WO2006077665A1 - Dispositif de projection, procede de commande pour celui-ci, systeme de projection composite, programme de commande pour le dispositif de projection et support d’enregistrement sur lequel est enregistre le programme de commande du dispositif de projection - Google Patents

Dispositif de projection, procede de commande pour celui-ci, systeme de projection composite, programme de commande pour le dispositif de projection et support d’enregistrement sur lequel est enregistre le programme de commande du dispositif de projection Download PDF

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Publication number
WO2006077665A1
WO2006077665A1 PCT/JP2005/011652 JP2005011652W WO2006077665A1 WO 2006077665 A1 WO2006077665 A1 WO 2006077665A1 JP 2005011652 W JP2005011652 W JP 2005011652W WO 2006077665 A1 WO2006077665 A1 WO 2006077665A1
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WO
WIPO (PCT)
Prior art keywords
projection
plane
unit
information
projector
Prior art date
Application number
PCT/JP2005/011652
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English (en)
Japanese (ja)
Inventor
Ikuhisa Mitsugami
Norimichi Ukita
Masatsugu Kidode
Original Assignee
National University Corporation NARA Institute of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by National University Corporation NARA Institute of Science and Technology filed Critical National University Corporation NARA Institute of Science and Technology
Priority to JP2006553816A priority Critical patent/JP4002983B2/ja
Publication of WO2006077665A1 publication Critical patent/WO2006077665A1/fr

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/74—Projection arrangements for image reproduction, e.g. using eidophor
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B21/00—Projectors or projection-type viewers; Accessories therefor
    • G03B21/14—Details
    • G03B21/145—Housing details, e.g. position adjustments thereof
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
    • G03B37/02—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with scanning movement of lens or cameras

Definitions

  • Projection device projection device control method, composite projection system, projection device control program, and recording medium on which projection device control program is recorded
  • the present invention records a projection device that projects a projection image on a projection surface, the projection direction can be changed, a projection device control method, a composite projection system, a projection device control program, and a projection device control program.
  • the present invention relates to a recorded medium. Background art
  • mixed reality A R: augmented reality, MR: mixed reality
  • text and images can be merged with the real world and the virtual world by adding them to the space area where the user exists, that is, the real environment.
  • the video of the virtual world is displayed on the display screen of the HMD so as to overlap the real environment.
  • the user wearing the HMD can experience an environment in which the virtual world is added to the real environment.
  • Non-Patent Document 1 Small Nagima, Kanbara, Yokoya "Outdoor type annotation display system using augmented reality technology" Journal of the Institute of Image Electronics Engineers of Japan Vol.32 No.6 pp.832-840 Nov.2003.
  • Non-Patent Document 2 M.Maeda, T.Ogawa, T.Machida, K.Kiyokawa ana ri.Takemura, 'Indoor Localization and Navigation using IR Markers for Augmented Reality, Adjunct Proc.
  • Non-Patent Document 3 Hiura, Tojo, Hamada, Moriya, Iguchi, “Construction of a 3D remote pointing interface using a projector”, Image Recognition 'Understanding Symposium (MIRU2002) Proceedings I, pp.29 -38, Jul.2002.
  • Non-Patent Document 4 Mukakawa, Nishiyama, Shakucho, “Realization of a virtual optical environment by projecting optical patterns onto screen objects”, D-II, Vol.J84, ⁇ .7, ⁇ .1448-1455, Jul.2001. reference).
  • a projector installed in a real environment can realize spatial consistency between the real environment and the virtual world if the alignment with the projection area is performed once in advance. There are also advantages.
  • Patent Document 1 Japanese Patent Laid-Open No. 2003-204495 (published July 18, 2003); Patent Document 2; Japanese Patent Laid-Open No. 10-200836 (1998) Published on July 31, 2000), Patent Document 3; JP-A-2004-177385 (June 2004) Published on the 24th), Patent Document 4; JP-A-2004-77545 (published on March 11, 2004), Patent Document 5; JP-A-2001-83949 (published on March 30, 2001).
  • Patent Document 1 Japanese Patent Laid-Open No. 2003-204495 (published July 18, 2003); Patent Document 2; Japanese Patent Laid-Open No. 10-200836 (1998) Published on July 31, 2000), Patent Document 3; JP-A-2004-177385 (June 2004) Published on the 24th), Patent Document 4; JP-A-2004-77545 (published on March 11, 2004), Patent Document 5; JP-A-2001-83949 (published on March 30, 2001).
  • Patent Document 1 Japanese Patent Laid-Open No. 2003-204495 (published July 18, 2003); Patent Document 2; Japanese Patent Lai
  • Patent Document 1 the distance to the screen is measured through the projection optical system.
  • An image projection apparatus that calculates the tilt of the screen and corrects the distortion of the projected image is disclosed.
  • Patent Document 2 an image is projected, and the projected image is captured by an imaging optical system. Then, an image projection apparatus is disclosed that compares the captured image (distorted image) with the original image to calculate the distortion amount and corrects the original image according to the calculated distortion amount. .
  • the first and second line-type passive distance measuring devices are provided, and the screen is measured by measuring distances to a plurality of positions along the horizontal and vertical directions on the screen.
  • An angle detection device for measuring the tilt angle of the above is disclosed. This angle detection device can accurately measure the inclination angle of the screen plane with respect to the plane in front of the projector in the horizontal plane and in the vertical plane. For this reason, distortion of the projected image can be corrected.
  • the projection surface is determined from the displacement angle of the reference position force in the vertical direction or horizontal direction of the video projection mechanism unit, and based on the correction setting value corresponding to the projection surface.
  • a projector in which keystone correction is performed is disclosed.
  • Patent Document 5 discloses the following video projector.
  • the projected video is shot with a camera placed at the viewpoint position. Then, the image data of the projected video is compared with the image data taken by the camera, and the amount of distortion of the projected video is calculated.
  • a video projection device that corrects image data to be projected based on the calculated distortion amount is disclosed.
  • the projection direction of the projector is set by the pan axis 90. Therefore, there is a mechanism for rotating in the horizontal direction and in the vertical direction by the tilt shaft 91 (pan and tilt rotation mechanism).
  • the horizontal direction is a direction parallel to the plane on which the projector is arranged, and the vertical direction is a direction perpendicular to this plane.
  • the projector projection image is information held in the projector, and is information for deciding which video image is arranged at which coordinate position in the projectable region in the input image.
  • the coordinate position is managed by an address corresponding to each pixel value in the input image.
  • Non-Patent Document 5 S. Borkowski, O. Riff, J ⁇ . Crowley, "Projecting Rectified Images in an Augmented Environment", ProCams Workshop. IEEE Computer Society Presess, Oct. 2003.
  • a pan / tilt projector capable of correcting distortion of the shape of a projected image that occurs in response to a change in the attitude of the projector by a pan / tilt rotation mechanism.
  • Non-Patent Document 6 (Nakamura, Hiraike, “Active Projector: Distortion Correction for Images Moving on Convex and Uneven Surfaces”, FIT (Information Science and Technology Forum) 2002 Proceedings, pp.423-424, Sep 2002.) is configured such that the reflected light from the mirror provided in front of the projector rotates 360 degrees, and a wider projection area is realized as in the pan-tilt projector described above. In addition, this projector can control the shape of the image to be projected.
  • the projection center position changes in accordance with the change in the attitude of the projector (change in the projection direction) by the rotation mechanism provided in itself. That is, when it is assumed that the projection light of the projector also emits a single point force, the position of that one point becomes a different position for every change in the attitude of the projector. For this reason, in the above-described conventional technique, it is necessary to obtain a correspondence relationship between the projection plane and the projector projection image in the actual environment for each set attitude position of the projector.
  • the present invention has been made in view of the above-described problems, and an object of the present invention is to perform an adjustment operation to be able to draw an image with no positional deviation that causes distortion on the projection plane.
  • the projection apparatus projects a projection unit that irradiates light onto a projection plane and projects an image, and a projection direction that irradiates the projection plane from the projection unit.
  • a drive unit that rotates the projection unit so that the projection center is a light source point of light irradiated by the projection unit, and the projection center and the drive unit
  • the projection unit and the drive unit are arranged so as to coincide with the rotation center that is the center point of the rotational movement of the projection unit.
  • the projection unit and the drive unit are arranged so that the position of the rotation center matches the position of the projection center. That is, the projection unit and the drive unit are arranged so that the center point of the rotational movement of the projection unit when rotated by the drive unit matches the light source point of the light of the projection unit. For this reason, in the projection apparatus according to the present invention, even if the projection direction is changed by the drive unit, the physical arrangement relationship between the projection center position and the projection plane does not change.
  • the positional relationship between the images projected on the projection plane in the projection units having different projection directions is calculated from the rotation angle between the projection direction of one projection unit and the projection direction of the other projection unit. It is out.
  • the plane coordinates for defining the position of the image to be projected on the projection plane can be converted into specific plane coordinates.
  • the projection direction differs depending on a specific plane coordinate, that is, The plane coordinates of all projection parts with different projection postures can be integrated and handled.
  • the projection apparatus irradiates the projection surface with light from the projection unit, and projects the image from the projection unit.
  • a projection unit including a driving unit that rotates the projection unit so as to change a projection direction, and the driving unit sets a rotation central force ⁇ point that is a center point of the rotational movement of the projection unit.
  • Rotation center position information acquisition means for acquiring rotation center position information that is position information of the rotation center when the projection unit is rotated and a light source point of light irradiated by the projection unit is used as a projection center;
  • Projection center position information specifying means for receiving the irradiation light information indicating the locus of the irradiated light and specifying the projection center position information which is the position information of the projection center based on the irradiation light information, and the acquired rotation center Position information and the above identified projection Position based on the location information, as the rotation center and the projection center that Itasu over, characterized in that the projection portion and provided with an adjusting means for adjusting the placement relationship between the driving portion! / Ru.
  • the projection center position specified by the projection center position information specifying means matches the rotation center position received by the rotation center position receiving means. As described above, the positional relationship between the projection unit and the drive unit can be adjusted.
