WO2018112898A1 - Projection method and device, and robot - Google Patents

Projection method and device, and robot Download PDF

Info

Publication number
WO2018112898A1
WO2018112898A1 PCT/CN2016/111754 CN2016111754W WO2018112898A1 WO 2018112898 A1 WO2018112898 A1 WO 2018112898A1 CN 2016111754 W CN2016111754 W CN 2016111754W WO 2018112898 A1 WO2018112898 A1 WO 2018112898A1
Authority
WO
WIPO (PCT)
Prior art keywords
projection
panoramic
partial
area
projection area
Prior art date
Application number
PCT/CN2016/111754
Other languages
French (fr)
Chinese (zh)
Inventor
骆磊
Original Assignee
深圳前海达闼云端智能科技有限公司
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.)
Filing date
Publication date
Application filed by 深圳前海达闼云端智能科技有限公司 filed Critical 深圳前海达闼云端智能科技有限公司
Priority to PCT/CN2016/111754 priority Critical patent/WO2018112898A1/en
Publication of WO2018112898A1 publication Critical patent/WO2018112898A1/en

Links

Images

Classifications

    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00362Recognising human body or animal bodies, e.g. vehicle occupant, pedestrian; Recognising body parts, e.g. hand
    • G06K9/00375Recognition of hand or arm, e.g. static hand biometric or posture recognition
    • G06K9/00389Static hand gesture recognition
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/62Methods or arrangements for recognition using electronic means
    • G06K9/6201Matching; Proximity measures
    • GPHYSICS
    • G10MUSICAL INSTRUMENTS; ACOUSTICS
    • G10LSPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00Speech recognition
    • G10L15/22Procedures used during a speech recognition process, e.g. man-machine dialogue
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N9/00Details of colour television systems
    • H04N9/12Picture reproducers
    • H04N9/31Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
    • H04N9/3179Video signal processing therefor
    • H04N9/3188Scale or resolution adjustment
    • GPHYSICS
    • G10MUSICAL INSTRUMENTS; ACOUSTICS
    • G10LSPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00Speech recognition
    • G10L15/22Procedures used during a speech recognition process, e.g. man-machine dialogue
    • G10L2015/225Feedback of the input speech

Abstract

Disclosed are a projection method and device, and a robot. The method comprises: determining the position of a local projection area from a panoramic projection area (40); and adjusting a projection direction of a projection apparatus according to the position of the local projection area, and enabling the projection apparatus to project a local projection picture, corresponding to the local projection area, to the local projection area (42). By means of the method, the projection apparatus can project the current local projection picture into the local projection area where projection needs to be performed currently when panoramic projection cannot be satisfied, and when the local projection area changes each time, the local projection picture of the current local projection area can be adjusted in real time so as to complete a relevant operation.

Description

一种投影方法、装置及机器人Projection method, device and robot 技术领域Technical field
本申请涉及投影成像技术领域,特别是涉及一种投影方法、装置及机器人。The present application relates to the field of projection imaging technology, and in particular, to a projection method, apparatus, and robot.
背景技术Background technique
现有机器人具有投影功能,能够灵活更换投影位置,将预设的全景投影画面投影至对应的区域,以便用户根据该全景投影画面完成相关作业。例如,一些特殊的工程施工的过程中,机器人的投影设备将要施工所需要的整幅投影画面投影到施工墙面,以便施工人员根据该整幅投影画面在施工墙面进行施工。The existing robot has a projection function, can flexibly change the projection position, and project a preset panoramic projection screen to a corresponding area, so that the user can complete the related work according to the panoramic projection screen. For example, in some special engineering construction processes, the projection device of the robot projects the entire projection picture required for construction onto the construction wall, so that the construction personnel can carry out the construction on the construction wall according to the whole projection picture.
现有机器人在投影过程中,如,在将整幅投影画面投影至施工墙面进行施工时,会因为实际投影画面太大,而不能一次将整幅投影画面完整投影至施工墙面。为解决上述技术问题,现有技术的机器人采用高配置和价格昂贵的投影设备进行投影,或者多个投影设备同时投影,以满足将整幅投影画面进行一次性投影。In the process of projection of the existing robot, for example, when the entire projection screen is projected onto the construction wall for construction, the actual projection screen is too large, and the entire projection image cannot be completely projected onto the construction wall at a time. In order to solve the above technical problems, the prior art robot projects with a high configuration and an expensive projection device, or a plurality of projection devices simultaneously project to perform one-time projection of the entire projection image.
然而,在一些应用过程中,用户无需根据整幅投影画面以完成相关作业,其只需整幅投影画面中的局部投影画面便可以完成当前范围内的作业,如,在施工过程中,施工人员只需获得当前施工范围内的局部投影画面,便可完成当前范围内的施工,且在施工人员位置变化时,再获取下一位置范围内的局部投影画面,即可完成为下一位置的施工。然而本申请发明人发现:现有机器人或投影设备尚未能够解决在全景投影画面中选择局部投影画面进行局部投影的技术问题。However, in some applications, the user does not need to complete the related work according to the entire projection picture, and only needs the partial projection picture in the whole projection picture to complete the work within the current range, for example, during the construction process, the construction personnel Only need to obtain the partial projection picture in the current construction range, the construction within the current range can be completed, and when the position of the construction personnel changes, the partial projection picture in the next position range can be acquired, and the construction for the next position can be completed. . However, the inventors of the present application have found that the existing robot or projection apparatus has not been able to solve the technical problem of selecting a partial projection picture for partial projection in a panoramic projection picture.
发明内容Summary of the invention
本申请主要解决的技术问题是提供一种投影方法、装置及机器人,主要目的是解决现有技术的投影设备尚未能够解决在全景投影画面中选择局部投影画面进行局部投影的技术问题。The technical problem to be solved by the present application is to provide a projection method, a device and a robot. The main purpose of the present invention is to solve the technical problem that the projection device of the prior art has not been able to solve the problem of selecting a partial projection image for partial projection in a panoramic projection image.
为解决上述技术问题,本申请实施例提供以下技术方案: To solve the above technical problem, the embodiment of the present application provides the following technical solutions:
在第一方面,本申请实施例提供一种投影方法,所述方法包括:从全景投影区域中确定局部投影区域的位置;根据所述局部投影区域的位置调节投影设备的投影方向,并且使所述投影设备将与所述局部投影区域对应的局部投影画面,投影至所述局部投影区域。In a first aspect, an embodiment of the present application provides a projection method, including: determining a position of a partial projection area from a panoramic projection area; adjusting a projection direction of the projection apparatus according to a position of the partial projection area, and The projection device projects a partial projection picture corresponding to the partial projection area to the partial projection area.
可选地,所述从全景投影区域中确定局部投影区域的位置包括:确定用户在全景投影区域的位置;根据确定到的用户在所述全景投影区域的位置,在所述全景投影区域中确定局部投影区域的位置。Optionally, determining the location of the partial projection area from the panoramic projection area comprises: determining a position of the user in the panoramic projection area; determining, in the panoramic projection area, according to the determined location of the user in the panoramic projection area The location of the local projection area.
可选地,所述确定用户在全景投影区域的位置,包括:捕捉全景投影区域所处位置的全景图片;从所述全景图片中确定所述用户在所述全景投影区域的位置。Optionally, the determining a location of the user in the panoramic projection area comprises: capturing a panoramic picture of a location where the panoramic projection area is located; determining a location of the user in the panoramic projection area from the panoramic picture.
可选地,所述局部投影画面,由预存的全景投影画面中裁剪得出,其中,当将所述预存的全景投影画面投影至所述全景投影区域时,所述预存的全景投影画面覆盖所述全景投影区域。Optionally, the partial projection picture is obtained by cropping from a pre-stored panoramic projection image, wherein when the pre-stored panoramic projection image is projected to the panoramic projection area, the pre-stored panoramic projection screen covers the location The panoramic projection area.
可选地,所述根据所述局部投影区域的位置调节投影设备的投影方向,包括:根据所述局部投影区域的位置,移动投影设备,直至移动后的投影设备的投影光轴垂直于所述局部投影区域所在的平面。Optionally, adjusting the projection direction of the projection device according to the position of the partial projection area comprises: moving the projection device according to the position of the partial projection area until the projection optical axis of the moved projection device is perpendicular to the The plane in which the local projection area is located.
可选地,所述根据所述局部投影区域的位置调节投影设备的的投影方向,包括:根据所述局部投影区域的位置,调节投影设备的投影角度,直至调节后的投影设备的投影光轴聚焦于所述局部投影区域。Optionally, adjusting the projection direction of the projection device according to the position of the partial projection area comprises: adjusting a projection angle of the projection device according to a position of the partial projection area until a projection optical axis of the adjusted projection device Focusing on the partial projection area.
