lens for imaging;
the monitoring device comprises a projector monitoring unit for monitoring the working state of the projector and a point cloud data depth information acquisition unit for acquiring the sampling points of the projection display images;
the data processing unit outputs a projector lens adjusting signal according to the information from the projector monitoring unit and the information from the depth information acquisition unit so as to obtain a seamless spliced image in which projection display images are aligned.
Preferably, the data processing unit outputs a lens adjustment signal for adjusting a spatial position of the lens based on a position of the projector display area and point cloud data of each sampling point.
Preferably, the depth information acquisition unit is further used for acquiring the color temperature data of each sampling point of the projection display image;
and the data processing unit outputs a color temperature adjusting signal according to the information from the projector monitoring unit and the information from the depth information acquisition unit so as to obtain a seamless spliced image with consistent white field color temperature.
Preferably, the projector monitoring unit includes an image sensor for monitoring a display area of the projector and a temperature sensor for sensing a temperature of the laser light source.
Preferably, the depth information acquisition unit further acquires brightness data of each sampling point of the projection display image.
Preferably, the depth information acquisition unit comprises a lidar, a binocular camera and/or a depth camera.
Preferably, the data processing unit outputs a color temperature adjustment signal for controlling the laser intensity ratio, the total intensity and the intensity spatial distribution of the three primary colors of each laser projector based on the temperature of the laser light source and the color temperature data of each sampling point of the projected display image.
Preferably, the display system further includes a projector controller corresponding to the laser projector, and the projector controller adjusts output power of each laser light source of the laser projector based on the color temperature adjustment signal.
Preferably, the projector controller obtains the laser light source power adjustment signal based on the following formula of color coordinate calculation
Wherein,spectral tristimulus value for red light, +.>Spectral tristimulus value for green light, +.>Is the spectrum tristimulus value of blue light, P R 、P G 、P B The optical powers of the light sources of the three primary colors R, G, B, (x) W, y W ) For the target white point color coordinates, Y W Is a mixed white light stimulus value.
Preferably, the display system further comprises a mechanical structure for adjusting the spatial position of the lens.
The beneficial effects of the invention are as follows:
according to the laser seamless spliced display system based on the point cloud data, the information acquired by the data processing unit can be more abundant due to the introduction of the point cloud data, and meanwhile, the color temperature information corresponding to each sampling point of the projection display image is utilized for color temperature correction, so that an image picture with better color temperature uniformity can be obtained.
Drawings
The following describes the embodiments of the present invention in further detail with reference to the drawings.
Fig. 1 shows a schematic structural diagram of a laser seamless splice display system based on point cloud data.
Fig. 2 is a schematic diagram showing a depth information acquisition unit acquiring point cloud data of a screen when the display areas are not aligned in the first embodiment of the present invention.
Fig. 3 is a schematic diagram showing a depth information acquisition unit acquiring point cloud data of a screen when the display areas are substantially aligned but there is an overlapping area in the second embodiment provided by the present invention.
Fig. 4 is a schematic diagram showing a depth information acquisition unit acquiring point cloud data of a screen when the display areas are aligned in the third embodiment of the present invention.
Detailed Description
In order to more clearly illustrate the present invention, the present invention will be further described with reference to examples and drawings. Like parts in the drawings are denoted by the same reference numerals. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and that this invention is not limited to the details given herein.
In the description of the present invention, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element in question must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present invention. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
It is further noted that in the description of the present invention, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Example 1
The first aspect of the invention provides a laser seamless splice display system based on point cloud data, which comprises at least two laser projectors for projecting display images, a monitoring device and a data processing unit,
each laser projector at least comprises a three-primary-color laser light source and a lens for imaging;
the monitoring device comprises a projector monitoring unit for monitoring the working state of the projector and a point cloud data depth information acquisition unit for acquiring the sampling points of the projection display images;
the data processing unit outputs a projector lens adjusting signal according to the information from the projector monitoring unit and the information from the depth information acquisition unit so as to obtain a seamless spliced image in which projection display images are aligned.
Fig. 1 is a schematic diagram of a display system for seamless laser splicing based on point cloud data, which is provided by the invention, and includes a screen 1, a monitoring device 2, a laser projector 3, a laser projector 4, a projector controller 5, a projector controller 6 and a data processing unit 7.