  • the projection center position and the rotation center position can be made to coincide with each other. Therefore, even if the drive unit changes the projection direction with respect to the projection surface, the projection center There is no change in the physical relationship between position and projection plane
  • the positional relationship of the images projected on the projection plane is calculated as the rotational angular force between the projection direction of one projection unit and the projection direction of the other projection unit. can do.
  • each projection unit having a different projection direction that is, a different projection posture is used.
  • the plane coordinates for defining the position of the image to be projected on the projection plane can be converted into specific plane coordinates. Then, the plane coordinates of all the projection units having different projection directions can be handled in an integrated manner by a specific plane coordinate.
  • the control method of the projection apparatus irradiates light onto the projection surface and projects an image, and the projection unit projects the projection surface.
  • a control method for a projection apparatus comprising a drive unit that rotates the projection unit so as to change the projection direction to be irradiated, the rotation center being a center point of the rotational movement of the projection unit by the drive unit.
  • the projection unit is rotated such that the projection center is one point, and when the light source point of the light irradiated by the projection unit is used as the projection center, the rotation center position information that is the position information of the rotation center is obtained;
  • Receiving irradiation light information indicating a trajectory of the irradiated light, identifying projection center position information that is position information of the projection center based on the irradiation light information; the acquired rotation center position information; and
  • the specified projection center position information and -Out group Dzu so that Itasu rotation center and is over the center of projection, characterized
  • the rotation center position information acquired by the step of acquiring rotation center position information and the projection center position specified by the step of specifying projection center position information Based on the information, the arrangement relationship between the projection unit and the drive unit can be adjusted by the step of adjusting the arrangement relationship between the projection unit and the drive unit so that the projection center matches the rotation center.
  • the projection center position and the rotation center position can be made to coincide with each other, so that the projection unit force and the projection direction with respect to the projection plane are changed by the drive unit.
  • the physical arrangement relationship between the projection center position and the projection plane does not change.
  • the positional relationship between the images projected on the projection plane is calculated as the rotational angular force between the projection direction of one projection unit and the projection direction of the other projection unit. can do.
  • plane coordinates for defining the position of the image to be projected on the projection plane are specified. Can be converted to planar coordinates. Then, the plane coordinates of all the projection units having different projection directions can be handled in an integrated manner by a specific plane coordinate.
  • the projection apparatus and the control method for the projection apparatus according to the present invention can handle each of the plane coordinate points in the postures of all the projection units in an integrated manner by a specific plane. For this reason, there is an effect that it is possible to facilitate the adjustment work performed in order to be able to draw an image having no positional deviation with distortion in the projection area.
  • a complex projection system according to the present invention is characterized in that a plurality of the above-described projection devices are provided in order to solve the above-described problems.
  • the projection device described above is configured such that the projection center and the rotation center coincide. For this reason, it is possible to adjust the projection in various projection unit postures by a common coordinate system called a tangent plane. Therefore, it is possible to quickly perform projection adjustment in different postures of the projection units.
  • FIG. 1, showing an embodiment of the present invention is a diagram showing a schematic configuration of a pan / tilt projector apparatus.
  • FIG. 2 showing an embodiment of the present invention, is a diagram showing an outline of a rotation mechanism for rotating a projector, realized by a drive device for a pan / tilt projector apparatus.
  • FIG. 3 showing an embodiment of the present invention, is a diagram showing a geometric model of a projector provided in a pan / tilt projector apparatus.
  • FIG. 4 shows an embodiment of the present invention for changing the position of the projector. It is a figure which shows the direction made to slide in order.
  • FIG. 5 (a) is a perspective view showing the trajectory of the light region irradiated from the projector in the horizontal direction.
  • FIG. 5B is a diagram showing the trace of the light region irradiated with the projector force in the vertical direction.
  • FIG. 6 is a diagram showing a precise alignment method between the projection center and the rotation center according to the present embodiment.
  • FIG. 7, showing an embodiment of the present invention, is a flowchart showing a calibration process.
  • FIG. 8 showing an embodiment of the present invention, is a flow chart showing an internal calibration process.
  • FIG. 9 is a diagram showing a relationship between the image plane and the real environment projection plane in the initial posture of the projector according to the present embodiment.
  • FIG. 10 is a diagram showing a relationship between a tangent plane and a real environment projection plane according to a change in the attitude of the projector according to the embodiment.
  • FIG. 12 is a diagram showing the relationship between the tangent plane and the actual environment projection plane and the relationship between the tangent plane and the image plane in a specific posture of the projector according to the present embodiment.
  • FIG. 13 A diagram showing an embodiment of the present invention and showing a plurality of real-environment projection planes.
  • FIG. 14, showing an embodiment of the present invention, is a flowchart showing a processing flow of external calibration.
  • FIG. 15 is a perspective view for explaining processing of external calibration according to the present embodiment, wherein FIG. (A), (b), and (c) are projection planes arranged at different positions, respectively. It is a figure explaining the state which acquires the coordinate position of four corners.
  • FIG. 16, showing an embodiment of the present invention is a block diagram showing a schematic configuration of a pan / tilt projector apparatus.
  • FIG. 17 illustrates an embodiment of the present invention, and is a block diagram illustrating a schematic configuration of a pan / tilt projector apparatus related to alignment performed between a projector and a driving device such that a projection center and a rotation center coincide with each other FIG.
  • FIG. 18, showing an embodiment of the present invention is a block diagram showing a schematic configuration of a punch projector apparatus related to internal calibration.
  • FIG. 19, showing an embodiment of the present invention is a block diagram showing a schematic configuration of a punch projector device related to external calibration.
  • FIG. 20, showing an embodiment of the present invention is a diagram showing an example of a compound projection system.
  • FIG. 21, showing an embodiment of the present invention is a diagram showing an example of an arrangement of a plurality of real environment projection planes.
  • FIG. 22, showing an embodiment of the present invention is a diagram showing an example of a relationship between coordinates on each real environment projection plane and coordinates on a tangent plane corresponding to the coordinates.
  • FIG. 23 shows an embodiment of the present invention, and is a diagram showing an example when the real environment projection plane to be connected is developed on one plane.
  • FIG. 24 shows an embodiment of the present invention, in which conversion parameters obtained for a combination of concatenated real environment projection planes, an identifier (ID) for specifying a concatenation position of real environment projection planes, and It is an example of the list
  • ID an identifier
  • FIG. 25 is a flowchart showing projection processing onto a plurality of real-environment projection planes by the pan / tilt projector apparatus according to the present embodiment.
  • FIG. 26 shows an embodiment of the present invention and is a diagram showing a correspondence relationship between a graphic shape on a main plane and a graphic shape on a tangent plane.
  • FIG. 27 illustrates an embodiment of the present invention and is a diagram illustrating a correspondence relationship between a graphic shape on a connection plane and a graphic shape on a tangent plane.
  • the pan / tilt projector apparatus (projection apparatus) 1 is for projecting an image on a desired real environment projection plane R. As shown in FIG. With the rotation mechanism on the axis 90 and the tilt axis 91, the projection direction of the projector (projection unit) 2 can be moved in the horizontal and vertical directions.
  • the rotation function is added to the projector 2, the area that can be projected by the projector 2 can be enlarged.
  • This rotation function can be realized by a drive device (drive unit) 3 described later.
  • a model obtained by modeling the projector 2 according to the present embodiment is a geometric model shown in FIG.
  • the projector 2 has a projection center F. That is, the projection center F is a point when it is assumed that the projection light from the projector 2 is generated by a single point force.
  • a projector image plane P for drawing an input image to the projector can exist on the projection center F force projection direction J side. Then, the projection light from the projection center F passes through the projector image plane P and is projected onto the projection area in the real environment.
  • the projector image plane P corresponds to the image plane in the pinhole camera model, and is hereinafter referred to as an image plane P.
  • the center point on the image plane P is called the image center E.
  • the image plane P is the image coordinates with the image center E as the origin and the horizontal and vertical directions of the image as the X axis and Y axis, respectively.
  • a system can be defined.
  • the image resolution is, for example, XGA (Extended Graphics Array)
  • the above-mentioned image center E is a point of 1024Z2 pixels on the right and 768Z2 pixels on the lower side from the upper left corner.
  • the term “image center” used in the present embodiment is different from the image center defined as the foot of the perpendicular line drawn to the projection center F force image plane P in the pinhole camera model.
  • the distance between the projection center F and the image plane P is defined as a focal length L
  • a straight line passing through the projection center F and perpendicular to the image plane P is defined as a vertical axis K.
  • the direction from the projection center F through the image center E to the center point of the projection image in the projection area S (image center direction) and the vertical axis K are greatly different.
  • the projector 2 is designed so that the direction of the light radiated to the projection area S is slightly higher than the height at which the projector 2 is installed. Power is also.
  • a plane in the actual environment on which the projector force is also projected is referred to as an actual environment projection plane R.
  • the pan / tilt project apparatus includes a projector 2, a driving device 3, a projector control unit 4, an input device (a trajectory acquisition unit, a projection position information acquisition unit, an adjustment unit, a fine adjustment unit) 6, a camera (Trajectory acquisition unit, projection position information acquisition unit) 5 and information storage unit (storage device) 7 are provided.
  • the projector 2 is for projecting a desired image onto the real environment projection plane R.
  • the projector 2 projects an image based on the input image data onto the real environment projection plane R in response to an instruction from the projector control unit 4. Further, the projector 2 is arranged on the driving device 3 so that the projection direction J can be changed by the movement of the driving device 3.
  • the drive device 3 moves the projector 2 so as to move in the projection direction J force horizontal direction and vertical direction of the light irradiated by the projector 2.
  • the driving device 3 moves the projection direction J of the projector 2 in response to an instruction from the projector control unit 4.
  • the driving device 3 also includes means for adjusting the positional relationship between the driving device 3 itself and the projector 2. That is, as shown in FIG. 4, the driving device 3 can change the arrangement position of the projector 2 by sliding the projector 2 on the own device in the three axis directions a, 13, and ⁇ . ing. Then, the driving device 3 changes the arrangement position of the projector 2 in accordance with an instruction from the projector control unit 4.