在第二方面,本申请实施例提供一种投影装置,所述装置包括:确定模块,用于从全景投影区域中确定局部投影区域的位置;调节模块,用于根据所述局部投影区域的位置,调节投影设备的投影方向,并且使所述投影设备将与所述局部投影区域对应的局部投影画面,投影至所述局部投影区域。In a second aspect, an embodiment of the present application provides a projection apparatus, the apparatus comprising: a determining module, configured to determine a position of a partial projection area from a panoramic projection area; and an adjustment module, configured to determine a position according to the partial projection area And adjusting a projection direction of the projection device, and causing the projection device to project a partial projection image corresponding to the partial projection region to the partial projection region.
可选地,所述确定模块包括:第一确定单元,用于确定用户在全景投影区域的位置;第二确定单元,用于根据确定到的用户在所述全景投影区域的位置,在所述全景投影区域中确定局部投影区域的位置。Optionally, the determining module includes: a first determining unit, configured to determine a location of the user in the panoramic projection area; and a second determining unit, configured to determine, according to the determined location of the user in the panoramic projection area, The position of the partial projection area is determined in the panoramic projection area.
可选地,所述第一确定单元包括:第一确定子单元,用于捕捉全景投影区域所处位置的全景图片;第二确定子单元,用于从所述全景图片中确定所述用户在所述全景投影区域的位置。 Optionally, the first determining unit includes: a first determining subunit, configured to capture a panoramic picture of a location where the panoramic projection area is located; and a second determining subunit, configured to determine, from the panoramic picture, the user The position of the panoramic projection area.
可选地,所述局部投影画面,由预存的全景投影画面中裁剪得出,其中,当将所述预存的全景投影画面投影至所述全景投影区域时,所述预存的全景投影画面覆盖所述全景投影区域。Optionally, the partial projection picture is obtained by cropping from a pre-stored panoramic projection image, wherein when the pre-stored panoramic projection image is projected to the panoramic projection area, the pre-stored panoramic projection screen covers the location The panoramic projection area.
可选地,所述调节模块包括:第一调节单元,用于根据所述局部投影区域的位置,移动投影设备,直至移动后的投影设备的投影光轴垂直于所述局部投影区域所在的平面。Optionally, the adjustment module includes: a first adjustment unit, configured to move the projection device according to a position of the partial projection area, until a projection optical axis of the moved projection device is perpendicular to a plane where the partial projection area is located .
可选地,所述调节模块包括:第二调节单元,用于根据所述局部投影区域的位置,调节投影设备的投影角度,直至调节后的投影设备的投影光轴聚焦于所述局部投影区域。Optionally, the adjusting module includes: a second adjusting unit, configured to adjust a projection angle of the projection device according to the position of the partial projection area, until the projection optical axis of the adjusted projection device is focused on the partial projection area .
在第三方面,本申请实施例提供一种机器人,所述机器人包括:至少一个处理器;以及,投影设备;调节装置,用于调节投影设备的投影方向;与所述至少一个处理器通信连接的存储器;其中,所述处理器分别和所述投影设备、所述调节装置及所述存储器连接;所述存储器存储有可被所述至少一个处理器执行的指令程序,所述指令程序被所述至少一个处理器执行,以使所述至少一个处理器能够基于所述投影设备和所述调节装置,执行上述的方法。In a third aspect, an embodiment of the present application provides a robot, including: at least one processor; and a projection device; an adjustment device, configured to adjust a projection direction of the projection device; and communicatively coupled to the at least one processor a memory; wherein the processor is coupled to the projection device, the adjustment device, and the memory, respectively; the memory stores an instruction program executable by the at least one processor, the instruction program being The at least one processor executes to enable the at least one processor to perform the method described above based on the projection device and the adjustment device.
在本申请各个实施例中,通过从全景投影区域中确定局部投影区域的位置,并根据局部投影区域的位置调节投影设备的投影方向,以使投影设备将与局部投影区域对应的局部投影画面,投影至局部投影区域。In various embodiments of the present application, the position of the partial projection area is determined from the panoramic projection area, and the projection direction of the projection apparatus is adjusted according to the position of the partial projection area, so that the projection apparatus will have a partial projection picture corresponding to the partial projection area, Project to the local projection area.
在本申请实施方式中,能够在无法满足全景投影的情况下,将全景投影画面中的局部投影画面投影至当前所需投影的局部投影区域内,并且在每一次局部投影区域变化时,能够实时调整当前局部投影区域的局部投影画面。In the embodiment of the present application, the partial projection picture in the panoramic projection picture can be projected into the local projection area of the current desired projection in the case that the panoramic projection cannot be satisfied, and can be real-time every time the partial projection area changes. Adjust the partial projection picture of the current local projection area.
附图说明DRAWINGS
一个或多个实施例通过与之对应的附图中的图片进行示例性说明,这些示例性说明并不构成对实施例的限定,附图中具有相同参考数字标号的元件表示为类似的元件,除非有特别申明,附图中的图不构成比例限制。The one or more embodiments are exemplified by the accompanying drawings in the accompanying drawings, and FIG. The figures in the drawings do not constitute a scale limitation unless otherwise stated.
图1是本申请实施例提供的投影装置的结构示意图;1 is a schematic structural diagram of a projection apparatus according to an embodiment of the present application;
图2是本申请另一实施例提供的投影装置的结构示意图;2 is a schematic structural diagram of a projection apparatus according to another embodiment of the present application;
图3是本申请实施例提供的机器人的硬件结构示意图;3 is a schematic structural diagram of hardware of a robot provided by an embodiment of the present application;
图3a至图3c是本申请实施例提供一种施工场景; 3a to 3c are schematic views of a construction scenario provided by an embodiment of the present application;
图4是本申请实施例提供的投影方法的流程示意图;4 is a schematic flow chart of a projection method provided by an embodiment of the present application;
图5是图4中步骤40的流程示意图;Figure 5 is a schematic flow chart of step 40 in Figure 4;
图6是图5中步骤401的流程示意图。FIG. 6 is a schematic flow chart of step 401 in FIG. 5.
具体实施方式detailed description
为了使本申请的目的、技术方案及优点更加清楚明白,以下结合附图及实施例,对本申请进行进一步详细说明。应当理解,此处所描述的具体实施例仅用以解释本申请,并不用于限定本申请。In order to make the objects, technical solutions, and advantages of the present application more comprehensible, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the application and are not intended to be limiting.
请参阅图1,图1是本申请实施例提供的投影装置的结构示意图。如图1所示,该投影装置10包括确定模块101及调节模块102。Please refer to FIG. 1. FIG. 1 is a schematic structural diagram of a projection apparatus according to an embodiment of the present application. As shown in FIG. 1 , the projection device 10 includes a determination module 101 and an adjustment module 102 .
确定模块101用于从全景投影区域中确定局部投影区域的位置;The determining module 101 is configured to determine a location of the partial projection area from the panoramic projection area;
调节模块102用于根据局部投影区域的位置调节投影设备的投影方向,并且使投影设备将与局部投影区域对应的局部投影画面,投影至局部投影区域。The adjustment module 102 is configured to adjust a projection direction of the projection device according to the position of the partial projection area, and cause the projection device to project the partial projection picture corresponding to the partial projection area to the partial projection area.
局部投影区域为全景投影区域中的部分投景区域,投影装置10在进行投影过程中,会根据任务需求将全景投影区域作为所需投影的区域。当投影装置10无法满足将一次性投射整个全景投影区域时,确定模块101可以从全景投影区域中选择一局部区域作为局部投影区域,并且向该局部投影区域投影对应的局部投影画面。The partial projection area is a partial projection area in the panoramic projection area, and the projection device 10 uses the panoramic projection area as the desired projection area according to the task requirement during the projection process. When the projection device 10 is unable to meet the projection of the entire panoramic projection area at a time, the determination module 101 may select a partial region from the panoramic projection region as a partial projection region, and project a corresponding partial projection image to the partial projection region.