In fig. 1, the laser projector 3 and the laser projector 4 respectively use red, green and blue three primary color laser light sources as display light sources, and project display images to respective corresponding sub-screens. Wherein the laser projector 3 and the laser projector 4 include: a red laser module, a green laser module, and a blue laser module; the output light paths of the red light laser module, the green light laser module and the blue light laser module are respectively provided with a collimation shaping module and a decoherer in sequence; the light valves are respectively arranged on the rear light paths of the red light laser module, the green light laser module and the blue light laser module, and the beam combining device is used for combining the three laser beams; or a beam combining device and a light valve which are sequentially arranged behind the beam combining device and used for combining three beams of the red light laser module, the green light laser module and the blue light laser module; an imaging lens for imaging.
The red light laser module is a red light semiconductor laser, the green light laser module is a green light semiconductor laser, and the blue light laser module is a blue light semiconductor laser. The red light laser module comprises at least one red light semiconductor laser unit, wherein the center wavelength of each laser unit is different, and the combination of the laser units can cover the wavelength range output by the red light laser module; the green laser module comprises at least one green laser unit, wherein the central wavelength of each green laser unit is different and the combination of the green laser unit and the green laser unit can cover the wavelength range output by the green laser module; the blue laser module comprises at least one blue laser unit, each blue laser unit having a difference in central wavelength and their combination covering a wavelength range output by the blue laser module.
The imaging lens is an ultra-short focal projection lens, and the projection ratio is smaller than 0.25.
The imaging lenses are fixed by a frame with two-axis electric sliding rails, and the projector controller 5 and the projector controller 6 respectively control the corresponding imaging lenses to move in the horizontal and vertical directions for adjusting the display area.
The beam combining device is specifically an X prism, a TIR prism or a space time sequence beam combining device.
The three laser beams processed by the decoherer are firstly combined and then enter the same light valve to display images, or the three laser beams processed by the decoherer sequentially pass through the reflective film, the light guide plate and the liquid crystal panel to display images.
A collimation shaping module, such as an aspheric lens, a cylindrical lens, or a spherical lens;
decoherers, for example micro-optics, vibrating mirrors, rotating wave plates, multimode fibers or beam scanners. After the laser projectors are built by adopting the light valve, the white fields are respectively displayed by at least two laser projectors, and the color temperature of each framing white field is controlled by the monitoring-feedback device to form a seamless spliced large screen with consistent color temperature.
Preferably, the data processing unit outputs a lens adjustment signal for adjusting a spatial position of the lens based on a position of the projector display area and point cloud data of each sampling point.
The data processing unit 7 in fig. 1 obtains a lens position adjustment signal through projection transformation calculation based on the position of the projector display area and point cloud data of each sampling point, and the projector controller 5 and the projector controller 6 respectively control the corresponding lens to move horizontally or vertically based on the lens position adjustment signal so as to align the edges of the picture.
Preferably, the depth information acquisition unit is further used for acquiring the color temperature data of each sampling point of the projection display image;
and the data processing unit outputs a color temperature adjusting signal according to the information from the projector monitoring unit and the information from the depth information acquisition unit so as to obtain a seamless spliced image with consistent white field color temperature.
The projector monitoring unit in the monitoring device 2 in fig. 1 is configured to monitor the light source temperatures and display areas of the laser projector 3 and the laser projector 4, the depth information collecting unit is configured to sample the display images of the projection screen to obtain point cloud data, the depth information collecting unit further includes a color temperature collector, the point cloud data of each sub-screen and the white field color temperature data at each sampling point on the sub-screen are obtained in real time, and the point cloud data collected by the depth information collecting unit is shown in fig. 2.
Fig. 2 is a schematic diagram showing a depth information acquisition unit acquiring point cloud data of a screen when the display areas are not aligned in the first embodiment of the present invention. The projection area 1 is a picture projected by the laser projector 3 in fig. 1, the projection area 2 is a picture projected by the laser projector 4 in fig. 1, the black point is a sampling point on the screen, and the gray point is an off-screen sampling point. In this embodiment, the acquired data is stored as 76800×4 matrix, each row represents the position and color temperature information of a sampling point, wherein columns 1-3 store the coordinates of the point, and column 4 stores the white field color temperature data of the point.