  • the input device 6 is for inputting information indicating an initial position of a projection center F, which will be described later, to the projector control unit 4, and can be realized by, for example, a keyboard, a mouse, a numeric keypad, and the like.
  • the camera 5 records a state of an image projected on the projection area S, and the recorded information is input to the projector control unit 4.
  • the information storage unit 7 is a readable / writable storage medium, and can be realized by, for example, a hard disk or a flash EEPROM.
  • the information storage unit 7 includes a projection center deviation amount table 72, rotation center coordinate information 73, internal adjustment information 71, and external adjustment information 74.
  • the projection center deviation table 72 is a table generated in a projection center fixing method to be described later, and the projection center F position and the rotation center G position are more precise so that the projection center F position and the rotation center G position coincide with each other accurately. This information is used when positioning with the driving device 3.
  • This projection center deviation amount table 72 passes through a fixed point between the projector 2 and the actual environment projection plane R according to the position coordinates of the projector 2 and the attitudes of different types of projectors 2 for each position of the projector 2. Information indicating the locus of the projection point of the light to be recorded is recorded.
  • the rotation center coordinate information 73 is information indicating the center position of the rotational movement of the projector 2 to which the projection direction J is moved by the drive device 3. This information is obtained in advance at the design stage of the drive device 3 and is stored in the information storage unit 7 as rotation center position coordinate information.
  • the internal adjustment information 71 is information stored at the time of internal calibration to be described later. Specifically, the internal adjustment information 71 corresponds to the direction vector of the image center E with the projection center F as the origin, and the four corners of the projection region S. Information on the coordinates on the tangent coordinate Q, the relationship between the tangent plane Q and the actual environment projection plane R Is memorized. The tangent plane Q will be described later.
  • the external adjustment information 74 is information stored at the time of external calibration, which will be described later. Specifically, the positional information (X, y) on each real environment projection plane R and the tangent plane Q This is the transformation matrix H that shows the relationship with the position information. This external adjustment information 74 is the second
  • the projector control unit 4 performs various controls of the projector 2 and the drive device 3. For convenience of explanation, the projector control unit 4 aligns the units included in the projector control unit 4 with the projector 2 and the drive device 3. A description will be given separately for a process for matching the projection center F, which will be described later, and an internal calibration and external calibration, which will be described later.
  • Non-Patent Document 7 (Wada, Ukita, Matsuyama, “Fixed-viewpoint pan / tilt / zoom camera and its application”, IEICE Transactions, Vol.J8 1-DII, No.6, pp.1182-1193, 1998. ) Discloses a configuration of a camera having a pan / tilt rotation mechanism.
  • the position of the projection center F of the projector 2 can be made unchanged even when the attitude of the projector 2 is changed.
  • changing the attitude of the projector 2 means that the projector 2 is moved by the pan / tilt rotation mechanism so that the projection direction J of the projector 2 changes.
  • the projection center F position of the projector 2 does not change in accordance with the posture change. For this reason, for example, an arbitrary point on the image plane P and an arbitrary point on the image plane P in the projector 2 in two different postures
  • the calibration will be described later, in the pan / tilt projector device 1 according to the present embodiment, the calibration can be divided into two stages of internal calibration and external calibration. Further, the specific plane described above is referred to as a tangent plane Q in this specification.
  • the tangent plane Q is defined as follows in the pan / tilt projector device 1 according to the present embodiment. That is, this tangent plane Q is a plane parallel to a plane defined by the pan axis 90 and the tilt axis 91 in the initial posture of the projector 2, and is disposed between the projection center F and the real environment projection plane R. And a virtual plane whose distance from the projection center F (ie, the rotation center G) is 1.
  • a pan / tilt projector is realized by combining, for example, a commercially available projector and a pan / tilt head that allows the projector to be rotated 360 degrees
  • the projection center F and the rotation center G are matched. It is preferable to provide a configuration and method that can adjust the positional relationship between the projector and the pan head (drive device 3).
  • FIG. 1 In the pan / tilt projector device 1 according to the present embodiment, in order to make it possible to adjust the positional relationship between the projector 2 and the driving device 3 so that the projection center F and the rotation center G coincide with each other, FIG. Each part shown is provided.
  • the projector control unit 4 includes a position adjustment unit (adjustment unit) 41 and a fine adjustment unit (fine adjustment). Means) 42, posture adjustment unit 43, rotation center position reception unit (rotation center position information acquisition unit) 44, projection center position identification unit (projection center position information identification unit) 45, and adjustment position calculation unit (position adjustment calculation unit) It has 46.
  • the information storage unit 7 stores a projection center deviation amount table 72 and rotation center coordinate information 73.
  • the position adjusting unit 41 instructs the driving device 3 to adjust the positional relationship between the driving device 3 and the projector 2.
  • the position adjustment unit 41 slides and moves the projector 2 to the driving device 3 based on the coordinate information indicating the rotation center G position and the projection center F position received from the rotation center position receiving unit 44 and the projection center position specifying unit 45. Instruct.
  • the rotation center position receiving unit 44 acquires the rotation center coordinate information 73 from the information storage unit 7 in response to an instruction from the position adjustment unit 41.
  • the rotation center position receiving unit 44 transmits the acquired rotation center coordinate information 73 to the position adjustment unit 41.
  • the projection center position specifying unit 45 also calculates the projection center F position for the information force indicating the trajectory of the irradiated light acquired from the camera 5.
  • the projection center F position transmits the calculated projection center F position information to the position adjustment unit 41. Note that the projection center F position calculated and specified by the projection center position specifying unit 45 is defined as the initial position of the projection center F in this specification.
  • fine adjustment unit 42 instructs drive unit 3 to correct the positional relationship between projector 2 and drive unit 3 so that the initial position force of projection center F is also corrected. Is.
  • the adjustment position calculation unit 46 tracks the projection point of the light received from the camera 5 and passing through a fixed point provided between the projector 2 and the real environment projection plane scale and irradiated with a different posture. Is to be received.
  • the adjustment position calculation unit 46 stores information indicating the received light trajectory in the information storage unit 7 as the projection center deviation amount table 72 in association with the position of the projector 2.
  • the adjustment position calculation unit 46 transmits the calculated result to the fine adjustment unit 42.
  • the attitude adjustment unit 43 instructs the drive device 3 to change the projection direction J of the projector 2. For example, when the adjustment position calculation unit 46 acquires a trajectory of a projection point of light irradiated with a different posture that passes through a fixed point provided between the projector 2 and the real environment projection plane scale, In response to an instruction from the adjustment position calculation unit 46, the drive unit 3 is instructed to change the projection direction J of the projector 2.
  • the posture adjustment unit 43 can change the posture in response to an instruction from the input device 6 in internal calibration described later.
  • the projector 2 is driven in the horizontal direction with the projection direction J of the projector 2 by the driving apparatus 3 having a pan / tilt two-axis rotation mechanism (gimbal mechanism) as shown in FIG. It can be moved vertically.
  • the driving apparatus 3 having a pan / tilt two-axis rotation mechanism (gimbal mechanism) as shown in FIG. It can be moved vertically.
  • the rotation range of projector 2 can move from 60 degrees to 60 degrees in the horizontal direction (pan) and from -30 degrees to 30 degrees in the vertical direction (tilt). it can.
  • the rotation range is appropriately set according to the range of the area to be projected by the projector 2 which is not limited to this.
  • the pan represents the right rotation angle as positive, and the tilt represents the downward rotation angle as negative.
  • projector 2 has a mechanism that can slide in the three axial directions of ⁇ , ⁇ , and ⁇ with respect to drive device 3 described above.
  • the drive device 3 is based on the lower end point of the irradiation lens unit 21 included in the projector 2 as a reference from this point to amm in the ⁇ -axis direction, bmm in the ⁇ -axis direction, and cmm in the y-axis direction! It is configured to move. Note that the reference point for this movement is not limited to this, for example, the center of gravity of the housing forming the projector 2 is used as a reference.
  • the “projection center fixing method” in the pan / tilt projector device 1 according to the present embodiment first, an initial position of the projection center F, which is an approximate position of the projection center F, is obtained, and the initial position of the projection center F is obtained. And the rotation center G. Note that the spatial position (three-dimensional coordinate point) of the rotation center G can be obtained in advance from the configuration of the rotation mechanism. In the pan / tilt projector device 1 according to the present embodiment, information on the coordinate point of the rotation center G is stored in advance. Part 7 is recorded.
  • the projector 2 installed on the driving device 3 is moved so that the initial position of the projection center F coincides with the rotation center G, and precise alignment is performed.
  • the pan / tilt projector device 1 is installed so that the projector 2 is parallel to the horizontal plane. Then, as shown in FIG. 5 (a), a plane plate is installed perpendicularly to the horizontal plane in front of the irradiation lens portion 21 of the projector 2. That is, the plane of the flat plate is erected in parallel to the vertical axis K and perpendicular to the horizontal plane.
  • a plane plate is installed in front of the irradiation lens portion 21 of the projector 2 in parallel with the horizontal plane. That is, the plane of the plane plate is installed so as to be parallel to the vertical axis K and parallel to the horizontal plane.
  • the irradiation region and the non-irradiation region in the two directions described above are recorded by the camera 5.
  • This recorded information is transmitted to the projector control device.
  • the projection center position specifying unit 45 receives the recorded information to which the camera 5 force has been transmitted, and receives the initial information. Calculate the 3D coordinates of the position.
  • the projection center position specifying unit 45 is configured to calculate the initial position based on the information recorded by the camera 5. However, the user actually records the irradiation area and the non-irradiation area as described above.
  • the measurement result is input to the projector control unit 4 by operating the input device 6. And the structure which calculates the information of the three-dimensional coordinate of the said initial position based on this input measurement result may be sufficient.
  • the pan / tilt projector device 1 according to the present embodiment may not include the camera 5. In this case, a projection position information acquisition unit is realized by the input device 6.