例如,全景投影区域为四方形,全景投影区域各个角落点的分别为A(0,0),B(0,100),C(150,0),D(150,100),局部投影区域也可以为四方形,各个角落点的坐标为:E(30,40),F(100,40),G(30,50),H(100,50)。当然,在其它替代实施例中,局部投影区域也可以不为四方形,也可以为其它形状,例如圆形、三角形,又或者,局部投影区域为其它不规则形状。For example, the panoramic projection area is square, and the corner points of the panoramic projection area are A(0,0), B(0,100), C(150,0), D(150,100), and the partial projection area can also be square. The coordinates of each corner point are: E (30, 40), F (100, 40), G (30, 50), H (100, 50). Of course, in other alternative embodiments, the partial projection area may not be square, or may be other shapes, such as a circle, a triangle, or the partial projection area may be other irregular shapes.
需要说明的是,在每一次局部投影区域的位置发生变化时,重新确定的局部投影区域的范围可根据当前作业需要进行重新确定,而不是预先对该局部投影区域的范围做限定。例如,全景投影区域为长1000厘米,宽500厘米的长方形区域,当前的局部投影区域可以是该全景投影区域中长为150厘米、宽为100厘米的某一长方形区域,在当前局部投影区域的相关作业完成后,局部投影区域的位置会发生变化,下一局部投影区域可以是该全景投影区域中半径为120厘米的某一圆形区域。 It should be noted that, when the position of each partial projection area changes, the range of the re-determined partial projection area may be re-determined according to the current operation requirement, instead of limiting the range of the partial projection area in advance. For example, the panoramic projection area is a rectangular area of 1000 cm in length and 500 cm in width, and the current partial projection area may be a rectangular area having a length of 150 cm and a width of 100 cm in the panoramic projection area, in the current partial projection area. After the related operation is completed, the position of the partial projection area changes, and the next partial projection area may be a circular area having a radius of 120 cm in the panoramic projection area.
在本申请实施方式中,能够在无法满足全景投影的情况下,将当前的局部投影画面投影至当前所需投影的局部投影区域内,并且在每一次局部投影区域变化时,能够实时调整当前局部投影区域的局部投影画面,实现动态局部投影。In the embodiment of the present application, the current partial projection image can be projected into the local projection area of the current desired projection without satisfying the panoramic projection, and the current local region can be adjusted in real time when each partial projection region changes. A partial projection image of the projection area enables dynamic local projection.
图2是本申请另一实施例提供的投影装置的结构示意图。如图2所示,投影装置20包括确定模块201及调节模块202。确定模块201及调节模块202与上述实施例基于同一思路,此处不再一一赘述。该投影装置20与上述实施例的不同之处在于,确定模块201包括:第一确定单元2011和第二确定单元2012。FIG. 2 is a schematic structural diagram of a projection apparatus according to another embodiment of the present application. As shown in FIG. 2, the projection device 20 includes a determination module 201 and an adjustment module 202. The determination module 201 and the adjustment module 202 are based on the same idea as the above embodiment, and will not be further described herein. The projection device 20 is different from the above embodiment in that the determination module 201 includes a first determination unit 2011 and a second determination unit 2012.
第一确定单元2011,用于确定用户在全景投影区域的位置;第二确定单元2012,用于根据确定到的用户在全景投影区域的位置,在全景投影区域中确定局部投影区域的位置。由于局部投影区域是根据用户在全景投影区域的位置确定,实现跟随用户的位置进行局部投影。The first determining unit 2011 is configured to determine a position of the user in the panoramic projection area; and the second determining unit 2012 is configured to determine the position of the partial projection area in the panoramic projection area according to the determined position of the user in the panoramic projection area. Since the partial projection area is determined according to the position of the user in the panoramic projection area, local projection is performed following the position of the user.
值得说明的是:确定用户在全景投影区域中的位置的方式可以有多种,例如:图像识别、红外探测、语音识别等等,以下以图像识别、红外探测和语音识别为例进行说明:It is worth noting that there are various ways to determine the position of the user in the panoramic projection area, such as image recognition, infrared detection, speech recognition, etc. The following is an example of image recognition, infrared detection and speech recognition:
(1)图像识别,图像识别是指先采集全影投影区域所在位置的全景图片,再确定用户在全景图片中位置,进而确定用户在全影投影区域中的位置,则第一确定单元2011包括第一确定子单元20111及第二确定子单元20112。(1) Image recognition, image recognition refers to first acquiring a panoramic picture of the position of the full-image projection area, and then determining the position of the user in the panoramic picture, thereby determining the position of the user in the full-image projection area, the first determining unit 2011 includes A determining subunit 20111 and a second determining subunit 20112.
第一确定子单元20111用于捕捉全景投影区域所处位置的全景图片;第二确定子单元20112用于从全景图片中确定用户在全景投影区域的位置。其中,在全景图片中的用户相对于全景图片的位置,即用户在全景投影区域的位置。The first determining subunit 20111 is configured to capture a panoramic picture of the location where the panoramic projection area is located; the second determining subunit 20112 is configured to determine the location of the user in the panoramic projection area from the panoramic picture. Wherein, the position of the user in the panoramic picture relative to the panoramic picture, that is, the position of the user in the panoramic projection area.
进一步的,当用户在全景投影区域的前方移动或者静止时,第一确定子单元20111可按照采集频率对全景投影区域所处位置进行拍摄,并且输出拍摄后的全景图片。当然,在其它替代实施方式中,还可以识别用户移动速度,根据用户移动速度,调整采集频率的大小,保证采集频率与用户移动速度相匹配。Further, when the user moves or stops in front of the panoramic projection area, the first determining subunit 20111 can capture the position of the panoramic projection area according to the acquisition frequency, and output the captured panoramic picture. Of course, in other alternative embodiments, the user's moving speed can also be recognized, and the size of the collecting frequency is adjusted according to the user's moving speed to ensure that the collecting frequency matches the user's moving speed.
当然,全景投影区域对应有全景投影画面,当投影全景投影画面时,全景投影画面能够覆盖全景投影区域。其中,全景投影画面预先存储在投影装置中,在确定好局部投影区域之后,可以根据局部投影区域的位置和大小对应从全景投影画面中进行裁剪得到局部投影画面,例如:第二确定子单元20112根据局部投影区域EFGH分别为:E(30,40),F(100,40),G(30,50),H(100,50),根据局部投影区域在全景投影区域的大小、位置以及全景投景区域与全景投景 画面的比例,将局部投影区域映射到全景投影画面中,确定裁剪范围和位置,例如:当全景投影画面的尺寸为285mm x 210mm时,并且全景投影区域的各个尺寸参数分别是四个点的坐标,其中A(0,0),B(0,100),C(150,0),D(150,100),则从全景投影画面裁剪出局部投影画面的大小如下述的四个点坐标参数所得到:Of course, the panoramic projection area corresponds to a panoramic projection screen, and when the panoramic projection screen is projected, the panoramic projection screen can cover the panoramic projection area. The panoramic projection screen is pre-stored in the projection device. After the local projection region is determined, the partial projection image can be obtained by cropping from the panoramic projection image according to the position and size of the local projection region, for example, the second determining subunit 20112 According to the local projection area EFGH are: E (30, 40), F (100, 40), G (30, 50), H (100, 50), according to the size, position and panorama of the panoramic projection area of the partial projection area. Projection area and panoramic view The scale of the picture, the local projection area is mapped into the panoramic projection picture, and the clipping range and position are determined, for example, when the size of the panoramic projection picture is 285 mm x 210 mm, and the respective size parameters of the panoramic projection area are coordinates of four points respectively. Where A(0,0), B(0,100), C(150,0), D(150,100), the size of the partial projection picture is cropped from the panoramic projection picture as obtained by the following four point coordinate parameters:
K1的横坐标为(30/150)*285=57mm,纵坐标为(40/100)*210=84mm,因此,K1=(57,84);The abscissa of K1 is (30/150)*285=57mm, and the ordinate is (40/100)*210=84mm, therefore, K1=(57,84);
K2的横坐标为(100/150)*285=190mm,纵坐标为(40/100)*210=84mm,因此,K2=(190,84);The abscissa of K2 is (100/150)*285=190mm, and the ordinate is (40/100)*210=84mm, therefore, K2=(190,84);
K3的横坐标为(30/150)*285=57mm,纵坐标为(50/100)*210=105mm,因此,K3=(57,105);The abscissa of K3 is (30/150)*285=57mm, and the ordinate is (50/100)*210=105mm, therefore, K3=(57,105);
K4的横坐标为(100/150)*285=190mm,纵坐标为(50/100)*210=105mm,因此,K3=(190,105);The abscissa of K4 is (100/150)*285=190mm, and the ordinate is (50/100)*210=105mm, therefore, K3=(190,105);
因此,局部投影画面的尺寸(190mm-57mm)x(105-84)=133mm x21mm。并且矩形的第一边长距离全景投影画面的第一边长为57mm,矩形的第二边长距离全景图片的第二边长为(285-190=95mm),矩形的第三边长距离全景图片的第三边长为84mm,矩形的第四边长距离全景图片的第四边长为(210-105=105mm)。由于预存的全景投影画面覆盖全景投影区域,裁剪得到的该局部投影画面也形影覆盖该局部投影区域。Therefore, the size of the partial projection picture (190 mm - 57 mm) x (105 - 84) = 133 mm x 21 mm. And the first side of the rectangle has a first side length of 57 mm, and the second side of the rectangle has a second side length of the panoramic picture (285-190=95 mm), and the third side of the rectangle has a long distance The third side of the picture has a length of 84 mm, and the fourth side of the rectangle has a fourth side length of the panoramic picture (210-105 = 105 mm). Since the pre-stored panoramic projection image covers the panoramic projection area, the cropped partial projection image also forms a shape to cover the partial projection area.
