JP2017032679A - Projector, image processing device, image projection system, program and image projection method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce time until projection of an image corresponding to a projection object.SOLUTION: A projector comprises: a storage section 335 storing a first correction parameter and a second correction parameter different from the first correction parameter; a shape correction section 343 correcting image data on the basis of the first correction parameter or the second correction parameter; a radio communication section 355 receiving a notification signal instructing to switch a correction parameter; a control section 330 switching the correction parameter used for correction of the image data by the shape correction section 343 from the first correction parameter to the second correction parameter on the basis of the notification signal received by the radio communication section 355; and a display section 310 projecting an image on the basis of the image data corrected by the shape correction section 343 to a projection object.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a projector, an image processing device, an image projection system, a program, and an image projection method.

  Conventionally, projection mapping for projecting an image onto the surface of a projection target is known (see, for example, Patent Document 1). Patent Document 1 discloses an image acquisition unit that acquires an image including a projection object captured by an imaging unit, an area extraction unit that extracts a projection area of the projection object from the image acquired by the image acquisition unit, and a projection area An image processing apparatus including mapping means for mapping an object corresponding to the above to a projection area is disclosed. In this image processing apparatus, the region extraction unit extracts a change in the projection region of the projection object, and the mapping unit maps an object corresponding to the change in the projection region extracted by the region extraction unit.

JP 2013-192189 A

However, the image processing apparatus disclosed in Patent Document 1 detects a change in the projection area of the projection object from the captured image of the imaging unit, and maps an object corresponding to the detected change in the projection area. For this reason, it takes time until the corresponding object is mapped after the change in the projection area of the projection object is detected, which may give a user a sense of discomfort.
The present invention has been made in view of the above circumstances, and provides a projector, an image processing device, an image projection system, a program, and an image projection method that shorten the time until an image corresponding to a projection target is projected. The purpose is to provide.

In order to achieve such an object, a projector according to the present invention includes a storage unit that stores a first correction parameter and a second correction parameter different from the first correction parameter, and the first correction parameter or A correction unit that corrects image data based on the second correction parameter, a reception unit that receives a switching signal that instructs switching of the correction parameter, and the correction unit that is based on the switching signal received by the reception unit A control unit that switches a correction parameter used for correcting the image data from the first correction parameter to the second correction parameter, and a projection that projects an image based on the image data corrected by the correction unit onto a projection target And a section.
ADVANTAGE OF THE INVENTION According to this invention, time until the image correct | amended corresponding to the projection object is projected can be shortened.

According to the present invention, in the projector described above, the correction unit corrects the shape of the image based on the image data using the first correction parameter or the second correction parameter.
According to the present invention, the shape of an image projected on a projection target can be corrected to a shape corresponding to the projection target.

In the projector according to the aspect of the invention, the correction unit may correct the shape of the image based on the image data to a shape corresponding to the movement of the projection target, using the correction parameter switched by the control unit. It is characterized by.
According to the present invention, even when there is a motion in the projection target, the shape of the image data can be corrected to a shape corresponding to the motion and projected onto the projection target.

In the projector according to the aspect of the invention, the correction unit may be configured such that the shape of the image based on the image data is based on the first correction parameter when the operation unit on which the projection target operates is in the first position. Is corrected to a shape corresponding to the shape of the projection target at the first position, and the operation target of the projection target is at the second position, based on the second correction parameter. Then, the shape of the image based on the image data is corrected to a shape corresponding to the shape of the projection target at which the operating unit is at the second position.
According to the present invention, a correction parameter corresponding to each position of the operation unit is prepared, and the image data is corrected using the correction parameter corresponding to each position. Therefore, the shape of the image data corresponds to the shape of the projection target. In addition, the time until the image corresponding to the projection target is projected can be shortened.

In the projector according to the aspect of the invention, the control unit may generate a correction parameter by an interpolation calculation using the first correction parameter and the second correction parameter different from the first correction parameter. When the operation unit to be projected is located between the first position and the second position, the correction unit adds the image data to the image data based on the correction parameter generated by the control unit. The shape of the image based is corrected to a shape corresponding to the shape of the projection target at which the operation unit is at an intermediate position between the first position and the second position.
According to the present invention, it is possible to project an image corresponding to the shape of the projection target even when the operation unit is located at an intermediate position between the first position and the second position.

In the projector according to the aspect of the invention, the correction unit may correspond to the shape of the projection target in which the operation unit is in the first position when the operation unit to be projected is in the first position. The shape of the first image data is corrected based on the first correction parameter, and when the operation unit to be projected is in the second position, the operation unit is in the second position. A shape of the second image data corresponding to a certain shape of the projection target is corrected based on the second correction parameter.
According to the present invention, the correction parameter and image data corresponding to each position of the operation unit are prepared, and the corresponding image data is corrected using the correction parameter corresponding to each position of the operation unit. The shape can be corrected so as to correspond to the shape of the projection target, and the time until the image corresponding to the projection target is projected can be shortened.

The image processing apparatus of the present invention includes a storage unit that stores a first correction parameter and a second correction parameter that is different from the first correction parameter, and the first correction parameter or the second correction parameter. A correction unit that corrects the image data based on the receiving unit, a receiving unit that receives a switching signal instructing switching of correction parameters, and the correction unit that corrects the image data based on the switching signal received by the receiving unit. And a control unit that switches the correction parameter used in the above operation from the first correction parameter to the second correction parameter.
ADVANTAGE OF THE INVENTION According to this invention, time until the image correct | amended corresponding to the projection object is projected can be shortened.

The image projection system of the present invention is an image projection system including a subject control device that controls the movement of a subject and a projector that projects an image onto the subject, wherein the subject control device determines the timing at which the subject operates. A transmission unit that transmits a notification signal to be notified to the projector, the projector storing a first correction parameter and a second correction parameter different from the first correction parameter; A correction unit that corrects image data based on one correction parameter or the second correction parameter, a reception unit that receives the notification signal, and the correction unit that is based on the notification signal received by the reception unit. The correction parameters used for correcting the image data are changed from the first correction parameter to the second correction parameter. A control unit for switching the coater, characterized in that it comprises a projection section which projects in the subject image based on the image data corrected by the correcting unit.
ADVANTAGE OF THE INVENTION According to this invention, time until the image correct | amended corresponding to the projection object is projected can be shortened.

In the image projection system, the transmission unit transmits the notification signal indicating the position of the operation unit on which the subject operates, to the projector, and the control unit is configured to control the operation unit based on the notification signal. It is characterized by switching to a correction parameter corresponding to the position.
According to the present invention, it is possible to correct the shape of the image data to a shape corresponding to the position of the operation unit notified by the notification signal from the subject control device, and project the corrected image data onto the subject.

The program according to the present invention includes a procedure for receiving a switching signal instructing a computer to switch a correction parameter, and a correction parameter used for correcting the image data from the first correction parameter according to the received switching signal. A procedure for switching to a second correction parameter different from the one correction parameter, a procedure for correcting the image data using the switched second correction parameter, and an image based on the corrected image data And a procedure of projecting to the screen.
ADVANTAGE OF THE INVENTION According to this invention, time until the image correct | amended corresponding to the projection object is projected can be shortened.

In the image projection method of the present invention, a step of receiving a switching signal instructing switching of a correction parameter, and a correction parameter used for correcting the image data in accordance with the received switching signal, from the first correction parameter, the first correction parameter is used. A step of switching to a second correction parameter different from the correction parameter of the step, a step of correcting the image data using the switched second correction parameter, and an image based on the corrected image data as a projection target Projecting.
ADVANTAGE OF THE INVENTION According to this invention, time until the image correct | amended corresponding to the projection object is projected can be shortened.

1 is a configuration diagram showing an outline of an image projection system of a first embodiment. FIG. 3 is a block diagram illustrating a configuration of a subject device and a subject control device. The block diagram of a projector. 6 is a flowchart showing the operation of the projector 300 in the parameter generation mode. The figure which shows the pattern image which an image generation part produces | generates. (A) is a figure which shows a part of lattice pattern before shape correction, (B) is a figure which shows a part of lattice pattern after shape correction. 6 is a flowchart showing the operation of the projector in an image projection mode. The block diagram which shows the outline of the image projection system of 2nd Embodiment.