As shown in fig. 2, the display system not only needs to adjust the position of the imaging lens so as to obtain a seamless spliced image with aligned projected display images, but also needs to adjust the color temperatures of the laser projector 3 and the laser projector 4 by using the data processing unit 7, and simultaneously reduces the local output power in unit time of the overlapping area to reduce the brightness, so as to form a seamless spliced large screen with consistent color temperature.
The display system samples the projection screen to obtain point cloud data, combines color temperature and brightness information corresponding to each sampling point in the screen, and the light source temperature and display area of the laser projector 3 and the laser projector 4, feeds the signals back to the data processing unit 7 for processing, and according to the data processing result, the projector controller 5 is used for adjusting the lens position of the laser projector 3 and the power ratio of the three primary color light sources, and the projector controller 6 is used for adjusting the lens position of the laser projector 4 and the power ratio of the three primary color light sources, so that the display images of the laser projector 3 and the laser projector 4 are aligned and have the same white field color temperature, and therefore splicing and fusion on the laser screen is realized, and a seamless spliced complete image picture without visual difference is projected.
Preferably, the projector monitoring unit includes an image sensor for monitoring a display area of the projector and a temperature sensor for sensing a temperature of the laser light source.
Preferably, the depth information acquisition unit further acquires brightness data of each sampling point of the projection display image.
The depth information acquisition unit comprises an illuminometer for acquiring brightness information of each sampling point of the projection display image.
Preferably, the depth information acquisition unit comprises a lidar, a binocular camera and/or a depth camera.
The depth camera of the depth information acquisition unit comprises an RGB-D camera.
Preferably, the data processing unit outputs a color temperature adjustment signal for controlling the laser intensity ratio, the total intensity and the intensity spatial distribution of the three primary colors of each laser projector based on the temperature of the laser light source and the color temperature data of each sampling point of the projected display image.
The display system adjusts the mechanical structures on the inner lens frames of the laser projector 3 and the laser projector 4 according to the display area so as to adjust the spatial positions of the lenses, and simultaneously controls the laser intensity ratio of three primary colors, the total intensity and the spatial intensity distribution by combining the color temperature, the brightness information and the light source temperature of point cloud data, finally completes the multi-screen splicing with consistent white fields and no visual mechanical seams, and realizes the seamless splicing of large screen/ultra-large screen image display without mosaic of two or more laser light source projectors.
Preferably, the display system further includes a projector controller corresponding to the laser projector, and the projector controller adjusts output power of each laser light source of the laser projector based on the color temperature adjustment signal.
The display system sends color temperature adjusting signals of all the sub-screens to the laser projector controller 5 and the laser projector controller 6, respectively adjusts the power ratio of the three primary color laser light sources of the laser projector 3 and the laser projector 4, and the introduction of the point cloud data is beneficial to improving the uniformity of the color temperature of the spliced screen, so that the display of the white field color temperature of two or more laser light source projectors is consistent and the seamless spliced large screen/super-large screen image can be realized.
Preferably, the projector controller obtains the laser light source power adjustment signal based on the following equation for color coordinate calculation,
in the CIE 1931XYZ chromaticity system, the X, Y, Z tristimulus value of a light source can be obtained by integrating the intensity of the light source with the spectral tristimulus value over the entire spectrum, i.e.:
wherein,spectral tristimulus values for the CIE 1931XYZ chromaticity System,>k is a proportionality constant as a function of color stimulus.
The relationship between the tristimulus values of the mixed white light and the tristimulus values of the R, G, B three primary colors is as follows:
color coordinates of the mixed white light:
simultaneously, the white point color coordinates (x) W, y W ) Optical power P of light source with R, G, B three primary colors R 、P G 、P B The relation of (2) is:
wherein,spectral tristimulus value for red light, +.>Spectral tristimulus value for green light, +.>Is the spectral tristimulus value of blue light.
Preferably, the display system further comprises a mechanical structure for adjusting the spatial position of the lens.
The display system adjusts the mechanical structures on the lens frames in the laser projector 3 and the laser projector 4 according to the display area so as to adjust the spatial position of the lens.