当然,在一些实施例中,全景投景区域前面也可以有多个用户,当有多个用户时,可以根据人物特征匹配出一个用户,根据该一个用户确定局部投影区域,具体为:第一确定单元2011通过摄像头采集整幅墙的图像,从图像中提取各人物的人物特征,并将提取到的人物特征与预存的人物特征进行匹配,如果能匹配成功,则匹配成功的人物为用户,并且而匹配成功的人物在图像中位置为用户在全景投影区域的位置。此处对人物特征不受限定,例如,人物做出竖起大拇指的手势,或者,人物做出握拳手势等等,通过人物特征进行匹配的方式可以很好地解决多人物站在墙面时,造成识别混乱的技术问题。Certainly, in some embodiments, a plurality of users may be in front of the panoramic viewing area. When there are multiple users, one user may be matched according to the character characteristics, and the local projection area is determined according to the one user, specifically: first The determining unit 2011 collects the image of the entire wall through the camera, extracts the character features of each character from the image, and matches the extracted character features with the pre-existing character features. If the matching is successful, the matching successful character is the user. And the position of the successfully matched person in the image is the position of the user in the panoramic projection area. Here, the character characteristics are not limited, for example, the character makes a thumbs up gesture, or the character makes a fist gesture, etc., and the matching of the character features can well solve the problem of multiple characters standing on the wall. , causing technical problems in identifying confusion.
(2)语音识别:例如,用户站在墙面某一位置发出“我在这里”的声音指示,当识别该语音,并通过该语音的方向性确定用户在全景投影区域的位置。(2) Speech recognition: For example, the user stands at a certain position on the wall to issue an "I am here" voice indication, when the voice is recognized, and the position of the user in the panoramic projection area is determined by the directivity of the voice.
(3)红外探测:例如,通过红外探测器探测墙面,当墙面某个位置的热量 不同于其它位置的热量时,则确定该位置存在用户,进而确定用户在全景投影区域的位置。(3) Infrared detection: for example, detecting the wall surface by an infrared detector, when the heat is at a certain position on the wall When the heat is different from other locations, it is determined that there is a user at the location, thereby determining the location of the user in the panoramic projection area.
需要说明的是,用户在景投影区域的位置只限定局部投影区域的位置,不限定局部投影区域的范围,该范围可根据实际业务需求进行确定,如,用户本身高180cm,宽50cm,则局部投影区域的范围可根据实际需要,覆盖该用户所在的位置,或该用户所在位置的附近即可,并不限定局部投影区域的范围为180cm*50cm。当然,在一些实施例中,该局部投影区域在全景投影区域的位置也可以是一定比例大小的固定范围。It should be noted that the position of the user in the scene projection area only defines the position of the partial projection area, and the range of the partial projection area is not limited, and the range can be determined according to actual business requirements. For example, the user itself is 180 cm high and 50 cm wide, and then the local part is local. The range of the projection area may cover the location where the user is located or the vicinity of the location of the user according to actual needs, and the range of the partial projection area is not limited to 180 cm*50 cm. Of course, in some embodiments, the position of the partial projection area in the panoramic projection area may also be a fixed range of a certain proportion.
为了响应于用户的移动而带来局部投影区域的位置的变化,在一些实施例中,投影设备可以根据局部投影区域的位置,调整自身位置,以输出不失真的局部投影画面。例如,调节模块202包括第一调节单元(图未示)。第一调节单元,用于根据局部投影区域的位置进行移动,直至移动后的投影设备的投影光轴垂直于局部投影区域所在的平面。当然,在其它替代实施例中,调节模块202包括第二调节单元(图未示)。第二调节单元用于根据局部投影区域的位置,调节投影设备的投影角度,直至调节后的投影设备的投影光轴聚焦于局部投影区域。In order to bring about a change in the position of the local projection area in response to the user's movement, in some embodiments, the projection apparatus may adjust its position according to the position of the partial projection area to output a non-distorted partial projection picture. For example, the adjustment module 202 includes a first adjustment unit (not shown). The first adjusting unit is configured to move according to the position of the partial projection area until the projection optical axis of the moved projection device is perpendicular to a plane where the partial projection area is located. Of course, in other alternative embodiments, the adjustment module 202 includes a second adjustment unit (not shown). The second adjusting unit is configured to adjust the projection angle of the projection device according to the position of the partial projection area until the projection optical axis of the adjusted projection device is focused on the partial projection area.
本申请实施方式,能够通过捕获用户在全景投影区域所处位置的全景图片,并通过该全景图片确定用户在全景投影区域的位置,以及通过该全景图片裁剪得到与用户位置相关的局部投影画面。使得在无法满足全景投影的情况下,将当前的局部投影画面投影至当前所需投影的局部投影区域内,并且在每一次局部投影区域变化时,能够根据用户的位置实时调整当前局部投影区域的局部投影画面,并根据用户的位置调整投影设备的投影方向,实现动态局部投影。In the embodiment of the present application, a panoramic picture of a position where the user is located in the panoramic projection area can be captured, and the position of the user in the panoramic projection area is determined by the panoramic picture, and a partial projection picture related to the position of the user is obtained by the panoramic picture cropping. In the case that the panoramic projection cannot be satisfied, the current partial projection image is projected into the local projection area of the current desired projection, and each time the local projection area changes, the current partial projection area can be adjusted in real time according to the position of the user. The screen is partially projected, and the projection direction of the projection device is adjusted according to the position of the user to realize dynamic partial projection.
图3是本申请实施例提供的机器人的硬件结构示意图。如图3所示,该机器人30用于执行如上所述的投影方法,该机器人30包括:一个或多个处理器310、投影设备320、调节装置330以及存储器340。其中,图3中以一个处理器310为例。FIG. 3 is a schematic diagram of a hardware structure of a robot provided by an embodiment of the present application. As shown in FIG. 3, the robot 30 is configured to perform a projection method as described above, the robot 30 comprising: one or more processors 310, a projection device 320, an adjustment device 330, and a memory 340. Wherein, one processor 310 is taken as an example in FIG.
处理器310、投影设备320、调节装置330以及存储器340可以通过总线或者其他方式连接,图3中以通过总线连接为例。投影设备320用于向局部投影区域进行投影。调节装置330用于调节投影设备的投影方向。处理器310用于从全景投影区域中确定局部投影区域的位置,并且根据局部投影区域的位置, 通过调节装置330调节投影设备320的投影方向,并且使投影设备320将与局部投影区域对应的局部投影画面,投影至局部投影区域。The processor 310, the projection device 320, the adjustment device 330, and the memory 340 may be connected by a bus or other means, and the connection through the bus is taken as an example in FIG. Projection device 320 is used to project a local projection area. The adjustment device 330 is used to adjust the projection direction of the projection device. The processor 310 is configured to determine a position of the partial projection area from the panoramic projection area, and according to the position of the partial projection area, The projection direction of the projection device 320 is adjusted by the adjustment device 330, and the projection device 320 is caused to project a partial projection image corresponding to the partial projection region to the partial projection region.