[First Embodiment]
FIG. 1 is a configuration diagram showing an outline of the image projection system 1.
The image projection system 1 includes a subject device (projection target, subject) 100, a subject control device 200, and a projector 300. The projector 300 displays an image that matches the movement of the subject device 100 controlled by the subject control device 200. Projecting system.

The subject device 100 includes an operation unit 103 (see FIG. 2) that operates by a driving force of a drive unit (see FIG. 2) such as a motor. In the present embodiment, the subject device 100 will be described as a robot, and the operation unit 103 will be described as the right arm of the robot. The robot operation unit 103 is not limited to the right arm, and may be the left arm or both the left and right arms. Also, the robot motion unit 103 may be at least one of the right foot and the left foot, or may be the head of the robot.
In addition, the subject device 100 of the present embodiment has a configuration in which the right arm can be moved up and down in the lateral direction, but the right arm can be moved up and down in the forward direction. It may be configured.
In this embodiment, the case where the right arm is moved will be described as an example of the operation of the subject device 100. However, the operation of the subject device 100 is also performed when the robot as the subject device 100 walks or the robot deforms. Can be included. The subject device 100 may be a moving device, and may be a traveling vehicle, for example.

  The subject control device 200 is wired to the subject device 100 and outputs a control signal to the subject device 100 to operate the subject device 100. In addition, the subject control device 200 transmits a notification signal (switching signal) for notifying the projector 300 to operate the subject device 100.

  The projector 300 is wirelessly connected to the subject control device 200 and switches an image to be projected on the subject device 100 based on a notification signal received from the subject control device 200. The projector 300 and the subject control device 200 may be configured to be connected by wire.

FIG. 2 is a block diagram illustrating configurations of the subject device 100 and the subject control device 200.
The subject device 100 includes a communication unit 101, a drive unit 102, an operation unit 103, and a subject control unit 104.

The communication unit 101 is an interface for performing data communication, and is connected to the communication line 3 connected to the communication unit 201 of the subject control apparatus 200. The communication unit 101 is a wired interface that connects cables (not shown) constituting the communication line 3.
The communication unit 101 receives a control signal transmitted from the subject control device 200 via the communication line 3. The communication unit 101 outputs the received control signal to the subject control unit 104.
In the present embodiment, a case where the communication unit 101 is a wired communication interface that performs wired communication is shown. However, the communication unit 101 is a wireless communication interface that performs wireless communication such as a wireless LAN or Bluetooth (registered trademark). Also good. When the communication unit 101 is a wireless communication interface, the subject device 100 and the subject control device 200 are wirelessly connected. In this case, part or all of the communication line 3 is constituted by a wireless communication line.

The drive unit 102 includes, for example, a stepping motor, a gear attached to the rotation shaft of the stepping motor, and the like (both not shown). The stepping motor is rotated by the pulse signal supplied from the subject control unit 104, and the right arm, which is the operation unit 103 of the subject device 100, moves up and down. In the following description, the operation unit 103 is described as the right arm 103.
The drive unit 102 rotates the stepping motor of the drive unit 102 by a preset angle in accordance with the pulse signal supplied from the subject control unit 104 to change the position of the right arm 103 of the subject device 100 to the position A and the position. B, position C,... The position A is a position where the position of the right arm 103 is lowered most. Position B is the next lowest position after position A, and position C is the next lowest position after position B. By rotating the stepping motor of the driving unit 102 by a preset angle, the right arm 103 is lifted by a predetermined angle, and the position of the right arm 103 at the position A is changed to a position B, a position C,. . Further, by rotating the stepping motor in the reverse direction, the position of the right arm 103 can be lowered step by step to position C, position B, and position A.

  The subject control unit 104 includes a CPU, a non-volatile recording medium such as a ROM and an EEPROM, a volatile recording medium such as a RAM, an I / O (Input / Output), and a bus line that connects these components (all not shown). It is comprised as a well-known computer apparatus provided with these. The nonvolatile recording medium stores a program for executing various processes, and the subject control unit 104 executes the process based on the program stored in the nonvolatile recording medium. The subject control unit 104 generates a pulse signal corresponding to the control signal received by the communication unit 101 and outputs the pulse signal to the drive unit 102.

  The subject control device 200 includes a communication unit 201, a control device side control unit 202, an operation unit 203, and a wireless communication unit (transmission unit) 204.

The communication unit 201 is an interface for performing data communication, and is connected to the communication line 3 connected to the communication unit 101 of the subject device 100. The communication unit 201 is a wired interface that connects a cable (not shown) constituting the communication line 3. The communication unit 201 transmits a control signal input from the control device side control unit 202 to the subject device 100 via the communication line 3.
The communication unit 201 may be a wireless communication interface that performs wireless communication such as a wireless LAN and Bluetooth. When the communication unit 201 is a wireless communication interface, the subject device 100 and the subject control device 200 are wirelessly connected. In this case, part or all of the communication line 3 is constituted by a wireless communication line.

  The control device side control unit 202 includes a CPU, a nonvolatile recording medium such as a ROM and an EEPROM, a volatile recording medium such as a RAM, an I / O, and a bus line (all not shown) for connecting these configurations. Further, it is configured as a well-known computer device. A program for executing various processes is stored in the non-volatile recording medium, and the control device-side control unit 202 executes processes based on the program stored in the non-volatile recording medium.

The control device side control unit 202 generates a control signal for operating the subject device 100 and transmits the control signal to the subject device 100. This control signal may be a trigger signal that triggers the subject device 100 to operate the right arm 103, or may be a signal that includes information indicating the position of the right arm 103.
When the control signal is a trigger signal, the subject control unit 104 generates a pulse signal that rotates the stepping motor of the drive unit 102 by a predetermined angle each time the control signal is input from the subject control device 200, and the drive unit 102. To supply. The stepping motor rotates positively by a predetermined angle by the pulse signal supplied from the subject control unit 104, and the right arm 103 of the subject device 100 is lifted up step by step as position A, position B, position C,. When the right arm 103 is lifted to the highest position, the subject control unit 104 generates a pulse signal that reversely rotates the stepping motor by a predetermined angle and supplies the pulse signal to the drive unit 102 every time a control signal is input. Thereby, the right arm 103 of the subject apparatus 100 is lowered stepwise from the highest position. The subject control unit 104 reciprocates the right arm 103 of the subject device 100 in the vertical direction in accordance with a control signal input from the subject control device 200.
When the control signal includes information indicating the position of the right arm 103, the subject control unit 104 extracts information specifying the position of the right arm 103 from the control signal, and specifies the current position of the right arm 103 and the specified position. The rotation position (number of rotations) for rotating the stepping motor and the rotation direction (forward rotation, reverse rotation) are determined by comparing with the determined positions. The subject control unit 104 generates a pulse signal that rotates the stepping motor in the determined rotation direction in the determined rotation angle (number of rotations), and supplies the pulse signal to the drive unit 102.

Further, the control device side control unit 202 generates a notification signal for notifying that the right arm 103 of the subject device 100 is operated when moving the right arm 103 of the subject device 100, and the projector 300 via the wireless communication unit 204. Send to.
This notification signal may be a trigger signal that triggers the projector 300 to switch image data to be projected on the subject device 100, or a signal that includes information indicating the position of the right arm 103 of the subject device 100 to be moved next. May be.
When the notification signal is a trigger signal, the projector 300 changes the image projected on the subject device 100 each time the notification signal is input from the subject control device 200. The projector 300 corresponds to the preset position A, position B, position C,... Of the right arm 103 of the subject device 100, and the image data A and image to be projected when the right arm 103 is at each position. Data B, image data C,... Are stored. Then, every time a notification signal is input from the subject control device 200, the projector 300 changes the image data projected on the subject device 100 to image data A, image data B, image data C,. Go.
When the notification signal includes information indicating the position of the next right arm 103, the projector 300 extracts information indicating the position of the right arm 103 from the control signal, and the image data corresponding to the extracted position of the right arm 103. Is projected onto the subject apparatus 100.