  • the projection center position specifying unit 45 calculates the initial position information
  • the projection center position specifying unit 45 transmits the calculation result (initial position information) to the position adjusting unit 41.
  • the position adjusting unit 41 When the position adjusting unit 41 receives the initial position information from the projection center position specifying unit 45, the position adjusting unit 41 instructs the rotation center position receiving unit 44 to acquire the rotation center coordinate information 73 from the information storage unit 7. That is, when the rotation center position receiving unit 44 acquires the rotation center coordinate information 73 from the information storage unit 7 in response to an instruction from the projection center position specifying unit 45, the rotation center position information unit 73 transmits the acquired rotation center coordinate information 73 to the drive device 3. To do.
  • the position adjustment unit 41 receives the initial position information from the projection center position specifying unit 45, and receives the rotation center coordinate information 73 from the rotation center position receiving unit 44. Based on these pieces of information, the position of the projector 2 is instructed to the driving device 3.
  • the driving device 3 slides and moves the projector 2 to each of the ⁇ axis, the j8 axis, and the ⁇ axis in response to an instruction from the position adjustment unit 41.
  • the initial position of the projection center F obtained above includes an error. Therefore, we will perform precise positioning to correct this error. In the following, a method for precise alignment between the projection center F and the rotation center G will be described.
  • a partition is installed in front of the projection direction J of the projector 2 and between the actual environment projection plane R and the projector 2.
  • This partition is composed of a rectangular flat plate.
  • the screen is set so that the plane of the screen is perpendicular to the projection direction J of the projector 2.
  • This partition has a hole in one place, and only the light that has passed through this hole reaches the actual environment projection plane R.
  • the projected light is monochromatic on the entire surface.
  • a camera 5 is installed on the real environment projection plane R side, so that light projected on the real environment projection plane R can be observed.
  • the projection direction J of the projector 2 is moved in the horizontal direction or the vertical direction by an angle within a predetermined range, and the posture of the projector 2 is changed.
  • the projector 2 and the driving device 3 are aligned so that the coordinates of the initial value calculated above coincide with the coordinates of the rotation center G. From this state, the projector 2 is slid slightly in the three directions of the 13 and ⁇ axes on the driving device 3 and moved, and the attitude of the projector 2 is changed for each moved position. Then, the force lens 5 captures a trajectory of the projection point on the real environment projection plane R, and measures the trajectory from the photographing result. In this way, the positions (coordinate points) in the ⁇ , ⁇ ⁇ ⁇ 3 axes that minimize this trajectory region (that is, eventually become one point state on the real environment projection plane R) Explore.
  • the projection direction J of the projector 2 is moved in the horizontal direction or the vertical direction by an angle within a predetermined range. That is, the user operates the input device 6 in a state where the initial position is coincident with the rotation center G position, and instructs the posture adjustment unit 43 to change the projection direction J of the projector 2. In response to this instruction, the attitude adjustment unit 43 instructs the projector 2 to change the projection direction J. Then, the irradiation light power from the projector 2 whose posture has been changed in this way is recorded by the camera 5 to record the locus of the projection point on the real environment projection plane R formed by passing through the hole in the partition. Input to the control unit.
  • the adjustment position calculation unit 46 calculates the coordinate information force of the input projection point trajectory, and records the area of the region formed by the projection point trajectory in the information storage unit 7.
  • the adjustment position calculation unit 46 records the area of the region formed by the locus of the projection point together with information indicating the coordinates of the current projection center position (initial position).
  • the projector 2 is moved along the ⁇ , ⁇ , and ⁇ axes to slightly move the projection center F position.
  • the user operates the input device 6 to transmit information about the position to move the projection center F to the position adjustment unit 41.
  • the position adjustment unit 41 instructs the driving device 3 to slightly change the position of the projection center F. Further, the position adjustment unit 41 notifies the adjustment position calculation unit 46 of information on the changed position of the projection center F.
  • the posture adjustment unit 43 changes the posture to the projector 2 in response to an instruction from the user via the input device 6.
  • the camera 5 records the area of the area formed by the recorded projection points in accordance with the positional relationship between the projector 2 and the driving device 3 and transmits it to the adjustment position calculation unit 46.
  • This operation is performed for a plurality of ⁇ and ⁇ ⁇ ⁇ coordinate positions, and the projection center F position and the area of the area formed by the locus of the projection point are recorded in the information storage unit 7 in association with each position. To do.
  • the adjustment position calculation unit 46 is based on the projection center deviation amount table 72 indicating the correspondence between the positions of the plurality of projection centers F recorded in the information storage unit 7 and the area of the locus region. The coordinate information on the ⁇ ⁇ ⁇ axis where the region is the smallest is calculated. Then, the adjustment position calculation unit 46 transmits the calculated coordinate information to the fine adjustment unit 42.
  • the fine adjustment unit 42 transmits the received coordinate information to the driving device 3 and instructs the projector 2 to be arranged at the calculated coordinate position.
  • the driving device 3 slides the projector 2 in the a ;, ⁇ , and ⁇ axis directions and moves.
  • the positional relationship between the projector 2 and the driving device 3 can be adjusted so that the projection center F and the rotation center G coincide with each other. it can.
  • the adjustment position calculation unit 46 is configured to calculate coordinate information that minimizes the trajectory region based on information recorded by the camera 5, but may be configured as follows. .
  • the user actually measures the locus of the projection point on the actual environment projection plane R formed by passing through the partition hole. Then, the measurement result is input to the projector control unit 4 by operating the input device 6. And the structure which calculates the coordinate information from which the said locus
  • the pan / tilt projector apparatus 1 may not include the camera 5. In this case, the input device 6 implements a trajectory acquisition unit.
  • the projection plane In addition to the coordinate values expressed in the coordinate system (the coordinates of the real environment projection plane R), the attitude of the projector 2 and the information of the input image to be projected (the coordinate values of the projector projection image, that is, the pixel address in the input image) It is necessary to obtain the correspondence with the information shown.
  • the coordinate values expressed on the real environment projection plane scale are the coordinates (x, y; Param. 1) on the real environment projection plane R, and the projector Let the coordinate value of the projected image be the coordinates (X, Y; Param. 2) on the image plane P.
  • the attitude of the projector 2 is indicated by ( ⁇ , ⁇ ; Param. 3) as the pan angle and tilt angle that define the projection direction J of the projector 2, respectively.
  • the above-described operation for obtaining the relationship between Param. L to Param. 3 is referred to as calibration, and in particular, this calibration is referred to as internal calibration. It is set to be performed in two stages of external calibration.
  • step S 11 after matching the projection center F with the rotation center G (step S 11, hereinafter referred to as S 11), internal calibration (S 12) and external calibration are performed. I started playing Rebirth (S13)!
  • the internal calibration (S12) is to obtain parameters unique to the projector 2 that do not depend on the installation environment of the pan / tilt projector apparatus 1.
  • the parameters unique to the projector 2 are values such as the focal length L, the direction (tilt) of the projection light with respect to the vertical axis K, and the size of the image plane P defined in the projector geometric model.
  • the pixel address of the input image that is, the coordinates of the input image on the image plane P and the coordinates on the real environment projection plane R are calculated.
  • the relationship between the orientation of the projector 2 and the actual environment projection plane R is obtained. From these relationships, a transformation matrix between coordinates on the tangent plane Q and coordinates on the real environment projection plane R, which will be described later, a direction vector from the projection center F to the projection plane, and a direction vector from the image center E to the projection plane, and Find the direction vector of the projection center F point force at the four corners that define the range of image plane P.
  • This internal calibration needs to be performed only once for one projector 2 with respect to a predetermined real environment projection plane R.
  • the external calibration (S13) is to obtain a parameter for specifying the position or orientation of the projector 2 in the actual environment.
  • This external calibration is an operation that needs to be performed depending on the location where the projector 2 is installed. For this reason, it is preferable that external calibration, which is expected to be performed multiple times for one projector 2, can be performed as easily as possible.
  • the projector control unit 4 includes a generated image data receiving unit (image data receiving unit) 52, an image data correcting unit 53, an adjustment information acquiring unit (adjustment information acquiring unit). ) 54, a first relationship calculation unit (first relationship calculation unit) 55, and a second relationship calculation unit (second relationship calculation unit) 56.
  • the generated image data reception unit 52 instructs the projector 2 to project an image based on the image data received from the input device 6 or the image data correction unit 53.
  • the image data correction unit 53 refers to the internal adjustment information 71 based on the position information (coordinates) on the actual environment projection plane R input from the camera 5 or the input device 6, and causes the projector 2 to process the image data. A projection adjustment value is calculated. The image data correcting unit 53 transmits the calculated projection adjustment value of the image data to the generated image data receiving unit 52.
  • the image data correction unit 53 acquires position information of four or more points of the received projection area, and points on the image plane in the image data of the image to be projected corresponding to the position information. Then, the projection direction of the projector is calculated. Then, this calculated result is input to the generated image data receiving unit 52 and the posture adjusting unit 43.
  • the adjustment information acquisition unit 54 uses the direction vector of the image center E with the projection center F as the origin as internal adjustment information 71. Then, the coordinates on the tangent coordinate Q corresponding to the four corners of the projection area S and the information indicating the relationship between the tangent plane Q and the actual environment projection plane R are acquired. Then, the adjustment information acquisition unit 54 stores the acquired information in the information storage unit.
  • the first relation calculation unit 55 is based on the coordinates (X, Y) on the planar image P and the coordinates (X, y) on the real environment projection plane R of the plurality of projected point groups.
  • the transformation matrix H that enables transformation of these coordinates is calculated.
  • the first relationship calculating unit 55 calculates the conversion matrix H
  • the information is transmitted to the adjustment information acquisition unit 54.
  • the second relationship calculation unit 56 rotates the projection angle J in the predetermined direction (the post-position change profile). Information indicating the posture of the projector) and the predetermined direction (image center direction) after this posture change
  • the second relationship calculation unit 56 transmits the calculated result to the adjustment information acquisition unit 54.
  • the projector 2 is arranged so that it can project toward the real environment projection plane R (S21).