在具体实施时,这里的调节装置330可以是指用来调节机器人的位置和/或姿态,从而调整机器人上的投影设备320的装置。比如控制机器人沿所投影的墙体运动,从而控制投影的位置。也可以是专门用于调整投影设备320而非用于调整整个机器人的位置和/或姿态的装置。调节装置330可以包括转动轴和驱动转动轴转动的驱动控制器,投影设备320安装在该转动轴上,并且可以跟随着转动轴的转动而转动。处理器310通过向调节装置330的驱动控制器发送驱动命令,驱动调节装置330的转动轴发生转动,以调整投影设备320至合适的位置,使投影设备320将与局部投影区域对应的局部投影画面,投影至局部投影区域。In particular implementations, adjustment device 330 herein may refer to a device for adjusting the position and/or posture of the robot to adjust projection device 320 on the robot. For example, the control robot moves along the projected wall to control the position of the projection. It may also be a device dedicated to adjusting the projection device 320 rather than for adjusting the position and/or posture of the entire robot. The adjusting device 330 may include a driving shaft on which the rotating shaft and the driving rotating shaft rotate, and the projection device 320 is mounted on the rotating shaft and rotatable in accordance with the rotation of the rotating shaft. The processor 310 transmits a driving command to the driving controller of the adjusting device 330 to rotate the rotating shaft of the driving adjusting device 330 to adjust the projection device 320 to a suitable position, so that the projection device 320 will display a partial projection screen corresponding to the partial projection region. , projected to the local projection area.
可选地,局部投影区域可根据用户在全景投影区域的位置确定,实现动态跟随用户的位置进行投影,则处理器310又具体用于确定用户在全景投影区域的位置;根据确定到的用户在全景投影区域的位置,在全景投影区域中确定局部投影区域的位置。进一步,在确定用户在全景投影区域的位置时,可以根据图像识别的方式确定,如图3所示,则机器人还包括图像采集装置350,处理器310确定用户在全景投影区域的位置,包括:通过图像采集装置350捕捉全景投影区域所处位置的全景图片;从全景图片中确定用户在全景投影区域的位置。当然,在其它替代实施方式中,也可以采用其它方式确定用户在全景投影区域中的位置,例如:语音识别和红外识别。Optionally, the local projection area may be determined according to the position of the user in the panoramic projection area, and the position of the user is dynamically followed to be projected, and the processor 310 is specifically configured to determine the position of the user in the panoramic projection area; The position of the panoramic projection area determines the position of the partial projection area in the panoramic projection area. Further, when determining the position of the user in the panoramic projection area, it may be determined according to the manner of image recognition. As shown in FIG. 3, the robot further includes an image collection device 350. The processor 310 determines the position of the user in the panoramic projection area, including: A panoramic picture of the position where the panoramic projection area is located is captured by the image capture device 350; the position of the user in the panoramic projection area is determined from the panoramic picture. Of course, in other alternative embodiments, other ways of determining the location of the user in the panoramic projection area, such as speech recognition and infrared recognition, may also be employed.
当然,全景投影区域可对应有全景投影画面,全景投影画面是指将全景投影画面投影至全景投影区域时,全景投影画面覆盖全景投影区域。其中,全景投影画面预先存储在投影装置中,在确定好局部投影区域之后,可以根据局部投影区域的位置和大小对应从全景投影画面中进行裁剪得到局部投影画面。Of course, the panoramic projection area may correspond to a panoramic projection screen, and the panoramic projection screen refers to a panoramic projection screen covering the panoramic projection area when the panoramic projection screen is projected to the panoramic projection area. The panoramic projection screen is pre-stored in the projection device. After the local projection region is determined, the partial projection image can be obtained by cropping from the panoramic projection image according to the position and size of the partial projection region.
可选地,为了响应于用户的移动而带来局部投影区域的位置的变化,在一些实施例中,投影设备可以根据局部投影区域的位置,调整自身位置,以输出不失真的局部投影画面。则调节装置还可以调节机器人的位置,处理器310根据局部投影区域的位置调节投影设备的投影方向,包括:处理器310根据局部投影区域的位置,通过调节装置移动投影设备,直至移动后的投影设备的投影光轴垂直于局部投影区域所在的平面。又或者,处理器310根据局部投影区域 的位置调节投影设备的投影方向,包括:处理器310根据局部投影区域的位置,调节投影设备的投影角度,直至调节后的投影设备的投影光轴聚焦于局部投影区域。Alternatively, in order to bring about a change in the position of the partial projection area in response to the movement of the user, in some embodiments, the projection apparatus may adjust its position according to the position of the partial projection area to output an undistorted partial projection picture. The adjustment device can also adjust the position of the robot, and the processor 310 adjusts the projection direction of the projection device according to the position of the partial projection area, including: the processor 310 moves the projection device through the adjustment device according to the position of the partial projection area until the projection after the movement The projection optical axis of the device is perpendicular to the plane in which the local projection area is located. Or alternatively, the processor 310 is based on the local projection area The position of the projection device adjusts the projection direction, and the processor 310 adjusts the projection angle of the projection device according to the position of the partial projection region until the projection optical axis of the adjusted projection device is focused on the partial projection region.
值得说明的是:处理器310所执行的操作可以以程序指令/模块的方式存储在存储器320,存储器320作为一种非易失性计算机可读存储介质,可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块,如本申请实施例中的投影方法对应的程序指令/模块(例如,附图1所示的各个模块,图2所示的各个模块和各个单元)。处理器310通过运行存储在存储器320中的非易失性软件程序、指令以及模块,从而执行投影装置的各种功能应用以及数据处理,即实现下述方法实施例投影方法以及上述装置实施例的各个模块的功能。It should be noted that the operations performed by the processor 310 may be stored in the memory 320 in the form of program instructions/modules, which are used as a non-volatile computer readable storage medium for storing non-volatile software programs, The non-volatile computer executable program and the module, such as the program instructions/modules corresponding to the projection method in the embodiment of the present application (for example, the respective modules shown in FIG. 1, the respective modules and the respective units shown in FIG. 2). The processor 310 performs various functional applications and data processing of the projection apparatus by executing non-volatile software programs, instructions, and modules stored in the memory 320, that is, implementing the projection method of the following method embodiments and the apparatus embodiments described above. The function of each module.
存储器320可以包括高速随机存取存储器,还可以包括非易失性存储器,例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中,存储器320可选包括相对于处理器310远程设置的存储器,这些远程存储器可以通过网络连接至处理器301。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。Memory 320 can include high speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 320 can optionally include memory remotely located relative to processor 310, which can be coupled to processor 301 via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
所述程序指令/模块存储在所述存储器320中,当被所述一个或者多个处理器301执行时,执行下述任意方法实施例中的投影方法,例如,执行下述描述的图4至6所示的各个步骤;也可实现上述的附图1所示的各个模块的功能,或者图2所示的各个模块和各个单元的功能。The program instructions/modules are stored in the memory 320, and when executed by the one or more processors 301, perform a projection method in any of the method embodiments described below, for example, performing the following description of FIG. 4 to The respective steps shown in Fig. 6 can also realize the functions of the respective modules shown in Fig. 1 described above, or the functions of the respective modules and the respective units shown in Fig. 2.
专业人员应该还可以进一步意识到,结合本文中所公开的实施例描述的各示例的单元及算法步骤,能够以电子硬件、计算机软件或者二者的结合来实现,为了清楚地说明硬件和软件的可互换性,在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件方式来执行,取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能,但是这种实现不应认为超出本申请的范围。所述的计算机软件可存储于计算机可读取存储介质中,该程序在执行时,可包括如上述各方法的实施例的流程。其中,所述的存储介质可为磁碟、光盘、只读存储记忆体或随机存储记忆体等。A person skilled in the art should further appreciate that the elements and algorithm steps of the various examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both, in order to clearly illustrate hardware and software. Interchangeability, the composition and steps of the various examples have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the solution. A person skilled in the art can use different methods to implement the described functions for each particular application, but such implementation should not be considered to be beyond the scope of the present application. The computer software can be stored in a computer readable storage medium, which, when executed, can include the flow of an embodiment of the methods described above. The storage medium may be a magnetic disk, an optical disk, a read-only storage memory, or a random storage memory.
为了方便读者理解,下述又举例进行说明:For the convenience of the reader, the following examples are explained:
在一些作业过程中,机器人需要将作业所需的投影画面投影至作业区域, 其中,为了配合作业人员完成作业,在投影过程中,机器人可以选择两种方式进行投影:第一种:机器人将全部作业区域作为全景投影区域,并且将全景投影区域所对应的全景投影画面投影至该全景投影区域。第二种:机器人根据作业人员的作业范围,从全部作业区域中选择与作业人员当前相关的局部作业区域作为局部投影区域,并且将局部投影区域所对应的局部投影画面投影至该局部投影区域。若当前的投影设备无法满足将全景投影区域所对应的全景投影画面投影至该全景投影区域,可选择第二种作业方式完成任务。本实施例主要对第二种作业方式进行举例说明。In some operations, the robot needs to project the projection screen required for the job to the work area. In order to cooperate with the operator to complete the work, the robot can select two ways to project during the projection process: the first type: the robot uses the entire work area as the panoramic projection area, and projects the panoramic projection picture corresponding to the panoramic projection area to The panoramic projection area. Secondly, the robot selects a local work area currently associated with the worker from the entire work area as a partial projection area according to the work range of the worker, and projects a partial projection screen corresponding to the partial projection area to the partial projection area. If the current projection device cannot project the panoramic projection screen corresponding to the panoramic projection area to the panoramic projection area, the second operation mode can be selected to complete the task. This embodiment mainly describes the second operation mode.