The operation unit 203 includes operation buttons and receives user operations.
The operation unit 203 includes an operation button for switching the operation mode of the subject control apparatus 200 to the parameter generation mode or the image projection mode.
In the parameter generation mode, the right arm 103 of the subject device 100 is stopped at each preset position (position A, position B, position C,...), And image data corresponding to each position (image data A). , Image data B, image data C,...) To generate correction parameters for correcting the shape of each image data.
The image projection mode is a mode for projecting an image in accordance with the movement of the subject device 100 while correcting the image data using the correction parameter generated in the parameter generation mode.

  The wireless communication unit 204 includes an antenna (not shown), an RF (Radio Frequency) circuit, and the like, and performs wireless communication with the projector 300 under the control of the control device side control unit 202. As a wireless communication method of the wireless communication unit 204, for example, a short-range wireless communication method such as a wireless local area network (LAN), Bluetooth, UWB (Ultra Wide Band), infrared communication, or a wireless communication method using a mobile phone line is adopted. it can.

FIG. 3 is a configuration diagram of the projector 300.
The projector 300 includes a display unit (projection unit) 310 that forms an optical image and displays (projects) the image on the subject device 100.
The display unit 310 includes a light source unit 311, a light modulation device 312, and a projection optical system 313. The light source unit 311 includes a light source including a xenon lamp, an ultra high pressure mercury lamp, an LED (Light Emitting Diode), a laser light source, or the like. The light source unit 311 may include a reflector and an auxiliary reflector that guide light emitted from the light source to the light modulation device 312. Furthermore, a lens group for enhancing the optical characteristics of the projection light, a polarizing plate, or a light control element for reducing the amount of light emitted from the light source on the path to the light modulation device 312 (all not shown) are provided. Also good.

  The light modulation device 312 includes, for example, three transmissive liquid crystal panels corresponding to the three primary colors of RGB, and modulates light incident from the light source unit 311 to generate image light. The light emitted from the light source unit 311 is separated into three color lights of RGB, and each color light is incident on each corresponding liquid crystal panel. The color light modulated by passing through each liquid crystal panel is combined by a combining optical system such as a cross dichroic prism and emitted to the projection optical system 313.

  The projection optical system 313 includes a lens group that forms an image of the image light modulated by the light modulation device 312 on the subject device 100. Further, the projection optical system 313 may include a zoom mechanism that performs enlargement / reduction of a projected image projected on the subject device 100 and a focus adjustment, and a focus adjustment mechanism that performs focus adjustment.

The light source of the light source unit 311 is driven by the light source driving unit 321. The light source driving unit 321 drives the light source of the light source unit 311 according to the control of the control unit 330 described later. The light source driving unit 321 may have a function of adjusting the light amount of the light source unit 311.
The light modulation device 312 is driven by the light modulation device driving unit 322. The light modulation device driving unit 322 generates R, G, and B image signals based on the display image data input from the image processing unit 342, and an image is displayed on the liquid crystal panel included in the light modulation device 312 based on the generated image signals. Draw.
The projection optical system 313 is driven by the projection optical system drive unit 323. The projection optical system drive unit 323 drives each motor included in the projection optical system 313 according to the control of the control unit 330.

An operation display unit 351 is disposed on the main body of the projector 300.
The operation display unit 351 corresponds to a so-called interface used for inputting various settings and instructions and displaying information. Specifically, the operation display unit 351 includes a display panel 352, various operation buttons (not shown), and a display panel 352. It is configured by combining a touch panel (not shown) or the like disposed on top of each other.

  A processing unit 354 is connected to the operation display unit 351. The processing unit 354 is connected to the internal bus 305. The processing unit 354 controls display on the display panel 352 according to the control of the control unit 330. Further, when the operation button of the operation display unit 351 is operated, the processing unit 354 outputs an operation signal corresponding to the operated operation button to the control unit 330. In addition, when the touch panel disposed on the display panel 352 of the operation display unit 351 is operated, the processing unit 354 outputs a position signal indicating the position of the operated display panel 352 to the control unit 330.

  Further, the projector 300 has a remote controller 5 used by the user. The remote controller 5 includes various buttons, and transmits an infrared signal corresponding to the operation of these buttons. In the main body of the projector 300, a remote control light receiving unit 353 that receives an infrared signal emitted from the remote controller 5 is disposed. The remote control light receiving unit 353 receives an infrared signal transmitted from the remote control 5. The processing unit 354 decodes the infrared signal received by the remote control light receiving unit 353, generates an operation signal indicating the operation content in the remote controller 5, and outputs the operation signal to the control unit 330.

  The projector 300 includes a wireless communication unit (reception unit) 355. The wireless communication unit 355 includes an antenna (not shown), an RF (Radio Frequency) circuit, and the like, and performs wireless communication with an external device under the control of the control unit 330. The wireless communication unit 355 is connected to the control unit 330 via the internal bus 305. As a wireless communication method of the wireless communication unit 355, for example, a short-range wireless communication method such as a wireless local area network (LAN), Bluetooth, UWB, infrared communication, or a wireless communication method using a mobile phone line can be adopted.

  The photographing unit 356 is a digital camera that photographs the subject device 100 and generates photographed image data. The shooting range, that is, the angle of view of the shooting unit 356 is preferably a range including the whole or a part of the subject device 100.

  The image processing system of the projector 300 is configured around a control unit 330 that controls the entire projector 300 in an integrated manner, and additionally includes a storage unit 335, an image generation unit 341, and an image processing unit 342. Each unit constituting the image processing system is connected to each other via an internal bus 305 so that data communication is possible. The control unit 330, the wireless communication unit 355, the storage unit 335, the image processing unit 342, and the frame memory 345 implement the image processing apparatus 360 according to the present invention.

The control unit 330 includes a CPU, a non-volatile recording medium such as a ROM and an EEPROM, a volatile recording medium such as a RAM, an I / O, and a bus line (all not shown) for connecting these configurations. It is configured as a computer device.
The control unit 330 executes a basic control program stored in a non-volatile recording medium by the CPU and a control program stored in the storage unit 335, whereby a projection control unit 331, a photographing control unit 332, and a correction control unit (control unit). It functions as 333. Details of the projection control unit 331, the imaging control unit 332, and the correction control unit 333 will be described later.

The storage unit 335 is a rewritable nonvolatile memory such as a flash memory or an EEPROM. The storage unit 335 stores a control program for controlling the operation of the projector 300, various setting data for defining operation conditions of the projector 300, and the like.
In addition, the storage unit 335 stores image data projected on the subject device 100 by the display unit 310 and correction parameters for correcting the image data. The storage unit 335 stores a plurality of image data and correction parameters for correcting these image data corresponding to each position of the right arm 103 set in advance of the subject device 100. For example, when the right arm 103 of the subject device 100 changes to position A, position B, position C,... As described above, image data A, image data B, and image data corresponding to each position of the right arm 103. C,... Are prepared, and correction parameters for correcting these image data are generated by the control unit 330, respectively.
In addition, the storage unit 335 stores image data captured by the imaging unit 356 (hereinafter, referred to as captured image data).

  The projection control unit 331 controls the light source driving unit 321, the light modulation device driving unit 322, the projection optical system driving unit 323, and the image processing unit 342 to cause the subject device 100 to project an image.

  The imaging control unit 332 controls the imaging unit 356 to image the subject device 100 on which the image data is projected. The imaging control unit 332 stores the captured image data captured by the imaging unit 356 in the storage unit 335.

The correction control unit 333 generates correction parameters (corresponding to the first correction parameter and the second correction parameter) for correcting the shape of the image data based on the captured image data of the imaging unit 356. The correction control unit 333 stores the generated correction parameter in the storage unit 335.
Further, the correction control unit 333 reads out image data to be projected on the subject device 100 and correction parameters used for correcting the image data from the storage unit 335 and instructs the image processing unit 342 to correct the shape of the image data.