According to the point cloud data-based laser seamless splicing display system, the introduction of the point cloud data can help to improve the uniformity of the color temperature of the spliced screen, the technical scheme can improve the total display resolution and the display area by at least one time to obtain high-resolution, high-image-quality and large-size images, meanwhile, the system is simple in structure, space-saving, low in cost and easy to realize, can truly realize the seamless splicing of large-screen/ultra-large-screen lasers, can better reduce the perception of splicing overlapping areas during film viewing, and greatly improves the film viewing comfort.
Example two
In this embodiment, the display system structure based on the seamless laser splicing of the point cloud data is consistent with the embodiment, and the projection area of this embodiment is shown in fig. 3. At the moment, the position of the imaging lens is not required to be adjusted, only the color temperatures of the laser projector 3 and the laser projector 4 are required to be adjusted by using the data processing unit 7, and meanwhile, the local output power in unit time of the overlapped area is reduced to reduce the brightness, so that a seamless spliced large screen with consistent color temperature is formed.
Example III
In this embodiment, the display system structure based on the seamless laser splicing of the point cloud data is consistent with the embodiment, and the projection area of this embodiment is shown in fig. 4. At this time, the positions of the imaging lenses and the overlapping areas do not need to be adjusted, and the color temperatures of the laser projector 3 and the laser projector 4 only need to be adjusted by using the data processing unit 7, so that a seamless spliced large screen with consistent color temperatures is formed.
It should be understood that the foregoing examples of the present invention are provided merely for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention, and that various other changes and modifications may be made therein by one skilled in the art without departing from the spirit and scope of the present invention as defined by the appended claims.
Claims (10)
1. A laser seamless splice display system based on point cloud data is characterized by comprising at least two laser projectors for projecting display images, a monitoring device and a data processing unit,
each laser projector at least comprises a three-primary-color laser light source and a lens for imaging;
the monitoring device comprises a projector monitoring unit for monitoring the working state of the projector and a point cloud data depth information acquisition unit for acquiring the sampling points of the projection display images;
the data processing unit outputs a projector lens adjusting signal according to the information from the projector monitoring unit and the information from the depth information acquisition unit so as to obtain a seamless spliced image in which projection display images are aligned.
2. The system according to claim 1, wherein the data processing unit outputs a lens adjustment signal for adjusting a spatial position of a lens based on a position of a projector display area and point cloud data of each sampling point.
3. The point cloud data-based laser seamless splice display system according to claim 1, wherein the depth information acquisition unit is further configured to acquire depth information acquisition units for acquiring color temperature data of each sampling point of the projection display image;
and the data processing unit outputs a color temperature adjusting signal according to the information from the projector monitoring unit and the information from the depth information acquisition unit so as to obtain a seamless spliced image with consistent white field color temperature.
4. The point cloud data based laser seamless tiled display system according to claim 3, wherein the projector monitoring unit includes an image sensor for monitoring a projector display area and a temperature sensor for sensing a temperature of a laser light source.
5. The system of claim 3, wherein the depth information acquisition unit further acquires brightness data of each sampling point of the projection display image.
6. The point cloud data based laser seamless tiled display system according to claim 3, wherein the depth information acquisition unit comprises a laser radar, a binocular camera, and/or a depth camera.
7. The system of claim 3, wherein the data processing unit outputs a color temperature adjustment signal based on the temperature of the laser light source and the color temperature data of each sampling point of the projected display image, for controlling the laser intensity ratio, the total intensity and the spatial intensity distribution of the three primary colors of each laser projector.
8. The point cloud data based laser seamless tiled display system of claim 3, further comprising a projector controller corresponding to the laser projector, the projector controller adjusting the output power of each laser light source of the laser projector based on the color temperature adjustment signal.
9. The point cloud data based laser seamless tiled display system of claim 8, wherein the projector controller derives the laser light source power adjustment signal based on a formula for color coordinate calculation as follows
Wherein,spectral tristimulus value for red light, +.>Is the tristimulus value of the spectrum of green light,is the spectrum tristimulus value of blue light, P R 、P G 、P B The light powers of the light sources of the three primary colors R, G, B respectively,(x W, y W ) For the target white point color coordinates, Y W Is a mixed white light stimulus value.
10. The point cloud data based laser seamless tiled display system of claim 1, further comprising a mechanical structure for adjusting the spatial position of the lens.
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