请参阅图3a,在图3a中,施工面墙3a0,即为全景投影区域,包括书架区域3a01、背景区域3a02、电视安装区域3a03及盆栽区域3a04,每个区域在全景投影区域3a0的位置由设计者预先规划,因此每个区域均有规定的尺寸。在装饰之前,施工人员需要对各个区域进行标线和刻度,以便后续施工人员完成下一步作业。如果采用第一种方式进行投影时,由于受限于房屋的宽度,尚未能够将投影画面一次性投满到施工面墙3a0,并且施工人员一般不会在整面施工面墙3a0同时施工。进一步的,施工人员在施工前,一般对施工所需的工程设计大图比较熟悉,在施工时,只需获得自己当前周围一定范围内的设计图即可开始精确施工。因此为了实现全景投影画面的投影,第一种实施方式的机器人需要配置高昂的投影设备,增加了机器人的设计成本,而第二种方式可以满足施工的需求。Referring to FIG. 3a, in FIG. 3a, the construction wall 3a0, that is, the panoramic projection area, includes a bookshelf area 3a01, a background area 3a02, a television installation area 3a03, and a potting area 3a04, and each area is located at the position of the panoramic projection area 3a0. The designer pre-plans so each area has a specified size. Before the decoration, the construction personnel need to carry out marking and marking for each area, so that the follow-up construction personnel can complete the next operation. If the first method is used for projection, since the width of the house is limited, the projection screen cannot be filled once to the construction wall 3a0, and the construction personnel generally do not simultaneously construct the entire construction wall 3a0. Further, before the construction, the construction personnel generally have a familiarity with the engineering design drawings required for the construction. During the construction, it is only necessary to obtain a design plan within a certain range around the current construction to start the precise construction. Therefore, in order to realize the projection of the panoramic projection picture, the robot of the first embodiment needs to be equipped with a high projection device, which increases the design cost of the robot, and the second method can meet the construction requirements.
请参阅图3b,施工人员3b0站在地面上对书架3b1的侧立面进行标线和施工,此时,机器人可以将书架3b1的侧立面作为局部投影区域,将当前施工人员相关的局部投影画面3b2(即书架3b1的侧立面相关的投影画面)投影至该局部投影区域,此处的局部投影区域和局部投影画面3b2重叠。Referring to Figure 3b, the constructor 3b0 stands on the ground to mark and construct the side elevation of the bookshelf 3b1. At this time, the robot can use the side elevation of the bookshelf 3b1 as a partial projection area to project the local projections of the current construction personnel. The screen 3b2 (that is, the projection screen related to the side elevation of the bookshelf 3b1) is projected to the partial projection area, where the partial projection area and the partial projection screen 3b2 overlap.
当施工人员3b0的施工位置发生变化时,例如,请参阅图3c,施工人员3b0站在梯子3c0对背景区域3a02的右边缘划线区域3c1行标线和施工时,机器人可以将背景区域3a02的右边缘划线区域3c1作为局部投影区域,将当前施工人员相关的局部投影画面3c2(即背景区域3a02的右边缘相关的投影画面)投影至该局部投影区域,此处的局部投影区域和局部投影画面3c2重叠。When the construction position of the construction worker 3b0 changes, for example, referring to FIG. 3c, the constructor 3b0 stands on the line 3c1 of the right edge of the background area 3a02 of the ladder 3c0 and the construction line, and the robot can set the background area 3a02 The right edge scribe line region 3c1 is used as a partial projection region, and the local projection screen 3c2 related to the current constructor (ie, the projection image related to the right edge of the background region 3a02) is projected to the local projection region, where the partial projection region and the partial projection are respectively The screen 3c2 overlaps.
在无法满足全景投影的情况下,机器人可以将当前的局部投影画面投影至当前所需投影的局部投影区域内,并且在每一次局部投影区域变化时,能够根 据用户的位置实时调整当前局部投影区域的局部投影画面,并根据用户的位置调整投影设备的投影方向,实现动态局部投影。In the case that the panoramic projection cannot be satisfied, the robot can project the current partial projection image into the local projection area of the current desired projection, and can be rooted every time the partial projection region changes. The partial projection picture of the current partial projection area is adjusted in real time according to the position of the user, and the projection direction of the projection device is adjusted according to the position of the user to realize dynamic partial projection.
需要说明的是,此处基于机器人的投影方法的实施例的解释,只是一种实施方式而已,并不对该投影方法、与机器人包括的设备进行限定,任何通过从全景投影区域中确定局部投影区域的位置,并根据局部投影区域的位置调节投影设备的投影方向,使得在只需要当前位置的局部投影画面时,投影设备能够对该位置局部投影画面进行投影的方法,应当落入本申请的保护范围之内。It should be noted that the explanation of the embodiment of the projection method based on the robot here is only an embodiment, and the projection method and the device included in the robot are not limited, and any local projection region is determined from the panoramic projection region. Position and adjust the projection direction of the projection device according to the position of the partial projection area, so that the projection device can project the partial projection image of the position when only the partial projection picture of the current position is needed, which should fall within the protection of the present application Within the scope.
图4是本申请实施例提供的投影方法的流程示意图。如图4所示,该投影方法包括:4 is a schematic flow chart of a projection method provided by an embodiment of the present application. As shown in FIG. 4, the projection method includes:
步骤40:从全景投影区域中确定局部投影区域的位置;Step 40: Determine a position of the partial projection area from the panoramic projection area;
步骤42:根据局部投影区域的位置,调节投影设备的投影方向,并且使投影设备将与局部投影区域对应的局部投影画面,投影至局部投影区域。Step 42: Adjust the projection direction of the projection device according to the position of the partial projection area, and cause the projection device to project the partial projection picture corresponding to the partial projection area to the partial projection area.
局部投影区域为全景投影区域中的部分投景区域。机器人在进行投影过程中,会根据任务需求将全景投影区域作为所需投影的区域。当机器人无法满足将一次性投射整个全景投影区域时,机器人可以从全景投影区域中选择一局部区域作为局部投影区域,并且向该局部投影区域投影对应的局部投影画面。The partial projection area is a partial projection area in the panoramic projection area. During the projection process, the robot will use the panoramic projection area as the desired projection area according to the task requirements. When the robot cannot satisfy the projection of the entire panoramic projection area at a time, the robot can select a partial region from the panoramic projection region as a partial projection region, and project a corresponding partial projection image to the partial projection region.
例如,全景投影区域为四方形,全景投影区域各个角落点的分别为A(0,0),B(0,100),C(150,0),D(150,100),局部投影区域也可以为四方形,各个角落点的坐标为:E(30,40),F(100,40),G(30,50),H(100,50)。当然,在其它替代实施例中,局部投影区域也可以不为四方形,也可以为其它形状,例如圆形、三角形,又或者,局部投影区域为其它不规则形状。For example, the panoramic projection area is square, and the corner points of the panoramic projection area are A(0,0), B(0,100), C(150,0), D(150,100), and the partial projection area can also be square. The coordinates of each corner point are: E (30, 40), F (100, 40), G (30, 50), H (100, 50). Of course, in other alternative embodiments, the partial projection area may not be square, or may be other shapes, such as a circle, a triangle, or the partial projection area may be other irregular shapes.
需要说明的是,在每一次局部投影区域的位置发生变化时,重新确定的局部投影区域的范围可根据当前作业需要进行重新确定,而不是预先对该局部投影区域的范围做限定。例如,全景投影区域为长1000厘米,宽500厘米的长方形区域,当前的局部投影区域可以是该全景投影区域中长为150厘米、宽为100厘米的某一长方形区域,在当前局部投影区域的相关作业完成后,局部投影区域的位置会发生变化,下一局部投影区域可以是该全景投影区域中半径为120厘米的某一圆形区域。It should be noted that, when the position of each partial projection area changes, the range of the re-determined partial projection area may be re-determined according to the current operation requirement, instead of limiting the range of the partial projection area in advance. For example, the panoramic projection area is a rectangular area of 1000 cm in length and 500 cm in width, and the current partial projection area may be a rectangular area having a length of 150 cm and a width of 100 cm in the panoramic projection area, in the current partial projection area. After the related operation is completed, the position of the partial projection area changes, and the next partial projection area may be a circular area having a radius of 120 cm in the panoramic projection area.