The image data read from the storage unit 335 by the control unit 330 is input to the image generation unit 341. The image data is image data representing an image projected on the subject device 100.
The image generation unit 341 generates a lattice pattern and superimposes it on the input image data. The lattice pattern is a pattern in which a plurality of lattice points are arranged at equal intervals in the vertical direction and the horizontal direction of the lattice pattern. The image generation unit 341 generates superimposed image data in which a lattice pattern is superimposed on the image data, and outputs the generated superimposed image data to the light modulation device driving unit 322. A specific example of the superimposed image data will be described later with reference to FIG. Thereafter, an image signal corresponding to the superimposed image data is generated by the light modulation device driving unit 322, and an image based on the generated image signal is drawn on the liquid crystal panel of the light modulation device 312 and the image corresponding to the superimposed image data. Is projected onto the subject apparatus 100.
Further, the image generation unit 341 outputs the generated lattice pattern to the image processing unit 342.

The image processing unit 342 develops the image data read from the storage unit 335 by the control unit 330 in the frame memory 345 and performs image processing on the developed image data. Image processing executed by the image processing unit 342 includes digital zoom processing, hue correction processing, brightness correction processing, sharpness adjustment processing, and the like.
The image processing unit 342 includes a shape correction unit (correction unit) 343 that corrects the shape of the image data. The shape correction unit 343 performs shape correction processing such as resolution conversion (scaling) processing, resizing processing, distortion correction, or the like on the image data developed in the frame memory 345 using the correction parameter specified by the control unit 330. Do.
The image processing unit 342 executes processing specified by the control unit 330 and performs processing using parameters input from the control unit 330 as necessary. Of course, it is also possible to execute a combination of a plurality of processes. The image processing unit 342 reads out the image data subjected to the image processing from the frame memory 345, and outputs it as display image data to the light modulation device driving unit 322.

FIG. 4 is a flowchart showing the operation of the projector 300 in the parameter generation mode.
In the parameter generation mode, the subject control device 200 receives a signal (a position change signal described later) transmitted from the projector 300, and moves the right arm 103 of the subject device 100 from the position A to the position B, the position C,.・ We lift in order. The projector 300 projects image data on the subject device 100 at each position of the moved right arm 103, and correction parameters (first correction parameter and first correction parameter) corresponding to the case where the right arm 103 of the subject device 100 is at each position. Corresponding to the correction parameter of 2).

When receiving the parameter generation mode start operation, the operation unit 203 of the subject control device 200 outputs a signal corresponding to the received start operation to the control device side control unit 202.
When a signal indicating the start of the parameter generation mode is input from the operation unit 203, the control device side control unit 202 generates a control signal that causes the projector 300 to shift to the parameter generation mode, and the wireless communication unit 204 transmits the control signal to the projector 300. Send.

Next, the subject control device 200 outputs a control signal to the subject device 100, and controls the subject device 100 so that the right arm 103 of the subject device 100 is in a preset position.
In this description, it is assumed that the preset position is the position A where the right arm 103 of the subject device 100 is lowered to the bottom. However, the position of the right arm 103 is a state where the right arm 103 is raised to the top. It may be a middle position between the bottom and top. When the control device-side control unit 202 outputs a control signal to the subject device 100 and controls the right arm 103 of the subject device 100 to be in the position A, the control device-side control unit 202 transmits an instruction signal instructing the projector 300 to generate a correction parameter. To do.

The wireless communication unit 355 of the projector 300 receives a control signal from the subject control device 200 and outputs the received control signal to the control unit 330.
When the control signal is input from the wireless communication unit 355 (step S1 / YES), the control unit 330 of the projector 300 shifts the operation mode from the image projection mode to the parameter generation mode (step S2). Further, when there is no input of a control signal from the wireless communication unit 355 (step S1 / NO), the control unit 330 operates according to the processing flow of the image projection mode shown in FIG.

When the operation mode is shifted to the parameter generation mode, the control unit 330 determines whether or not an instruction signal is input from the wireless communication unit 355 (step S3). Upon receiving the instruction signal transmitted from the subject control device 200, the wireless communication unit 355 outputs the received instruction signal to the control unit 330.
If no instruction signal is input (step S3 / NO), control unit 330 waits until the instruction signal is input. In addition, when an instruction signal is input (step S3 / YES), the control unit 330 reads out from the storage unit 335 image data A prepared as an image to be projected onto the subject device 100 in which the right arm 103 is at the position A. Is output to the image generation unit 341, and the image generation unit 341 is instructed to generate superimposed image data.
Even if the image data A is image data prepared as an image to be projected onto the subject device 100 in which the right arm 103 of the subject device 100 is at the position A, the angle at which the projector 300 projects the image data A onto the subject device 100 If the distance is different, the image projected on the subject device 100 may protrude from the right arm 103 of the subject device 100, or the position where the image is projected may be displaced. For this reason, a correction parameter for correcting the image data A is required.
The image generation unit 341 generates superimposed image data by superimposing a lattice pattern on the input image data A (step S4), and outputs it to the display unit 310.

FIG. 5 is a diagram illustrating superimposed image data generated by the image generation unit 341.
The superimposed image data is data obtained by superimposing a lattice pattern on image data representing an image projected on the subject device 100. The image projected on the subject device 100 may be a moving image or a still image. The image of the image data is not particularly limited, but may be image data that can be used in projection mapping, such as symbols, figures, patterns, colors, buildings, human faces, and the like.
The superimposed image data shown in FIG. 5 includes a lattice pattern in which lattice points are arranged at equal intervals in the vertical and horizontal directions of the image data A on the image data A in which a plurality of star patterns are arranged in accordance with the shape of the robot. Represents a synthesized pattern image. In FIG. 5, a robot (subject) on which an image represented by superimposed image data (also referred to as “superimposed image” in the following description) is projected so that the arrangement of the star image of the image data A is easy to understand. The shape of the device 100) is indicated by a broken line. Further, in the superimposed image data shown in FIG. 5, the lattice point intervals are drawn wide in order to simplify the illustration, but the shape correction accuracy can be improved by narrowing the lattice point intervals.
Although not shown in FIG. 5, information that can specify the position of each grid point on the superimposed image data may be included in the superimposed image data. Information that can specify the position on the superimposed image data includes, for example, a serial number assigned to each grid point of the grid pattern, and a number assigned to each grid point in the vicinity of each grid point of the superimposed image data. May be displayed. Also, coordinate values indicating coordinates on the superimposed image data of each grid point may be displayed in the vicinity of each grid point of the superimposed image data.

The display unit 310 projects the superimposed image data input from the image generation unit 341 onto the subject device 100 under the control of the projection control unit 331 (step S5). When the superimposed image represented by the superimposed image data generated based on the image data A is projected onto the subject device 100, the photographing control unit 332 controls the photographing unit 356 so that the subject device on which the superimposed image is projected. 100 is photographed (step S6). Here, a description will be given assuming that the shooting range of the shooting unit 356 includes the entire subject device 100. However, as described above, when information that can specify the position of each grid point on the superimposed image data is displayed in the superimposed image data, the imaging range of the imaging unit 356 is a portion where the subject device 100 operates. As long as the right arm 103 is at least included in the range. This is because even if the shooting range of the shooting unit 356 is a part of the superimposed image data, the position of the lattice points in the captured image data on the superimposed image data can be specified.
The imaging control unit 332 stores the captured image data obtained by imaging the superimposed image in the storage unit 335.

The correction control unit 333 analyzes the captured image data stored in the storage unit 335, and the pixel range of the captured image data corresponding to each grid point and the address range of the storage area that stores the data of the pixel range To each. For example, the correction control unit 333 specifies a fixed-size cluster whose color component is black in the photographed image data as a pixel range of the photographed image data corresponding to the grid points.
Further, when the shape of the subject device 100 is a plane, a reference lattice point may be detected, and the position of another lattice point may be specified based on the detected position of the reference lattice point. For example, in the lattice pattern, the lattice points are arranged at equal intervals in the vertical direction and the horizontal direction. For this reason, the correction control unit 333 detects the lattice point located at the upper left of the captured image data as a reference lattice point, and determines the lattice point adjacent to the detected upper left lattice point as the reference of the captured image data. Detect in each of the vertical and horizontal directions. If the pixel interval between the reference lattice point and the adjacent lattice point in the vertical direction of the lattice point can be specified, the position of each lattice point in the vertical direction is specified based on the position of the reference lattice point. be able to. Similarly, if the pixel interval between the reference lattice point and the lattice point adjacent to this lattice point in the horizontal direction can be specified, the position of each lattice point in the horizontal direction is determined based on the position of the reference lattice point. Can be specified.