  • the relationship between Param. 1 and Param. 2 is obtained (S22).
  • the predetermined posture is a posture in which the vertical axis K directed from the projector 2 to the real environment projection plane R is perpendicular to the pan axis 90 and the tilt axis 90, respectively.
  • Non-Patent Document 9 R. Hartley and A. Zisserman, Multiple iew ueometry in computer Vision, and hapter.12, AM BRIDGE UNIVERSITY PRESS, 2000.
  • Non-Patent Document 10 R. Sukthankar, T. -J.Cham, G. Sukthankar, Dynamic Shadow Elimination for Multi-Projector Displays, Proceedings of Computer Vision and Pattern Recognition (CVPR '01) , Vol.2, pp.151-157, 2001.).
  • H is a 3 ⁇ 3 matrix called a homography matrix
  • the generated image data receiving unit 52 displays a suitable number of point groups of four or more points on the image plane P in a grid pattern. To be used as test image data.
  • the generated image data receiving unit 52 instructs the projector 2 to project an image based on the test image data.
  • the projector 2 projects these point groups onto the real environment projection plane R.
  • the relationship calculation unit 55 is notified.
  • the positions of these point groups on the real environment projection plane R are photographed by the camera 5, and the photographed results are input to the projector control unit 4.
  • the first relationship calculation unit 55 calculates the coordinates of these point groups on the actual environment projection plane R based on the photographed results.
  • the image taken by the camera 5 is, for example, Tsai's camera calibration, Non-Patent Document 8; RYTsai, A efficient and accurate camera calibration technique f or 3D machine vision ", CVPR, pp. 364-374, 1986.)
  • the camera is corrected by a lens distortion correction method, etc.
  • the above camera has a reference point whose coordinates on the actual environment projection plane R are known, and the above point.
  • the first relationship calculation unit 55 calculates the coordinates of the point group on the actual environment projection plane R from the positional relationship between the reference point and the point group. To do.
  • the first relationship calculation unit 55 calculates the coordinates of the point cloud on the actual environment projection plane R, the coordinates (X, Y) of each point cloud on the image plane P are calculated. And the coordinates (X, y) of each point cloud on the real environment projection plane R corresponding to this point cloud. Then, the first relationship calculation unit 55 can obtain the value of H in the above formula (1) from the acquired value.
  • the first relationship calculating unit 55 can obtain the relationship between,), and (i), that is, the relationship between Param. 1 and Param. 2, using Equation (1). [0152] Subsequently, the relationship between Param. 1 and Param. 3 in Param. L to Param. 3 is obtained (S23).
  • a tangent plane Q is provided as a virtual plane as shown in FIG.
  • the tangent plane Q is a plane parallel to a plane determined by the pan axis 90 and the tilt axis 91 in the initial projector posture.
  • the tangent plane Q is a virtual plane that is arranged between the projection center F and the real environment projection plane R and has a distance of 1 from the projection center F (that is, the rotation center G). .
  • the pan / tilt rotation mechanism included in the pan / tilt projector apparatus 1 is a gimbal mechanism in which the pan axis 90 and the tilt axis 91 intersect at right angles as described above. Then, the position of the pan axis 90 does not change with respect to the change in the attitude of the projector 2 with respect to the vertical direction, and the tilt axis 91 moves according to the change in attitude. However, as described above, the tangent plane Q is parallel to the plane defined by the pan axis 90 and the tilt axis 91. For this reason, the positional relationship between the tangent plane Q and the projection center F does not change when the orientation of the projector 2 in the horizontal direction is changed.
  • the value of Param. 2 is fixed and calculated. That is, the coordinates (X, Y) on the image plane P are determined as one fixed point, and the point is projected and observed on the projection plane with the postures of a plurality of types of projectors 2.
  • the image center E is set as the fixed point, but the fixed point is not limited thereto, and is a point on the image plane P, and is vertical. Any point that can obtain the angle from the axis K is acceptable.
  • the projection center F force in the initial posture of the projector 2 is also a three-dimensional direction vector to the image center E. , (Tan, tan, 1). This 3D
  • the projection center F is the origin.
  • this initial posture force also sets the projection direction J of the projector 2 to ⁇ degrees in the horizontal direction (pan),
  • the direction vector ( ⁇ , ⁇ ′, w ′) after moving the force by Q degrees in the vertical direction (tilt) can be expressed by the following equation (2).
  • the non-point is facing right
  • the rotation angle is positive
  • the tilt is positive with the downward rotation angle c
  • the matrix notation Rot represents a rotation matrix that rotates around the a axis. Therefore, in Equation (2) above, Rot represents the rotation matrix rotated 0 degrees around the X axis in the real environment space, and Rot represents the rotation matrix rotated 0 degrees around the y axis in the real environment space. To express.
  • the z-axis is an axis parallel to the vertical axis K in the initial posture of the projector 2, and the X-axis is parallel to the horizontal plane on which the projector 2 is installed and perpendicular to the z-axis. It is an intersecting axis.
  • the y axis is an axis perpendicular to the horizontal plane and perpendicular to the z axis.
  • Equation (3) when the three-dimensional direction vector (, v ', from the projection center F of the projector 2 to the image center E after the attitude change from the initial attitude is multiplied by a real number so that the ⁇ coordinate is 1, The relationship shown in Equation (3) is established.
  • the above (u, V) is the projection point coordinates on the tangent plane Q of the three-dimensional vector in the image center E direction after the posture change (see FIG. 10).
  • the image center E point on the tangent plane Q when the projection direction J is changed in the horizontal direction and the Z or vertical direction is calculated by the above formula (3). Therefore, in the present embodiment, the real number multiple relationship of the vectors in ( ⁇ , ⁇ ′, and (u, v, 1) described above is assumed to be the same value. , Can be expressed as Equation (3).
  • attitude of the projector 2 is changed, and (u, V) is calculated for the attitude positions of four or more projectors 2, and (x, y) corresponding to the calculated (u, V) respectively.
  • H can be determined by measuring each position coordinate.
  • Equation (4) The relationship with the coordinates (x, y) on the real environment projection plane R can be expressed as H as shown in Equation (4).
  • this H is the position of the position of four or more projectors 2 as described above.
  • (u, V) can be calculated, and the position coordinates (x, y) corresponding to the calculated (u, V) can be obtained by measuring each.
  • the projector control unit 4 is instructed to project an image that becomes the image center E from the input device 6.
  • the generated image data receiving unit 52 receives an instruction from the input device 6, and instructs the projector 2 to draw a point at coordinates on the image plane P that coincides with the projection center F position. To do.
  • the projector 2 projects a point that coincides with the image center E in the initial posture onto the projection region S.
  • the posture adjustment unit 4 is changed by the user from the input device 6 to the predetermined posture of the projector 2. Instructions are entered in 3.
  • the posture adjustment unit 43 instructs the drive device 3 to change to the predetermined posture of the projector 2.
  • the driving device 3 moves the projection direction J of the projector 2 by ⁇ degrees in the initial posture force in the horizontal direction (pan) and further by one ⁇ degree in the vertical direction (tilt).
  • the second relationship calculation unit 56 calculates the coordinate position on the tangent plane Q along the image center E after the posture change. That is, the above formula (
  • the camera 5 captures the projection point (x, y) on the actual environment projection plane R, and the captured result is input to the second relationship calculation unit 56.
  • This second relationship calculator 5
  • the projector 2 is changed to another posture, and the projection point (u, V) of the image center E on the tangent plane Q and the projection point (x , Y) is calculated for four or more posture changes in the same way.
  • the second relationship calculation unit 56 records the calculated result in the information storage unit 7 for each posture position of the projector 2. Then, H is calculated from projection points (X, y) and (u, V) corresponding to four or more posture positions recorded in the information storage unit 7.
  • the pan / tilt projector device 1 can obtain the relationship between Param. 1 and Param.
  • QR Indicates the inverse matrix.
  • the coordinate (X, Y) on the image plane P in the initial posture can be converted into the coordinate (u V) on the tangent plane Q by the above equation (5).
  • the coordinates (X, Y) (1 1,...) Of the four corners formed on the image plane P are added to the coordinates (XY) on the image plane P in this initial posture.
  • ( ⁇ 1024/2 , ⁇ 768/2 ) is substituted as coordinates (X, Y) to obtain the corresponding (u (init ), ⁇ ( ⁇ )
  • These direction vectors can all be expressed as coordinates (u, V) on the tangent plane by normalizing the values in the z-axis direction.
  • the pan / tilt projector apparatus 1 has the direction vector (tan
  • the adjustment information acquisition unit 54 performs the direction vector (tan, tan
  • step S12 The above is the internal calibration method of step S12 shown in FIG.
  • the pan / tilt projector device 1 can draw a moving object that needs to draw an image while continuously changing the projection direction J of the projector 2.
  • the attitude of the projector 2 is determined.
  • the orientation control policy of the projector 2 can be appropriately determined according to the application for drawing the rectangular image. In the present embodiment, control is performed so that the image center E direction is aligned with the center of gravity of the rectangular image to be drawn as the attitude control policy.
  • centroid (x, y) of the four end points (X, y; integers from 1 to 4) of the projection area S on the real environment projection plane R is calculated.
  • the image data correction unit 53 inputs the coordinate information of the projection area S on the actual environment projection plane R and the position where the rectangular image is to be drawn. Acquired from the user via the force device 6.
  • the camera 5 is arranged so as to capture the real environment projection plane R, and the image data correction unit 53 determines the projection plane area from the image data of the real environment projection plane R acquired by the camera 5. It may be configured to obtain the coordinates of the four end points.
  • the image data correction unit 53 determines the centroid (X, y ) Is calculated. And image data
  • the correction unit 53 calculates the center of gravity (X, y) on the tangent plane Q by the calculation shown in the following formula (6).
  • the image data correction unit 53 refers to the internal adjustment information 71 and easily determines the direction vector (u (ime) , V (ime ), 1 in the tangent plane Q based on the calculated center of gravity (X, y).