在本申请实施方式中,其能够在无法满足全景投影的情况下,将当前的局部投影画面投影至当前所需投影的局部投影区域内,并且在每一次局部投影区 域变化时,能够实时调整当前局部投影区域的局部投影画面,实现动态局部投影。In the embodiment of the present application, it is capable of projecting the current partial projection image into the local projection area of the current desired projection without satisfying the panoramic projection, and in each partial projection area. When the domain changes, the local projection picture of the current local projection area can be adjusted in real time to realize dynamic local projection.
在一些实施方式中,机器人可以根据位于全景投影区域前方的用户的需求进行精确投影,以便用户能够高效地完成作业目的。可选地,如图5所示,与上述各个实施例的区别点在于,步骤40包括:In some embodiments, the robot can accurately project according to the needs of the user located in front of the panoramic projection area so that the user can efficiently accomplish the work purpose. Optionally, as shown in FIG. 5, the difference from the foregoing embodiments is that step 40 includes:
步骤401:确定用户在全景投影区域的位置;Step 401: Determine a location of the user in the panoramic projection area;
步骤402:根据确定到的用户在全景投影区域的位置,在全景投影区域中确定局部投影区域的位置。Step 402: Determine the position of the partial projection area in the panoramic projection area according to the determined position of the user in the panoramic projection area.
由于局部投影区域是根据用户在全景投影区域的位置确定,实现跟随用户的位置进行局部投影。Since the partial projection area is determined according to the position of the user in the panoramic projection area, local projection is performed following the position of the user.
值得说明的是:确定用户在全景投影区域中的位置的方式可以有多种,例如:图像识别、红外探测、语音识别等等,以下以图像识别、红外探测和语音识别为例进行说明:It is worth noting that there are various ways to determine the position of the user in the panoramic projection area, such as image recognition, infrared detection, speech recognition, etc. The following is an example of image recognition, infrared detection and speech recognition:
(1)图像识别,图像识别是指先采集全影投影区域所在位置的全景图片,再确定用户在全景图片中位置,进而确定用户在全影投影区域中的位置。具体的,如图6所示,步骤401包括:(1) Image recognition, image recognition refers to capturing a panoramic picture of the location of the full-image projection area, and then determining the position of the user in the panoramic picture, thereby determining the position of the user in the full-image projection area. Specifically, as shown in FIG. 6, step 401 includes:
步骤4011:捕捉全景投影区域所处位置的全景图片;Step 4011: Capture a panoramic picture of the location where the panoramic projection area is located;
步骤4012:从全景图片中确定用户在全景投影区域的位置。Step 4012: Determine the position of the user in the panoramic projection area from the panoramic picture.
进一步的,当用户在全景投影区域的前方移动或者静止时,第一确定子单元20111可按照采集频率对全景投影区域所处位置进行拍摄,并且输出拍摄后的全景图片。当然,在其它替代实施方式中,还可以识别用户移动速度,根据用户移动速度,调整采集频率的大小,保证采集频率与用户移动速度相匹配。Further, when the user moves or stops in front of the panoramic projection area, the first determining subunit 20111 can capture the position of the panoramic projection area according to the acquisition frequency, and output the captured panoramic picture. Of course, in other alternative embodiments, the user's moving speed can also be recognized, and the size of the collecting frequency is adjusted according to the user's moving speed to ensure that the collecting frequency matches the user's moving speed.
当然,全景投影区域对应有全景投影画面,当投影全景投影画面时,全景投影画面能够覆盖全景投影区域。其中,全景投影画面预先存储在投影装置中,在确定好局部投影区域之后,可以根据局部投影区域的位置和大小对应从全景投影画面中进行裁剪得到局部投影画面,例如:机器人可以根据局部投影区域EFGH分别为:E(30,40),F(100,40),G(30,50),H(100,50),根据局部投影区域在全景投影区域的大小、位置以及全景投景区域与全景投景画面的比例,将局部投影区域映射到全景投影画面中,确定裁剪范围和位置,例如:当全景投影画面的尺寸为285mm x 210mm时,并且全景投影区域的各个尺寸参数分别 是四个点的坐标,其中A(0,0),B(0,100),C(150,0),D(150,100),则从全景投影画面裁剪出局部投影画面的大小如下述的四个点坐标参数所得到:Of course, the panoramic projection area corresponds to a panoramic projection screen, and when the panoramic projection screen is projected, the panoramic projection screen can cover the panoramic projection area. The panoramic projection screen is pre-stored in the projection device. After the local projection region is determined, the partial projection image can be obtained by cropping from the panoramic projection image according to the position and size of the local projection region. For example, the robot can be based on the local projection region. EFGH are: E (30, 40), F (100, 40), G (30, 50), H (100, 50), according to the size, position and panoramic projection area of the panoramic projection area according to the local projection area. The proportion of the panoramic projection screen is mapped to the panoramic projection screen to determine the clipping range and position, for example, when the size of the panoramic projection screen is 285 mm x 210 mm, and the respective size parameters of the panoramic projection area are respectively Is the coordinates of four points, where A(0,0), B(0,100), C(150,0), D(150,100), the size of the partial projection picture is cropped from the panoramic projection picture as the following four points The coordinate parameters are obtained:
K1的横坐标为(30/150)*285=57mm,纵坐标为(40/100)*210=84mm,因此,K1=(57,84);The abscissa of K1 is (30/150)*285=57mm, and the ordinate is (40/100)*210=84mm, therefore, K1=(57,84);
K2的横坐标为(100/150)*285=190mm,纵坐标为(40/100)*210=84mm,因此,K2=(190,84);The abscissa of K2 is (100/150)*285=190mm, and the ordinate is (40/100)*210=84mm, therefore, K2=(190,84);
K3的横坐标为(30/150)*285=57mm,纵坐标为(50/100)*210=105mm,因此,K3=(57,105);The abscissa of K3 is (30/150)*285=57mm, and the ordinate is (50/100)*210=105mm, therefore, K3=(57,105);
K4的横坐标为(100/150)*285=190mm,纵坐标为(50/100)*210=105mm,因此,K3=(190,105);The abscissa of K4 is (100/150)*285=190mm, and the ordinate is (50/100)*210=105mm, therefore, K3=(190,105);
因此,局部投影画面的尺寸(190mm-57mm)x(105-84)=133mm x21mm。并且矩形的第一边长距离全景投影画面的第一边长为57mm,矩形的第二边长距离全景图片的第二边长为(285-190=95mm),矩形的第三边长距离全景图片的第三边长为84mm,矩形的第四边长距离全景图片的第四边长为(210-105=105mm)。由于预存的全景投影画面覆盖全景投影区域,裁剪得到的该局部投影画面也形影覆盖该局部投影区域。Therefore, the size of the partial projection picture (190 mm - 57 mm) x (105 - 84) = 133 mm x 21 mm. And the first side of the rectangle has a first side length of 57 mm, and the second side of the rectangle has a second side length of the panoramic picture (285-190=95 mm), and the third side of the rectangle has a long distance The third side of the picture has a length of 84 mm, and the fourth side of the rectangle has a fourth side length of the panoramic picture (210-105 = 105 mm). Since the pre-stored panoramic projection image covers the panoramic projection area, the cropped partial projection image also forms a shape to cover the partial projection area.
当然,在一些实施例中,全景投景区域前面也可以有多个用户,当有多个用户时,可以根据人物特征匹配出一个用户,根据该一个用户确定局部投影区域,具体为:机器人可以通过摄像头采集整幅墙的图像,从图像中提取各人物的人物特征,并将提取到的人物特征与预存的人物特征进行匹配,如果能匹配成功,则匹配成功的人物为用户,并且而匹配成功的人物在图像中位置为用户在全景投影区域的位置。此处对人物特征不受限定,例如,人物做出竖起大拇指的手势,或者,人物做出握拳手势等等,通过人物特征进行匹配的方式可以很好地解决多人物站在墙面时,造成识别混乱的技术问题。Of course, in some embodiments, there may be multiple users in front of the panoramic viewing area. When there are multiple users, one user may be matched according to the character characteristics, and the local projection area is determined according to the one user, specifically: the robot may The image of the entire wall is captured by the camera, the character features of each character are extracted from the image, and the extracted character features are matched with the pre-existing character features. If the matching is successful, the matching character is the user, and the matching is performed. The position of the successful character in the image is the position of the user in the panoramic projection area. Here, the character characteristics are not limited, for example, the character makes a thumbs up gesture, or the character makes a fist gesture, etc., and the matching of the character features can well solve the problem of multiple characters standing on the wall. , causing technical problems in identifying confusion.