Next, the correction control unit 333 identifies which lattice point on the lattice pattern corresponds to the lattice point stored in the storage area of each identified address range. The number of lattice points of the lattice pattern superimposed on the image data A by the image generation unit 341 coincides with the number of lattice points of the captured image data. Therefore, the correction control unit 333 attaches a serial number to each lattice point of the lattice pattern, and attaches a number assigned to each lattice point of the corresponding lattice pattern to each lattice point of the captured image data.
For each grid point of the captured image data, the correction control unit 333 includes a pixel range of the grid point on the captured image data, an address range of the storage unit 335 that stores the captured image data of the pixel range, and the grid point The number assigned to is stored in the memory in the control unit 330 or the storage unit 335 in association with the number.

  Next, the correction control unit 333 causes the display panel 352 to display an image based on the captured image data stored in the storage unit 335 (step S7). When the captured image data is displayed on the display panel 352, the correction control unit 333 associates the pixel of the captured image data with the display pixel of the display panel 352 on which the captured image data is displayed. That is, the correction control unit 333 generates information that associates with which display pixel of the display panel 352 the data of each pixel constituting the captured image data is displayed.

The user operates the operation display unit 351 and the remote controller 5 while visually observing an image based on the captured image data displayed on the display panel 352, and designates the position where the shape correction is to be performed and the designated position by the shape correction. Enter the direction and distance to move.
For example, a cursor whose position can be changed by operating the remote controller 5 or a cross key provided on the operation display unit 351 is displayed on the display panel 352 under the control of the correction control unit 333. The user operates the remote controller 5 or the cross key to move the cursor to the position of the grid point where shape correction is desired, and presses the enter key provided on the remote controller 5 or the operation display unit 351. The processing unit 354 generates a position signal Q1 indicating the position of the display panel 352 where the confirmation key is pressed and outputs the position signal Q1 to the control unit 330.
In addition, the user operates the remote controller 5 or the cross key to move the cursor to a position where the selected grid point is to be moved, and presses the enter key. The processing unit 354 generates a position signal Q2 indicating the position of the display panel 352 where the confirmation key is pressed, and outputs the position signal Q2 to the control unit 330.

In addition, by a drag-and-drop operation, it is possible to input a designation of a position where shape correction is to be performed and a movement direction and a movement distance to be moved by shape correction.
For example, when a pointing device such as a trackball or a joystick is mounted on the operation display unit 351 of the remote controller 5 or the projector 300, the position to be corrected by the operation of the pointing device and the moving direction to be moved are specified. And the movement distance can be input to the processing unit 354.
Specifically, the user operates the pointing device to move the cursor to the position of the grid point where the shape correction is to be performed, and operates the pointing device while pressing the pointing device to perform shape correction. Move the cursor to the position you want to move the desired grid point. When the movement of the cursor is completed, the user ends the pressing operation of the pointing device that has been pressed.
Based on the input of the pointing device, the processing unit 354 generates a position signal Q1 indicating the position of the display panel 352 where the pressing operation is started, and a position signal Q2 indicating the position of the display panel 352 where the pressing operation is ended. And output to the control unit 330.
In addition, when the display panel 352 is configured as a touch panel in combination with a touch sensor (not shown), the position of the position where shape correction is to be performed by the operation of the user's finger and the movement direction and distance moved by the shape correction are displayed. Can also be entered. Specifically, the user touches the user's finger to the lattice point where the shape correction is to be performed, and the position where the user wants to move the lattice point whose shape is to be corrected while the touched finger is touching the display panel 352. To move. When the user moves the finger to the position to be moved, the user releases the finger that has been touched on the display panel 352 from the display panel 352.
Based on the input from the touch sensor, the processing unit 354 includes a position signal Q1 indicating the position of the display panel 352 where the finger is first brought into contact with the display panel 352, and the position of the display panel 352 where the finger is separated from the display panel 352. Is generated and output to the controller 330.
Note that the user may repeatedly input a designation of a position where shape correction is desired and a movement direction and a movement distance for moving the designated position a plurality of times. In this case, a plurality of sets of position signals Q1 and Q2 are input from the processing unit 354 to the control unit 330.

The correction control unit 333 determines whether or not the position signals Q1 and Q2 are input from the processing unit 354 (step S8). When the position signals Q1 and Q2 are not input (step S8 / NO), the correction control unit 333 stands by until the position signals Q1 and Q2 are input. Further, when the position signals Q1 and Q2 are input (step S8 / YES), the correction control unit 333 first specifies the number of the grid point displayed at the position of the display panel 352 indicated by the input position signal Q1. (Step S9).
When displaying the captured image data on the display panel 352, the correction control unit 333 generates information that associates the pixels of the captured image data with the display pixels of the display panel 352 that displays the captured image data. Yes. Further, the correction control unit 333, for each lattice point of the captured image data, the pixel range of the lattice point on the captured image data, the address range of the storage unit 335 storing the captured image data of the pixel range, and the grid Information in which numbers assigned to points are associated with each other is generated. Based on these pieces of information, the correction control unit 333 identifies the number on the lattice pattern of the lattice point selected by the user.

  Next, the correction control unit 333 identifies the input movement direction and movement distance (step S10). The correction control unit 333 identifies the pixel on the captured image data indicated by the position signal Q2, and determines the position of the identified pixel on the captured image data and the position of the lattice point specified in S9 on the captured image data. Based on this, the moving distance and moving direction are specified.

  Next, the correction control unit 333 instructs the image processing unit 342 to correct the shape of the image data (step S11). The correction control unit 333 outputs the identified grid point number, movement distance, and movement direction to the image processing unit 342, and instructs the image data shape correction.

  The lattice pattern generated by the image generation unit 341 is input to the shape correction unit 343. The shape correcting unit 343 specifies the grid point on the grid pattern based on the grid point number input from the control unit 330, and sets the position of the specified grid point in the movement distance and the movement direction input from the control unit 330. Move based on.

FIG. 6 is an explanatory diagram of the operation of the shape correction unit 343. FIG. 6A shows a part of the lattice pattern before the shape correction, and FIG. 6B shows a part of the lattice pattern after the shape correction.
For example, the grid point number input from the correction control unit 333 is the grid point P2 shown in FIG. 6A, and the movement distance and the movement direction are the distance and direction indicated by the arrows in FIG. Suppose. The shape correcting unit 343 moves the position of the lattice point P2 to the position shown in FIG. 6B according to the input moving distance and moving direction. The moved grid point is denoted as grid point P2 ′.
Next, the shape correcting unit 343 determines that the shape of the image data A displayed in the quadrilateral area specified by the grid points P1, P2, P3, and P4 before the movement is the grid points P1, P2 ′, The shape correction of the image data A is performed so as to correspond to the quadrilateral area specified by P3 and P4. In addition, the shape correction unit 343 determines that the shape of the image data A displayed in the quadrilateral area specified by the grid points P2, P3, P6, and P7 before the movement is the grid points P2 ′, P3, The shape correction of the image data A is performed so as to correspond to the quadrilateral area specified by P6 and P7. Note that the shape correction of image data is disclosed in Japanese Patent Application Laid-Open No. 2013-78001.

  Next, the correction control unit 333 causes the superimposed image data (image data obtained by superimposing the shape-corrected grid pattern on the shape-corrected image data A) to be displayed on the display panel 352 by the shape correction unit 343. It is displayed (step S12).

  Next, the correction control unit 333 determines whether or not a confirmation signal input from the processing unit 354 when a confirmation key provided on the remote controller 5 or the operation display unit 351 is pressed is input (step S13). . The correction control unit 333 determines that the shape correction for the image data A is finished when the confirmation signal is input. When the determination signal is not input (step S13 / NO), the correction control unit 333 determines whether or not the position signals Q1 and Q2 are input from the processing unit 354 (step S14). If the position signals Q1 and Q2 are not input (step S14 / NO), the correction control unit 333 returns to the determination in step S13. Further, when the positions Q1 and Q2 are input (step S14 / YES), the correction control unit 333 shifts the process to step S9, and executes the processes after step S9.