  • the image data correction unit 53 performs control so that the center of gravity and the image center E coincide with each other. And the direction vector of this image center E is (u (ime) , V (ime gg
  • the direction vector of the vertical axis K is as shown in the following formula (7).
  • the equation (7) can be derived based on the same idea as the above equations (2) and (3).
  • the projector 2 is set to the initial attitude force 0 in the pan direction (right direction), and then tilt direction (
  • the direction vector of the vertical axis K when rotated ⁇ upward It can be obtained by calculating the following formula (8). Note that “rightward” means that the projector 2 is directed toward the projection direction J of the projector 2 and is directed rightward in the horizontal direction, and “upwardly” means that in the vertical direction perpendicular to the horizontal direction, This means a direction opposite to the horizontal plane on which the pan / tilt projector device 1 according to the embodiment is installed.
  • the image data correction unit 53 adds (0, 0) to the equation (8).
  • Vi ( img) ) in the above equation (11) is a point obtained by projecting the end points of the four gaps on the image plane P onto the tangent plane Q.
  • a rectangular image is drawn in the above-described rectangular projection region S.
  • the direction vector of the four end points forming the projection region S on the tangent plane Q and the direction vector of the four end points of the rectangular image drawn in the projection region S by the equations (11) and (12) can be obtained. That is, the projection region S shape on the tangent plane Q and the shape outside the projection object can be obtained by the above formulas (11) and (12).
  • (ans) determines the four end points (X (ans) , Y; integers up to i 1 4 ) of the rectangular image to be generated on the image plane.
  • the projector control unit 4 performs the external calibration, as shown in FIG. 19, the external adjustment information acquisition unit (external adjustment information calculation means) 61 and the projection plane information acquisition unit (projection plane). (Information acquisition unit) 62 is provided.
  • the position information (X, and the information indicating the relationship between the position information on the tangent plane Q is calculated.
  • the two-dimensional coordinates of the four corners of the real environment projection plane R are, for example, developed when there are a plurality of surface forces in which the real environment projection plane scale is in different directions as shown in Fig. 13. These are the coordinates corresponding to the vertices of each surface when expressed on common two-dimensional coordinates.
  • the two-dimensional coordinates of the four corners of the real environment projection plane R can be arbitrarily determined on the real environment projection plane R.
  • the real environment projection plane R is rectangular, if the upper side of the real environment projection plane R is the X axis and the left side is the y axis, the coordinates of the four corners forming the real environment projection plane R can be easily obtained. .
  • the external adjustment information acquisition unit 61 stores the calculated information in the information storage unit 7 as the external adjustment information 74.
  • the projection plane information receiving unit 62 has the two-dimensional coordinates of the four corners of the real-environment projection plane R and the projector power for each real-environment projection plane for which image projection is desired. Information indicating the direction to the projection plane R is acquired via the camera 5.
  • the projection plane information receiving unit 62 acquires the information described above in response to an instruction from the input device.
  • This external calibration is realized by acquiring the two-dimensional coordinates at the four corners of the real environment projection plane R on which the image is drawn and information indicating the direction with respect to the real environment projection plane R from the pan / tilt projector device 1 it can.
  • each of the real environment projection planes R ′ is installed !, and the pan / tilt projector apparatus 1 is installed in this direction (S31). Then, the projection plane information receiving unit 62 in the projector control unit 4 acquires projection plane information indicating the size, shape, arrangement relationship and the like of the actual environment projection plane R (S32).
  • This projection plane information can be obtained, for example, by measurement using a design drawing of a space area (such as a room) in which the pan / tilt projector 2 according to the present embodiment is arranged, or a direct measure.
  • the obtained information is input to the projector control unit 4 by the user via the input device 6.
  • the projection plane information receiving unit 62 acquires the directions of the four corners of each real environment projection plane R from the pan / tilt projector apparatus 1 (S33).
  • the direction from the pan / tilt projector device 1 to each real environment projection plane R is acquired by projecting one point by the projector 2 and operating the posture of the projector 2 so that the point faces four corners. be able to.
  • the input device 6 projects an image corresponding to an arbitrary point on the image plane P onto the real environment projection plane R.
  • the attitude adjustment unit 43 instructs the driving device 3 to change the attitude of the projector 2 so that the projection points coincide with the four corners of the real environment projection plane.
  • the instruction to the driving device 3 by the posture adjustment unit 43 is made in accordance with an instruction from the user via the input device 6.
  • the acquired direction is specifically information on the pan angle and tilt angle indicating the attitude of the projector 2, and how much the projection direction J of the projector 2 is in the horizontal and vertical directions from the initial attitude. It is shown whether or not is moved.
  • the external adjustment information acquisition unit 61 uses each real-environment projection plane Ri (in this example, i Is a transformation matrix H (second transformation information) for (an integer from 1 to 3) (S34).
  • pan-tilt projector device 1 in pan-tilt projector device 1 according to the present embodiment, external calibration is performed by calculating respective transformation matrices H for a plurality of real-environment projection planes R.
  • the external adjustment unit information acquisition unit 61 converts the calculated transformation matrix H into each real
  • Each environment projection plane R is stored as external adjustment information 74 in the information storage unit 7.
  • image transformation is performed using the transformation matrix H for each real environment projection plane R.
  • the data correction unit 53 performs adjustment according to the projection screen R of the real environment to be projected, and transmits the adjusted image data to the generated image data receiving unit 52.
  • the generated image data reception unit 52 transmits the adjusted image data received from the image data correction unit 53 to the projector 2.
  • the generated image data receiving unit 52 instructs the posture adjusting unit 43 to move the projector 2 to a posture corresponding to the actual environment projection plane R.
  • transformation matrix H is the projection plane information and the real environment projection plane as described above.
  • the pan / tilt projector device 1 can easily perform the external calibration on a plurality of real environment projection planes R ′.
  • pan-tilt projector device 1 can perform the external calibration on each real-environment projection plane R, an image of an arbitrary shape is formed at an arbitrary position on the real-environment projection plane R ... You can draw without distortion.
  • the pan / tilt projector device 1 in the pan / tilt projector device 1 according to the present embodiment, information indicating the directions of the four corners of each real environment projection plane R and the two-dimensional of the four corners of the real environment projection plane R are described.
  • the above external calibration can be realized based on the coordinates. [0237] That is, as in the past, measurement of three-dimensional information such as the relative position and orientation of each real environment projection plane R and the projector 2 or the angular relationship between multiple real environment projection planes R is performed. do not need. That is, the conventional measurement of the three-dimensional information is complicated and difficult to improve accuracy, and unlike the pan-tilt projector device 1 according to the present embodiment, these measurements are unnecessary. A big advantage.
  • pan-tilt projector device 1 can handle the real environment projection plane R as a two-dimensional coordinate as described above, for example, two connected real environment projection planes R are displayed. There is a great advantage if it can be performed accurately even in case of straddling drawing.
  • pan-tilt projector apparatus 1 performs drawing on four planes (R to R) including planes connected to each other. In this case, this
  • the projection plane information receiving unit 62 acquires the directions of the four corners with respect to each of the real environment projection planes R to R as the prescribed position direction information. Specifically, this implementation
  • the image center E is the plane R to R.
  • the P t plane information receiving unit 62 receives it. Then, the projection plane information reception unit 62 obtains ( ⁇ 1, ⁇ 2)
  • the value of P t is transmitted to the external adjustment information acquisition unit 61.
  • the external adjustment information acquisition unit 61 converts the received value of ( ⁇ , ⁇ ) into a point (u, v) projected on the tangent plane Q using the above formulas (2) and (4). . And external adjustment information
  • the information acquisition unit 61 associates position information (X, y) on the actual environment projection plane R with position information (u, V) on the tangent plane Q, and registers the plane.
  • the information is stored in the information storage unit 7 as a table.
  • Te position information on one real environment projection plane R n tangent plane belonging to Q (u, V) forms a region located on the tangent plane Q , This area na ⁇ d na ⁇ d
  • I the back projection of each real environment projection plane R onto the tangent plane Q.
  • the boundary line between the tangent planes Q corresponds to the boundary line of the real environment projection plane R.
  • the area corresponding to the real environment projection plane R is referred to as a plane corresponding area with respect to the real environment projection plane R.
  • pan tilt projector The point ( ⁇ , y) on the surface R is the same point in the real environment. Therefore, pan tilt projector
  • Id Id 2a 2a value.
  • (U, V) and (U, V) are also the same value.
  • the external adjustment information acquisition unit 61 searches the plane registration table for the same (u, vM straight combination). External adjustment information acquisition unit 61 As a result of this search, if there are two sets of the same (u, vM straight) between two planes, it is determined that the two planes are linked. Of the two planes determined to be, the other plane connected to one plane is called a connection plane.
  • connection determination matrix connection relation information
  • connection determination matrix In the connection determination matrix shown in the mathematical formula (14), "one" indicates a negative value. The value of the element m of this matrix indicates whether or not the real environment projection plane R and the real environment projection plane R are connected.
  • connection determination matrix numbers are assigned in order of 1, 2, 3, ... as positive values to the two connected planes, and these values are the same as the real environment projection plane R to be connected. It is also used as an identifier (ID) for identifying the pair with the real environment projection plane R.
  • the external adjustment information acquisition unit 61 calculates the conversion formula between the coordinate systems for each set of the real environment projection planes R to be connected. calculate. More specifically, the external adjustment information acquisition unit 61 calculates a conversion formula between the coordinate systems as follows.
  • a set of connected real environment projection planes R is developed as one two-dimensional plane. Then, on this two-dimensional plane, a relational expression between one coordinate system and the other coordinate system is obtained.
  • the coordinates (X, y) (n; a to d) in 2 are the coordinates (X, y) in the real environment projection plane R.
  • V can be expressed as the following formula (15).
  • the external adjustment information acquisition unit 61 calculates the above equation (16) for all the combinations of the real environment projection planes R connected, and the information storage unit 7 Remember me.