When the correction control unit 333 determines in step S13 that a confirmation signal has been input (step S13 / YES), the correction parameters for the image data A (first correction parameter, second correction parameter, and The storage unit 335 stores the number of the moved grid point, the position before moving the grid point (position on the grid pattern), the moving distance, and the moving direction.
Next, the correction control unit 333 determines whether correction parameters have been generated at all the positions of the right arm 103 set in advance (step S15). The correction control unit 333 corrects correction parameters (first correction parameter and second correction parameter) when the right arm 103 of the subject device 100 is positioned at all positions A, B, C,. (Corresponding to the parameter) is generated. In the case of an affirmative determination (step S15 / YES), the correction control unit 333 ends this parameter generation mode. If the determination is negative (step S15 / NO), the correction control unit 333 transmits a position change signal for requesting the position change of the right arm 103 of the subject device 100 to the subject control device 200 (step S16). Thereafter, the correction control unit 333 determines whether or not a change completion signal notifying that the change of the position of the right arm 103 of the subject device 100 has been completed is input from the wireless communication unit 355 (step S17). Upon receiving the change completion signal from the subject control device 200, the wireless communication unit 355 outputs the received change completion signal to the correction control unit 333. When the change completion signal is not input (step S17 / NO), the correction control unit 333 waits until the change completion signal is input. In addition, when a change completion signal is input from the subject control device 200 (step S17 / YES), the correction control unit 333 receives the next image data from the storage unit 335, for example, an image when the right arm 103 is positioned at the position B. Data B is extracted and output to the image generation unit 341. Thereafter, the image generation unit 341 generates superimposed image data in which a lattice pattern is superimposed on the image data B (step S4), and the projection control unit 331 projects the superimposed image onto the subject device 100 (step S5). Then, the projector 300 repeats the processes after step S6.

  The projector 300 repeats the above processing at each of the positions A, B, C,..., Generates correction parameters corresponding to each position, and stores them as correction parameters at each position. Stored in the unit 335.

When the generation of the correction parameter is completed, the control unit 330 of the projector 300 may display on the display panel 352 that the generation of the correction parameter is completed. In addition, the control unit 330 may notify the subject control device 200 that the generation of the correction parameter has ended, and switch the operation mode of the projector 300 to the image projection mode.
By displaying on the display panel 352 that the generation of the correction parameters has been completed, the user can perform an operation of shifting the subject control device 200 and the projector 300 to the next image projection mode. In addition, the subject control apparatus 200 that has received the notification that the generation of the correction parameter has been completed from the projector 300 can change the operation mode to the image projection mode.

FIG. 7 is a flowchart showing the operation of the projector 300 in the image projection mode.
When shifting to the image projection mode, the control device-side control unit 202 of the subject control device 200 transmits a control signal to the subject device 100 (step S21), and moves the right arm 103 of the subject device 100 lifted upward in the parameter generation mode. Let it go down. That is, the control device-side control unit 202 controls the subject device 100 so that the right arm 103 of the subject device 100 is positioned at the position A. Next, the control device side control unit 202 transmits a notification signal to the projector 300 (step S22).

In the image projection mode, the correction control unit 333 determines whether a notification signal is input from the wireless communication unit 355 (step S31). Upon receiving the notification signal transmitted from the subject control device 200, the wireless communication unit 355 outputs the received notification signal to the correction control unit 333.
When the notification signal is not input (step S31 / NO), the correction control unit 333 receives a signal (hereinafter referred to as a first end signal) indicating that an operation for ending the image projection mode has been received from the processing unit 354. It is determined whether or not an input has been made (step S34). When the operation button of the operation display unit 351 or the remote controller 5 receives an operation for ending the image projection mode, the processing unit 354 generates a first end signal and outputs it to the control unit 330. When the first end signal is input from the processing unit 354 (step S34 / YES), the correction control unit 333 ends the image projection mode and ends this processing flow. Further, when the first end signal is not input (step S34 / NO), the correction control unit 333 returns to step S31 and determines whether or not the notification signal is input.

  Further, when the notification signal is input (step S31 / YES), the correction control unit 333 reads the image data A corresponding to the position A and the correction parameter corresponding to the position A from the storage unit 335, and the image processing unit 342. Output to. The shape correcting unit 343 of the image processing unit 342 corrects the shape of the input image data A using the input correction parameter (step S32). The shape-corrected image data A is read from the frame memory 345 and output to the light modulator driving unit 322 as display image data. Thereafter, the light modulation device driving unit 322 generates R, G, B image signals based on the input display image data, and drives the liquid crystal panel of the light modulation device 312 based on the generated image signals. Draw an image on the panel. As a result, the image data A whose shape has been corrected by the shape correcting unit 343 is projected onto the subject device 100 (step S33). Thereafter, the correction control unit 333 continues to determine whether or not a notification signal has been input (step S31). When the notification signal is input, the image data B corresponding to the position B and the correction parameter corresponding to the position B are read from the storage unit 335, and the shape correction unit 343 performs shape correction. The shape-corrected image data is output to the display unit 310 as display image data, and is projected onto the subject device 100 by the display unit 310.

Thus, every time a notification signal is input, the correction control unit 333 reads the correction parameters and the image data from the storage unit 335 in the preset order, and causes the shape correction unit 343 to correct the shape. When the correction control unit 333 reads all the correction parameters and image data stored in the storage unit 335 in a preset order, the correction control unit 333 reverses the reading order, and finally reads the correction parameters read from the storage unit 335. And the image data are sequentially read out and the shape correction unit 343 is instructed to correct the shape.
When the position of the right arm 103 is changed from the position A to the position B, the correction parameter of the position A and the image data A correspond to the first correction parameter and the first image data of the present invention, and the correction parameter of the position B And the image data B correspond to the second correction parameter and the second image data of the present invention. When the position of the right arm 103 is changed from the position B to the position A, the correction parameter for the position B and the image data B correspond to the first correction parameter and the first image data of the present invention, and the correction parameter for the position A. The image data A corresponds to the second correction parameter and the second image data of the present invention.

  Further, when the control device side control unit 202 transmits a notification signal to the projector 300 (step S22), the control device side control unit 202 transmits a control signal to the subject device 100 at a preset timing from the transmission of the notification signal (step S23). 100 right arms 103 are operated. The timing at which the control device-side control unit 202 transmits the control signal to the subject device 100 may be simultaneous with the transmission of the notification signal to the projector 300, or the time when the projector 300 corrects the image data with the correction parameter. In consideration, it may be after a preset time has elapsed since the transmission of the notification signal. That is, the control signal is transmitted to the subject apparatus 100 so that the timing at which the movement of the right arm 103 of the subject apparatus 100 is completed matches the timing at which the projector 300 projects the image whose shape has been corrected. Therefore, an image that matches the movement of the right arm 103 of the subject device 100 can be projected by the projector 300.

Next, when the control device side control unit 202 transmits the control signal to the subject device 100, the control device side control unit 202 transmits the notification signal until the elapsed time after transmitting the notification signal to the projector 300 has passed a preset set time. (Step S24). When the set time has not elapsed (step S24 / NO), the control device side control unit 202 receives a signal indicating that an operation for ending the image projection mode has been received from the operation unit 203 (hereinafter referred to as a second end signal). ) Is input (step S25). When the operation unit 203 receives an operation for ending the image projection mode, the operation unit 203 generates a second end signal and outputs the second end signal to the control device side control unit 202. When the second end signal is input from the operation unit 203 (step S25 / YES), the control device side control unit 202 ends the image projection mode and ends this processing flow. Further, when the input of the second end signal is not detected (step S25 / NO), the control device side control unit 202 returns to step S24 and determines whether or not the set time has elapsed.
If the control device side control unit 202 determines that the set time has elapsed (step S24 / YES), it returns to step S22, transmits a notification signal to the projector 300 (step S22), and at a preset timing. A control signal is transmitted to the subject apparatus 100 (step S23).

In the embodiment described above, the correction parameter for correcting the shape of the image data A projected on the subject device 100 at each position at the position (position A, position B, position C,...) Of the right arm 103 set in advance. Was generated.
Further, when the right arm 103 of the subject device 100 is stopped at a position between the preset positions (hereinafter referred to as an intermediate position) and an image is projected onto the stopped subject device 100, image data It is preferable to generate a correction parameter that corresponds to the shape of the subject device 100 in which the right arm 103 is positioned at the intermediate position. In this case, the correction parameter at the intermediate position may be generated by performing an interpolation operation on the correction parameter generated at a preset position.
For example, when generating a correction parameter for an intermediate position between the position A and the position B, the correction control unit 333 interpolates a correction parameter corresponding to the position A and a correction parameter corresponding to the position B, and Generate correction parameters at intermediate positions. The correction control unit 333 causes the storage unit 335 to store the correction parameter calculated by the interpolation calculation. Further, image data A or image data B may be used as the image data projected onto the right arm 103 of the subject apparatus 100 at an intermediate position between the position A and the position B. In addition, image data may be prepared separately from image data of positions set in advance (for example, position A, position B, position C,...).

[Second Embodiment]
FIG. 8 is a block diagram showing the system configuration of this embodiment.
In this embodiment, an image supply device 400 that supplies image data to the projector 300 is newly provided. The present embodiment shows a configuration in which the projector 300 and the image supply device 400 are connected by wire, but may be wireless. The image supply device 400 includes a wireless communication unit (not shown) and receives a notification signal transmitted from the subject control device 200.

  In the parameter generation mode, the projector 300 acquires image data that is a target for generating correction parameters from the image supply device 400, and generates superimposed image data in which the lattice pattern described above is superimposed on the acquired image data. And projected onto the subject device 100.

Further, when the operation mode of the image projection system 1 shifts to the image projection mode and a notification signal is received from the subject control device 200, the image supply device 400 receives the image data A and the image data B every time the notification signal is received. , Image data C,... Are output to the projector 300 in the order set in advance. The projector 300 corrects the shape of the image data input from the image supply device 400 using a corresponding correction parameter, and projects the image data onto the subject device 100.
When information indicating the position of the right arm 103 of the subject device 100 is superimposed on the notification signal transmitted from the subject control device 200, the right arm 103 of the subject device 100 is based on the information superimposed on the notification signal. Image data corresponding to the position is extracted and transmitted to the projector 300. Based on the information superimposed on the received notification signal, the projector 300 extracts a correction parameter corresponding to the position of the right arm 103 of the subject device 100, and converts the image data input from the image supply device 400 according to the extracted correction parameter. Correct the shape. The projector 300 projects the shape-corrected image data on the subject device 100.

  In the first and second embodiments described above, the subject control device 200 generates a notification signal for notifying that the right arm 103 of the subject device 100 is operated and transmits the notification signal to the projector 300. When image data is input from the image supply device 400, a notification signal may be generated and transmitted to the subject control device 200. The subject control device 200 that has received the notification signal transmits the control signal to the subject device 100 and causes the subject device 100 to operate in synchronization with the received notification signal.

As described above in detail, the projector 300 according to each embodiment includes the storage unit 335, the shape correction unit 343, the wireless communication unit 355, the control unit 330, and the display unit 310.
The storage unit 335 stores a first correction parameter and a second correction parameter that is different from the first correction parameter. The shape correction unit 343 corrects the image data based on the first correction parameter or the second correction parameter. The wireless communication unit 355 receives a notification signal instructing switching of correction parameters. Based on the notification signal received by the wireless communication unit 355, the control unit 330 switches the correction parameter used by the shape correction unit 343 to correct the image data from the first correction parameter to the second correction parameter. The display unit 310 projects an image based on the image data corrected by the shape correction unit 343 onto the subject device 100. Accordingly, it is possible to shorten the time until the image corrected corresponding to the subject device 100 is projected.

  The shape correction unit 343 corrects the shape of the image based on the image data using the first correction parameter or the second correction parameter. Accordingly, the shape of the image projected on the subject device 100 can be corrected to a shape corresponding to the subject device 100.

  Further, the shape correction unit 343 corrects the shape of the image based on the image data to a shape corresponding to the movement of the subject device 100 using the correction parameter switched by the control unit 330. Therefore, even when the subject apparatus 100 has a motion, the shape of the image data can be corrected to a shape corresponding to the motion and projected onto the subject device 100.

In addition, when the right arm 103 on which the subject apparatus 100 operates is in the first position, the shape correction unit 343 determines the shape of the image based on the image data based on the first correction parameter, and the right arm 103 has the first position. Is corrected to a shape corresponding to the shape of the subject device 100. Further, when the right arm 103 of the subject device 100 is in the second position, the shape correcting unit 343 determines the shape of the image based on the image data based on the second correction parameter, and the right arm 103 is in the second position. A shape corresponding to the shape of the subject device 100 is corrected.
Accordingly, correction parameters corresponding to each position of the right arm 103 are prepared, and the image data is corrected using the correction parameters corresponding to each position, so that the shape of the image data corresponds to the shape of the subject device 100. It can be corrected. Further, the time until an image corresponding to the subject device 100 is projected can be shortened.

  In addition, the control unit 330 generates a correction parameter by an interpolation calculation using the first correction parameter and a second correction parameter different from the first correction parameter. When the right arm 103 of the subject device 100 is positioned between the first position and the second position, the shape correction unit 343 changes the shape of the image based on the image data based on the correction parameter generated by the control unit 330. The right arm 103 is corrected to a shape corresponding to the shape of the subject device 100 in the middle position between the first position and the second position. Therefore, an image corresponding to the shape of the subject device 100 can be projected even when the right arm 103 is located at an intermediate position between the first position and the second position.

In addition, when the right arm 103 of the subject device 100 is in the first position, the shape correction unit 343 determines the shape of the first image data corresponding to the shape of the subject device 100 in which the right arm 103 is in the first position. Correction is performed based on the correction parameter of 1. In addition, when the right arm 103 of the subject device 100 is in the second position, the shape correcting unit 343 determines the shape of the second image data corresponding to the shape of the subject device 100 in which the right arm 103 is in the second position. Correction based on the correction parameter of 2.
Accordingly, correction parameters and image data corresponding to each position of the right arm 103 of the subject device 100 are prepared, and the corresponding image data is corrected using the correction parameters corresponding to each position of the right arm 103. Therefore, the shape of the image data can be corrected so as to correspond to the shape of the subject device 100, and the time until an image corresponding to the subject device 100 is projected can be shortened.

Each embodiment mentioned above is a suitable embodiment of the present invention. However, the present invention is not limited to this, and various modifications can be made without departing from the scope of the present invention.
For example, in each of the above-described embodiments, shape correction is instructed by a captured image captured by the imaging unit 356 of the projector 300. However, the projector 300 generates information instructing shape correction using a mobile terminal such as a smartphone. May be sent to.
The user uses the camera of the mobile terminal to photograph the subject device 100 on which the image represented by the superimposed image data is projected. In addition, while viewing the captured image of the subject device 100 displayed on the mobile terminal, the mobile terminal performs an input for instructing the grid point for shape correction, the moving direction and the moving distance of the grid point. The mobile terminal generates information specifying the grid point input by the user, and information specifying the moving direction and moving distance of the grid point, and transmits the information to the projector 300. The projector 300 receives information transmitted from the mobile terminal and corrects the shape of the image data based on the received information.

In each of the above-described embodiments, the number of times that the subject control device 200 transmits a notification signal to the projector 300 is the same as the number of times that the subject control device 200 transmits a control signal to the subject device 100. The number of times that the apparatus 200 transmits the notification signal to the projector 300 may be less than the number of times that the control signal is transmitted.
For example, the right arm 103 of the subject device 100 is moved to a preset position (for example, position A, position B, position C,...) At a preset time interval in a preset order. Assume that the right arm 103 is moved up and down.
In this case, for example, the subject control device 200 raises the right arm 103 of the subject device 100 to the top and lowers the lifted right arm 103 to the bottom for one cycle, and sends a notification signal once per cycle. You may make it transmit to the projector 300. FIG. Further, the subject control apparatus 200 may transmit a communication signal to the projector 300 once every half cycle. In other words, the subject control device 200 transmits a notification signal to the projector 300 when moving the right arm 103 of the subject device 100 from the lowest position A to the next position B, so that the right arm 103 of the subject device 100 is A notification signal may be transmitted to the projector 300 when moving from a higher position to the next position.
The control unit 330 of the projector 300 moves the right arm 103 of the subject device 100 to a preset position at a preset time interval in a preset order. Corresponding correction parameters are read from the storage unit 355 and projected onto the subject device 100.