  • the above conversion parameters are specifically the identifier assigned to each connection position, and the combination of the real environment projection plane R at the connection position specified by this identifier. It is memorized as a list in which the calculated conversion parameters are associated! RU
  • the pan / tilt projector apparatus 1 further stores the conversion parameter H, the plane registration table, and the connection determination matrix in addition to the conversion matrix H in the information storage unit 7 as the external adjustment information 74.
  • pan / tilt projector device 1 preparations for executing the projection processing onto the plurality of real environment projection planes R are performed.
  • the image data correction unit 53 receives the current attitude information ( ⁇ , ⁇ ′) of the projector 2 as described above. Then, the image data correcting unit 53, based on the received ( ⁇ ′, ⁇ ′), the image center in the current posture of the projector 2.
  • the figure shape D on the real environment projection plane R is calculated based on the coordinate system of the main plane R at the present time. For this reason, if the main plane R changes during drawing, the figure shape D is calculated based on the coordinate system of the changed main plane R. Another problem is that the orientation of the figure changes according to the difference in the orientation of the coordinate system in these two planes.
  • the pan / tilt projector device 1 in order to prevent such a problem, always records the immediately preceding main plane R.
  • the data correction unit 53 refers to the list shown in FIG. 24, and acquires the conversion parameter relating to the current actual environment projection plane R (S48). Then, the image data correction unit 53 stores and updates the acquired conversion parameter related to the current real environment projection plane R in the information storage unit 7 (S49). When the conversion parameter relating to the current real environment projection plane R is updated as described above, the figure to be drawn is rotated with reference to the updated conversion parameter (S50).
  • the real environment projection plane R (main plane R) for projecting the image center E changes from the main plane R to the main plane R.
  • the main plane R when changing from the main plane R to the main plane R, the main plane R
  • the main plane R that projects the image center E moves from the main plane R to the main plane R, for example.
  • the pan / tilt projector device 1 converts the conversion parameter from the main plane R to the main plane R.
  • the image center E position is obtained. For this reason, the pan / tilt projector device 1 applies the orientation parameter, that is, the rotation component ⁇ among the conversion parameters acquired from the information storage unit 7 to the figure to be drawn. Then, the pan / tilt projector device 1 rotates and draws the figure.
  • the orientation parameter that is, the rotation component ⁇ among the conversion parameters acquired from the information storage unit 7 to the figure to be drawn. Then, the pan / tilt projector device 1 rotates and draws the figure.
  • the external adjustment information acquisition unit 61 uses the equation (12) to calculate the R on the main plane R in the same manner as the process for obtaining the projection area S shape and the projection object on the tangent plane Q on the one real environment projection plane R described above.
  • the figure shape D can be obtained. in this way
  • the external adjustment information acquisition unit 61 draws the partial graphic on R on the main plane (S44).
  • the product area T with R is calculated, and only this T is projected onto the tangent plane Q (S shown in FIG. 26).
  • the image data correction unit 53 performs processing on the connection plane shown in FIG. That is, the image data correction unit 53 searches for the connection plane R connected to the main plane R with reference to the above-described connection determination matrix (S45). As described above, in the pan / tilt projector device 1 according to the present embodiment, an ID for specifying a set of connected real environment projection planes R is assigned in the connection determination matrix.
  • the image data correction unit 53 grasps the connection relationship in the real environment projection plane R based on this ID, and refers to the conversion parameter stored in the information storage unit 7 to change from R to R. Is obtained (S46). Then, the image data correction unit 53 converts the coordinates on the main plane R into the coordinates on each connection plane R using the coordinate conversion formula obtained in this way.
  • the image data correction unit 53 converts the graphic shape D described on the real environment projection plane R; (x m , y m ) to the coordinates D on each connecting plane R; (x c , y c ) can be converted. And the same as the relationship between the figure D and the principal plane R described above for the projection onto the tangent plane Q.
  • the product area T of the coordinates of the graphic shape D and the coordinates of the main plane R is calculated. Then, the calculated product area T is projected onto the tangent plane Q (S in FIG. 27) 0
  • the pan / tilt projector device 1 always records the immediately preceding main plane R. For this reason, for example, the main plane R changed during drawing
  • the change in the coordinate system can be reflected in the figure shape.
  • the pan-tilt projector apparatus 1 is as if the paper poster is smooth even when the projector 2 is freely rotated or continuously moved across the plurality of real environment projection planes R. In addition, it is possible to display as if moving along the surface of a plurality of real environment projection planes R.
  • the pan / tilt projector device 1 is configured such that the projection center F and the rotation center G coincide with each other. For this reason, the projection adjustment in various postures of the projectors 2 can be performed by the common coordinate system on the tangent plane Q, so that the projection adjustments in the postures of the respective projectors 2 can be quickly performed.
  • the following advantages can be obtained by installing a plurality of pan / tilt projector apparatuses 1 according to the present embodiment in the same space.
  • an image or the like can be projected by another projector 2 instead.
  • an image or the like can be projected onto a wall or the like of a wider spatial area.
  • a plurality of pan-tilt projector devices 1 can realize different image expression by overlapping different images or colors.
  • the compound projection system 100 is installed in a lecture room, and a large projection region S is formed by a plurality of pan-tilt projector devices 1 during a normal lecture.
  • the projection area S is divided into two according to the contents of the lecture, or can be moved to the wall or ceiling in the lecture room.
  • the pan / tilt projector device 1 is easy to adjust the projection, so that it can be easily installed in an existing lecture room, and the cost of installation is low. This can be reduced compared to the case where the projection is adjusted using the apparatus.
  • a concrete horizontal plane is first created at the place where the building is to be built, and a number of straight lines are drawn on it using black ink threads to draw the positions of the pillars and the shape of the building.
  • Inking black ink threads to draw the positions of the pillars and the shape of the building.
  • pan / tilt projector device 1 even if the projection target is not limited to a plane (real environment projection plane R).
  • the pan / tilt projector device 1 by using the pan / tilt projector device 1 according to the present embodiment, the research result on the existing projector can be easily extended to the projector 2 with the rotation mechanism.
  • the pan / tilt projector device 1 includes a projector 2, a driving device 3, a projector control unit 4, a camera 5, an input device 6, and an information storage unit 7, each separately configured. Forces These devices and members may be configured as a single casing.
  • the driving device 3 that rotates the projector 2 also has a biaxial force of a pan axis (rotating axis) 90 and a tilt axis (rotating axis) 91. It was a rotating mechanism.
  • the rotation mechanism is not limited to this, and even a rotation mechanism that does not have a rotation axis can be used as long as the rotation center exists. In other words, the rotation mechanism may be any mechanism that rotates the projector so that the rotation center becomes one point.
  • the position adjustment unit 41 matches the rotation center G and the projection center F based on the coordinate information of the rotation center G and the projection center F. So that the arrangement of the projector 2 is configured to move.
  • the rotation center G and the projection center F may be manually adjusted by the user while applying a force.
  • the coordinate information of the rotation center G and the projection center F is indicated to the user by output means (not shown) such as a display device or a printing device. Then, based on the indicated information, the user instructs the drive device 3 to move the projector 2 by operating the input device 6.
  • the adjusting means is realized by the input device 6.
  • the projector control unit 4 has a configuration in which the fine adjustment unit 42 finely adjusts the arrangement of the projector 2 based on the result calculated by the adjustment position calculation unit 42.
  • the user may manually adjust based on the result calculated by the adjustment position calculation unit 42.
  • the calculation result of the adjustment position calculation unit 42 is shown to the user by the output means (not shown). Based on the indicated information, the user operates the input device 6 to instruct the drive device 3 to adjust the arrangement of the projector 2. [0307] In the case of such a configuration, adjustment means is realized by the input device 6.
  • the image data correction unit 53 acquires position information of four or more points of the accepted projection area, and the image to be projected corresponding to the position information. The point on the image plane in the image data and the projection direction of the projector were calculated.
  • the projection plane information acquisition unit 62 is configured to acquire the two-dimensional coordinates of the four corners of the real environment projection plane R as the relationship between the projector 2 and each real environment projection plane R. .
  • the number of points to be acquired is not limited to this.
  • each unit and each processing step of the projector control unit 4 included in the pan / tilt projector device 1 of the above-described embodiment is performed by a calculation unit such as a CPU (not shown) such as a ROM (Read Only Memory) or a RAM.
  • a CPU such as a ROM (Read Only Memory) or a RAM.
  • This can be realized by executing a program stored in the storage means and controlling input means such as a keyboard, output means such as a display, or communication means such as an interface circuit.
  • various functions and various processes of the pan / tilt projector device 1 of the present embodiment can be realized by a computer having these means simply by reading the recording medium storing the program and executing the program. Further, by recording the above program on a removable recording medium, it is possible to realize the above various functions and various processes on an arbitrary computer.
  • a memory such as a ROM may be used as a program medium for processing by a microcomputer, and V not shown is an external storage device. It may be a program medium provided with a program reader and readable by inserting a recording medium into the program reader.
  • the recording medium is a recording medium that fluidly carries the program so as to download the program.
  • the download program is stored in the main unit in advance or installed with another recording medium strength.
  • the projection device changes the projection unit that irradiates light onto the projection surface and projects an image, and the projection direction that irradiates the projection surface from the projection unit.
  • a driving unit that rotates the projection unit, wherein when the light source point of the light irradiated by the projection unit is a projection center, the projection center and the projection unit by the drive unit
  • the projection unit and the drive unit are arranged so as to coincide with the center of rotation that is the center point of the rotational motion of the lens.
  • the plane coordinates for defining the position of the image to be projected on the projection plane can be converted into specific plane coordinates. . And it is possible to handle the plane coordinates of all the projection parts with different projection directions, that is, different projection postures, by integrating them with a certain plane coordinate. [0319] As described above, since each of the plane coordinate points in the projection postures of all the projection units can be integrated and handled by a specific plane, the image does not have a positional displacement without distortion with respect to the projection plane. If the adjustment work performed to enable drawing can be facilitated, there is an effect.
  • the projection apparatus projects a projection surface that irradiates light onto the projection surface and projects an image, and a projection direction that irradiates the projection surface from the projection unit.