  Further, in each of the above-described embodiments, the image data A corresponding to the position A is projected while the right arm 103 of the subject device 100 is operating, for example, while the subject apparatus 100 is moving from the position A to the position B. However, black image data may be projected onto the subject device 100 while the right arm 103 of the subject device 100 is operating.

  In each of the above-described embodiments, the shape correction is performed by the projector 300. However, instead of the projector 300, a configuration in which a processing device such as a personal computer that performs shape correction is provided may be used. In the case of this configuration, the projector 300 receives image data transmitted from the processing device and subjected to shape correction by the processing device, and projects a projection image based on the received image data on the subject device 100.

In each of the above-described embodiments, the case where the shape of the image data projected onto the subject device 100 is corrected has been described as an example. However, at least one of sharpness, hue, and brightness of the image data projected onto the subject device 100 is described. It is also possible to correct one.
For example, the user selects four grid points from the captured image of the superimposed image displayed on the display panel 352 of the projector 300 (that is, the captured image on which the grid pattern is displayed), and selects one of sharpness, hue, and brightness. Select the correction area to correct.
For example, when the grid pattern shown in FIG. 6A is displayed on the display panel 352, the user selects an area from which the sharpness or the like is to be corrected from the grid pattern. Here, it is assumed that an area surrounded by four lattice points P1, P2, P5, and P6 is selected as a correction area. The projector 300 corrects at least one of the sharpness, hue, and brightness of the image data displayed in the correction areas P1, P2, P5, and P6, and displays the corrected image data on the display panel 352 again.

In each of the above-described embodiments, image data is prepared for each position of the right arm 103 of the subject device 100 set in advance, and the shape of the image data is corrected so as to match the shape of the subject device 100. Although the correction parameter is generated, there is one image data to be corrected, and a plurality of correction parameters for correcting the shape of the image based on this image data in accordance with the shape of the moving subject device 100 may be prepared.
For example, it is assumed that the subject device 100 is a vehicle and the projector 300 travels (changes position) from right to left within a range in which an image can be projected. In this case, the projector 300 corrects the shape of the image data so that the image data is projected onto the vehicle whose position is changed.

  In each of the above embodiments, the light modulation device 312 that modulates the light emitted from the light source has been described by taking as an example a configuration using three transmissive liquid crystal panels corresponding to each color of RGB. The invention is not limited to this. For example, a configuration using three reflective liquid crystal panels may be used, or a method in which one liquid crystal panel and a color wheel are combined may be used. Alternatively, a system using three digital mirror devices (DMD), a DMD system combining one digital mirror device and a color wheel, or the like may be used. When only one liquid crystal panel or DMD is used as the light modulation device 312, a member corresponding to a synthetic optical system such as a cross dichroic prism is unnecessary. In addition to the liquid crystal panel and DMD, any light modulation device capable of modulating light emitted from the light source can be employed without any problem.

  Each functional unit of the image projection system 1 shown in FIG. 2 and FIG. 3 shows a functional configuration realized by cooperation of hardware and software, and a specific mounting form is particularly limited. Not. Therefore, it is not always necessary to mount hardware corresponding to each function unit individually, and it is of course possible to realize a function of a plurality of function units by one processor executing a program. In addition, in the above embodiment, a part of the function realized by software may be realized by hardware, or a part of the function realized by hardware may be realized by software. In addition, specific detailed configurations of other parts of the image projection system 1 can be arbitrarily changed without departing from the gist of the present invention.

DESCRIPTION OF SYMBOLS 1 ... Image projection system, 100 ... Subject apparatus (projection object, object), 200 ... Subject control apparatus, 204 ... Wireless communication part (transmission part), 300 ... Projector, 310 ... Display part (projection part) 330 ... Control part, 331 ... Projection control unit, 332 ... Shooting control unit, 333 ... Correction control unit, 335 ... Storage unit, 342 ... Image processing unit, 343 ... Shape correction unit (correction unit), 355 ... Wireless communication unit (reception unit), 360 ... Image processing device.

Claims (11)

A storage unit for storing a first correction parameter and a second correction parameter different from the first correction parameter;
A correction unit that corrects image data based on the first correction parameter or the second correction parameter;
A receiving unit for receiving a switching signal instructing switching of the correction parameter;
A control unit that switches a correction parameter used by the correction unit to correct the image data from the first correction parameter to the second correction parameter based on the switching signal received by the reception unit;
A projection unit that projects an image based on the image data corrected by the correction unit onto a projection target;
A projector comprising:   The projector according to claim 1, wherein the correction unit corrects the shape of the image based on the image data using the first correction parameter or the second correction parameter.   The correction unit corrects the shape of the image based on the image data into a shape corresponding to the movement of the projection target, using the correction parameter switched by the control unit. Or the projector of 2. When the operation unit that operates the projection target is in the first position, the correction unit determines the shape of the image based on the image data based on the first correction parameter, and the operation unit performs the first operation. Correct to the shape corresponding to the shape of the projection target at the position,
When the operation unit to be projected is in the second position, the projection target has the shape of the image based on the image data based on the second correction parameter, and the projection target in which the operation unit is in the second position. The projector according to claim 3, wherein the projector is corrected to a shape corresponding to the shape of the projector. The control unit generates a correction parameter by an interpolation operation using the first correction parameter and the second correction parameter different from the first correction parameter,
The correction unit is based on the image data based on the correction parameter generated by the control unit when the operation unit to be projected is located between the first position and the second position. The shape of the image is corrected to a shape corresponding to the shape of the projection target at which the operation unit is at an intermediate position between the first position and the second position. projector.   When the operation unit to be projected is in the first position, the correction unit has a shape of first image data corresponding to the shape of the projection target in which the operation unit is in the first position. When correction is performed based on the first correction parameter and the operation unit of the projection target is at the second position, the second operation unit corresponds to the shape of the projection target at the second position. The projector according to claim 4, wherein the shape of the image data is corrected based on the second correction parameter. A storage unit for storing a first correction parameter and a second correction parameter different from the first correction parameter;
A correction unit that corrects image data based on the first correction parameter or the second correction parameter;
A receiving unit for receiving a switching signal instructing switching of the correction parameter;
A control unit that switches a correction parameter used by the correction unit to correct the image data from the first correction parameter to the second correction parameter based on the switching signal received by the reception unit;
An image processing apparatus comprising: An image projection system comprising: a subject control device that controls movement of a subject; and a projector that projects an image onto the subject.
The subject control device includes:
A transmission unit for transmitting a notification signal for notifying the timing of movement of the subject to the projector;
The projector is
A storage unit for storing a first correction parameter and a second correction parameter different from the first correction parameter;
A correction unit that corrects image data based on the first correction parameter or the second correction parameter;
A receiving unit for receiving the notification signal;
Based on the notification signal received by the receiving unit, a control unit that switches the correction parameter used by the correction unit to correct the image data from the first correction parameter to the second correction parameter;
A projection unit that projects an image based on the image data corrected by the correction unit onto the subject;
An image projection system comprising: The transmission unit transmits the notification signal indicating the position of the operation unit in which the subject operates, to the projector,
The image projection system according to claim 8, wherein the control unit switches to a correction parameter corresponding to a position of the operation unit based on the notification signal. On the computer,
A procedure for receiving a switching signal instructing switching of a correction parameter;
According to the received switching signal, a procedure for switching a correction parameter used for correcting image data from a first correction parameter to a second correction parameter different from the first correction parameter;
A procedure for correcting the image data using the switched second correction parameter;
Projecting an image based on the corrected image data onto a projection target;
A program for running Receiving a switching signal instructing switching of correction parameters;
Switching a correction parameter used for correction of image data from the first correction parameter to a second correction parameter different from the first correction parameter according to the received switching signal;
Correcting the image data using the switched second correction parameter;
Projecting an image based on the corrected image data onto a projection target;
The image projection method characterized by having.

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