  • a drive unit that rotates the projection unit so that the rotation center that is the center point of the rotational movement of the projection unit is set to one point by the drive unit.
  • rotation center position information acquisition means for acquiring rotation center position information, which is position information of the rotation center
  • Projection center position information specifying means for receiving irradiation light information indicating a locus of the emitted light and specifying projection center position information which is position information of the projection center based on the irradiation light information, and the rotation center acquired above
  • the position information and the specified projection center position information Hazuki, as the rotation center and the projection center that Itasu over characterized in that the projection portion and and an adjusting means for adjusting the positional relationship between the drive unit! / Ru.
  • the control method of the projection apparatus irradiates the projection surface with light from the projection unit that projects light by projecting light onto the projection surface.
  • a control method of a projection apparatus comprising a drive unit that rotates the projection unit so as to change the projection direction, wherein the drive unit causes a rotation center force ⁇ point that is a center point of the rotational movement of the projection unit.
  • the projection apparatus and the control method for the projection apparatus according to the present invention can handle each of the plane coordinate points in the postures of all the projection units in an integrated manner by a specific plane. wear. For this reason, there is an effect that it is possible to facilitate the adjustment work performed in order to be able to draw an image having no positional deviation with distortion in the projection area.
  • the projection apparatus described above is configured such that the projection center and the rotation center coincide. For this reason, it is possible to adjust the projection in various projection unit postures by a common coordinate system called a tangent plane. Therefore, it is possible to quickly perform projection adjustment in different postures of the projection units. In addition, since it is possible to easily adjust each of the different projection planes, it is possible to easily and quickly make adjustments by appropriately installing multiple units in the three-dimensional space. That is, the composite projection system has the effect of being able to build a system quickly and easily!
  • the projection unit expands the range of the light region at a predetermined angle from the projection center with respect to the projection surface.
  • a trajectory acquisition that obtains trajectory information indicating a trajectory of light emitted between the projection center and the projection plane, and a storage device that stores the rotation center information indicating the position information of the rotation center.
  • the rotation center position information acquisition means acquires rotation center position information from the storage device, and the projection center position information specification means uses the trajectory acquisition section as the irradiation light information. It may be configured to receive information and specify projection center position information based on the trajectory information.
  • the projection position information acquisition unit since the projection position information acquisition unit is provided, the projection position of the light emitted from the projection unit to the projection plane can be confirmed in different projection directions.
  • the position adjusting means since the position adjusting means is provided, the positions of the projection unit and the drive unit can be adjusted so as to converge to the projected point force on the projection plane.
  • the projection apparatus can arrange the projection unit and the drive unit by accurately and precisely matching the projection center and the rotation center.
  • the drive unit includes a plurality of rotation shafts for rotating the projection unit, and the rotation center includes the plurality of rotation axes. It is configured to be the intersection of the rotation axes.
  • the projection apparatus shows an image data receiving unit that receives image data to be projected and a plurality of predetermined positions received by the image data receiving unit in the configuration described above. Based on the image data, the relationship between the position information of the predetermined position in the image data and the projection position information is calculated from the projection position information of the projection point on the projection plane projected by the projection unit set to the initial posture. Based on the projection position information of the projection point on the projection plane projected by the projection unit rotated by a predetermined angle based on the first relation calculating means and the image data indicating the predetermined position received by the image data receiving means.
  • a second relationship calculating means for calculating a relationship between the projection direction of the projection unit and a projection point corresponding to each projection direction, the first relationship calculating means and the second relationship calculating means.
  • the adjustment information of the image to be projected on the projection plane based on the image data It is preferable to have an adjustment information acquisition means to acquire.
  • the image data indicating the plurality of predetermined positions is preferably four or more points in order to obtain the positional relationship between the projection plane and the plane on which the input image data is generated.
  • the predetermined position of the image data can be expressed by coordinates in a plane coordinate system that defines the position of the image data of the image to be projected, for example, by a pixel value corresponding to the image data.
  • the projection position information can be expressed as coordinates in a plane coordinate system that expresses the projection plane.
  • the adjustment information acquisition means from the calculation results of the first relationship calculation means and the second relationship calculation means, the adjustment information acquisition means, from the predetermined projection position on the projection plane, image data indicating an appropriate predetermined position, It is possible to know the projection direction of the projection unit.
  • the control method of the projection apparatus based on the step of receiving image data to be projected and the received image data indicating a plurality of predetermined positions based on the method described above, Calculating the relationship between the position information of the predetermined position in the image data and the projection position information from the projection position information of the projection point on the projection plane projected by the projection unit set to the initial posture; From the projection position information of the projection point on the projection plane, which is projected by the projection unit whose initial posture force is rotated by a predetermined angle based on the image data indicating the predetermined position, the projection direction of the projection unit and the projection direction according to each projection direction.
  • a scan for calculating the relationship between the projection direction of the projection unit and the projection point corresponding to each projection direction Since the steps are included, the relationship between the projection direction of the projection unit and the projection point defined in the predetermined projection direction can be calculated.
  • the image data indicating the appropriate predetermined position from the predetermined projection position on the projection surface and the projection of the projection unit are obtained by the step of acquiring the adjustment information. Adjustment information that allows the user to know the direction can be acquired.
  • the projection device and the control method for the projection device according to the present invention can know the predetermined position and the projection direction of the image data corresponding to the projection point desired to be drawn on the projection plane.
  • the projection surface and the image data projected onto the projection surface can be adjusted in advance.
  • the adjustment information acquisition unit commonly handles image data in the projection units having different projection directions as the adjustment information.
  • the first transformation information indicating the relationship between the positional information on the tangent plane, which is a plane capable of performing imaging, and the positional information on the projection plane, and the direction from the projection center to the projection point of the predetermined position projected on the projection plane.
  • it is configured to acquire direction information indicating, and direction information indicating a direction from the projection center with respect to at least four or more points in the image data that define a projectable range on the projection plane.
  • the tangent plane is a plane coordinate for defining the position of image data to be projected on the projection plane for each of the projection units having different orientations in an arbitrary projection direction.
  • the specific plane coordinates, that is, the projection directions are different, in other words, the projection postures are different, and the plane coordinates of all the projection parts can be handled in an integrated manner.
  • the projection apparatus has four or more positions that define the projection plane in the above-described configuration, when projecting an image onto a plurality of different projection planes.
  • Information and a projection unit force a projection plane information acquisition unit that acquires a specified position direction information indicating directions with respect to four or more points of the projection plane, and the position information and the specified position direction information acquired by the projection plane information acquisition unit
  • external adjustment information calculating means for calculating second conversion information for converting the position information on each projection plane into the position information on the tangent plane.
  • the projection plane information acquisition unit since the projection plane information acquisition unit is provided, it is possible to define the relationship between the projection plane and the projection unit according to each projection plane to be projected.
  • the external adjustment information acquisition unit since the external adjustment information acquisition unit is provided, it is possible to calculate second conversion information that can convert the above-mentioned relationship defined for each projection plane as position information on the tangent plane.
  • the projection apparatus acquires the second conversion information that can convert the relationship with respect to each projection plane into position information (coordinates) on the tangent plane. For this reason, position information (coordinates) for each projection plane can be integrated and handled as position information (coordinates) on the tangent plane.
  • the second conversion information calculated by the external adjustment information calculation means includes position information and specified positions of four or more points that define the projection plane.
  • Linkage relationship information calculated based on the direction information and indicating the link relationship with other adjacent projection planes, and the projection surfaces to be linked calculated based on the link relationship information are expanded into a two-dimensional plane. It is preferable to include a coordinate conversion parameter that specifies the coordinate relationship between the two.
  • connection relationship information is information indicating a combination of projection planes to be connected.
  • connection relations on a plurality of projection planes can be specified by referring to the connection relation information.
  • the connected projection planes can be represented on a two-dimensional plane.
  • position information (coordinates) for each projection plane to be connected can be integrated and handled as position information (coordinates) on the tangent plane.
  • the positions of four or more points that define the projection planes can be used.
  • Information, a projection unit force, a step of acquiring information indicating a direction with respect to the projection plane, position information on four or more points defining the acquired projection plane, and a projection unit force indicating a direction with respect to the projection plane And calculating second conversion information for converting position information on each projection plane into position information on the tangent plane based on the information.
  • position information on four or more points that define the projection plane, and the projection unit projects the projection Since it includes the step of acquiring information indicating the direction with respect to the shadow plane, it is possible to define the relationship between the projection plane and the projection unit according to each projection plane to be projected. Further, the second conversion information for converting the position information on each projection plane into the position information on the tangent plane can be calculated by the step of calculating the second conversion information.
  • each means of the projection apparatus may be realized by a computer.
  • a computer-readable recording medium in which the program is recorded also falls within the scope of the present invention.

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Abstract

La présente invention concerne un dispositif de projection panoramique horizontal-vertical (1) comprenant un projecteur (2) permettant d’irradier une face de projection de l’environnement réel (R) avec une lumière, afin de projeter une image, et un dispositif d’entraînement (3) permettant de faire tourner le projecteur (2) de manière à modifier la direction (J) de projection du projecteur (2) vers la face de projection de l’environnement réel (R). Le mouvement de rotation du projecteur (3) que doit faire tourner ce dispositif d’entraînement (3) présente un centre de rotation (G). Le projecteur (2) et le dispositif d’entraînement (3) sont agencés de manière à ce que, si le point de source lumineuse de la lumière irradiée par le projecteur (2) est un centre de projection (F), le centre de rotation (G) et le centre de projection (F) peuvent devenir identiques. C’est pourquoi le dispositif de projection panoramique horizontal-vertical (1) facilite l’ajustement à effectuer pour dessiner l’image sur la face de projection sans aucun défaut de cadrage ni distorsion.
PCT/JP2005/011652 2005-01-20 2005-06-24 Dispositif de projection, procede de commande pour celui-ci, systeme de projection composite, programme de commande pour le dispositif de projection et support d’enregistrement sur lequel est enregistre le programme de commande du dispositif de projection WO2006077665A1 (fr)

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