(2)语音识别:例如,用户站在墙面某一位置发出“我在这里”的声音指示,当识别该语音,并通过该语音的方向性确定用户在全景投影区域的位置。(2) Speech recognition: For example, the user stands at a certain position on the wall to issue an "I am here" voice indication, when the voice is recognized, and the position of the user in the panoramic projection area is determined by the directivity of the voice.
(3)红外探测:例如,通过红外探测器探测墙面,当墙面某个位置的热量不同于其它位置的热量时,则确定该位置存在用户,进而确定用户在全景投影区域的位置。(3) Infrared detection: For example, the wall surface is detected by an infrared detector. When the heat of a certain position on the wall surface is different from the heat of other positions, it is determined that the user exists at the position, thereby determining the position of the user in the panoramic projection area.
需要说明的是,用户在景投影区域的位置只限定局部投影区域的位置,不 限定局部投影区域的范围,该范围可根据实际业务需求进行确定,如,用户本身高180cm,宽50cm,则局部投影区域的范围可根据实际需要,覆盖该用户所在的位置,或该用户所在位置的附近即可,并不限定局部投影区域的范围为180cm*50cm。当然,在一些实施例中,该局部投影区域在全景投影区域的位置也可以是一定比例大小的固定范围。It should be noted that the position of the user in the projection area of the scene only defines the position of the partial projection area, The range of the local projection area is defined, and the range can be determined according to actual business requirements. For example, the user itself is 180 cm high and 50 cm wide, and the range of the partial projection area can cover the location of the user or the location of the user according to actual needs. The vicinity of the area is not limited, and the range of the partial projection area is not limited to 180 cm * 50 cm. Of course, in some embodiments, the position of the partial projection area in the panoramic projection area may also be a fixed range of a certain proportion.
为了响应于用户的移动而带来局部投影区域的位置的变化,在一些实施例中,投影设备可以根据局部投影区域的位置,调整自身位置,以输出不失真的局部投影画面。例如,机器人根据局部投影区域的位置进行移动,直至移动后的投影设备的投影光轴垂直于局部投影区域所在的平面。由于投影设备的投影光轴垂直于局部投影区域所在的平面,投影设备投影出的局部投影画面能够保证不失真。例如,局部投影区域位于投影设备的左方,并且投影设备检测到当前投影光轴和局部投影区域所在的平面之间的夹角为30度时,投影设备可以沿着水平线进行移动,直至投影设备的投影光轴垂直于局部投影区域所在的平面,此时投影设备将局部投影画面投影至局部投影区域,从而使用户更加精确地完成作业。In order to bring about a change in the position of the local projection area in response to the user's movement, in some embodiments, the projection apparatus may adjust its position according to the position of the partial projection area to output a non-distorted partial projection picture. For example, the robot moves according to the position of the partial projection area until the projection optical axis of the moved projection device is perpendicular to the plane in which the partial projection area is located. Since the projection optical axis of the projection device is perpendicular to the plane where the partial projection region is located, the partial projection image projected by the projection device can ensure no distortion. For example, when the partial projection area is located to the left of the projection device, and the projection device detects that the angle between the current projection optical axis and the plane where the partial projection area is located is 30 degrees, the projection device can move along the horizontal line until the projection device The projection optical axis is perpendicular to the plane of the local projection area, and the projection device projects the partial projection image to the partial projection area, thereby enabling the user to complete the job more accurately.
可选地,机器人还可以根据局部投影区域的位置,在不移动投影设备的情况下,而只通过旋转投影设备的投影角度,以改变投影设备的投影光轴的方向,实现调节后的控制设备的投影光轴聚焦于局部投影区域,从而有效地将局部投影画面投影之局部投影区域。Optionally, the robot can also implement the adjusted control device according to the position of the partial projection area without rotating the projection device, but only by rotating the projection angle of the projection device to change the direction of the projection optical axis of the projection device. The projection optical axis is focused on the local projection area, thereby effectively projecting a partial projection area of the partial projection picture.
进一步的,通过旋转投影设备而投影局部投影画面时,由于投影设备的投影光轴和局部投影区域呈倾斜角度,在一些实施场景中,投影设备投影出的局部投影画面或许出现失真(局部投影画面偏离期望投影画面),因此,为了输出不失真的局部投影画面,投影设备在投影局部投影画面时,通过图像校正算法,预先将局部投影画面进行校正,从而使投影设备可以以一定水平倾角和垂直倾角响应于位于不同位置的局部投影区域,输出不失真的局部投影画面,从而使用户更加精确地完成作业。Further, when the partial projection image is projected by rotating the projection device, since the projection optical axis and the partial projection region of the projection device are inclined, in some implementation scenarios, the partial projection image projected by the projection device may be distorted (partial projection image) Deviating from the desired projection picture), therefore, in order to output the undistorted partial projection picture, the projection device corrects the partial projection picture in advance by the image correction algorithm when projecting the partial projection picture, so that the projection device can be tilted at a certain horizontal angle and vertical The tilt angle responds to the local projection area at different positions, and outputs an undistorted partial projection picture, thereby enabling the user to complete the job more accurately.
本申请实施方式,能够通过捕获用户在全景投影区域所处位置的全景图片,并通过该全景图片确定用户在全景投影区域的位置,以及通过该全景图片裁剪得到与用户位置相关的局部投影画面。使得在无法满足全景投影的情况下,将当前的局部投影画面投影至当前所需投影的局部投影区域内,并且在每一次局 部投影区域变化时,能够根据用户的位置实时调整当前局部投影区域的局部投影画面,并根据用户的位置调整投影设备的投影方向,实现动态局部投影。In the embodiment of the present application, a panoramic picture of a position where the user is located in the panoramic projection area can be captured, and the position of the user in the panoramic projection area is determined by the panoramic picture, and a partial projection picture related to the position of the user is obtained by the panoramic picture cropping. In the case that the panoramic projection cannot be satisfied, the current partial projection image is projected into the local projection area of the current desired projection, and in each session When the projection area changes, the partial projection screen of the current partial projection area can be adjusted in real time according to the position of the user, and the projection direction of the projection device is adjusted according to the position of the user to realize dynamic partial projection.
以上所述仅为本申请的实施例,并非因此限制本申请的专利范围,凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换,或直接或间接运用在其他相关的技术领域,均同理包括在本申请的专利保护范围内。 The above description is only the embodiment of the present application, and thus does not limit the scope of the patent application, and the equivalent structure or equivalent process transformation made by using the specification and the drawings of the present application, or directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of this application.

Claims (13)

  1. 一种投影方法,其特征在于,包括:A projection method, comprising:
    从全景投影区域中确定局部投影区域的位置;Determining the position of the partial projection area from the panoramic projection area;
    根据所述局部投影区域的位置,调节投影设备的投影方向,并且使所述投影设备将与所述局部投影区域对应的局部投影画面,投影至所述局部投影区域。And adjusting a projection direction of the projection device according to the position of the partial projection area, and causing the projection device to project a partial projection picture corresponding to the partial projection area to the partial projection area.
  2. 根据权利要求1所述的方法,其特征在于,所述从全景投影区域中确定局部投影区域的位置包括:The method according to claim 1, wherein the determining the location of the partial projection area from the panoramic projection area comprises:
    确定用户在全景投影区域的位置;Determining the location of the user in the panoramic projection area;
    根据确定到的用户在所述全景投影区域的位置,在所述全景投影区域中确定局部投影区域的位置。The position of the partial projection area is determined in the panoramic projection area based on the determined position of the user in the panoramic projection area.
  3. 根据权利要求2所述的方法,其特征在于,所述确定用户在全景投影区域的位置,包括:The method according to claim 2, wherein the determining the location of the user in the panoramic projection area comprises:
    捕捉全景投影区域所处位置的全景图片;Capture a panoramic picture of the location of the panoramic projection area;
    从所述全景图片中确定所述用户在所述全景投影区域的位置。A position of the user in the panoramic projection area is determined from the panoramic picture.
  4. 根据权利要求1所述的方法,其特征在于,The method of claim 1 wherein
    所述局部投影画面是从预存的全景投影画面中裁剪得到的,其中,当所述预存的全景投影画面投影至所述全景投影区域时,所述预存的全景投影画面覆盖所述全景投影区域。The partial projection picture is cropped from a pre-stored panoramic projection picture, wherein the pre-stored panoramic projection picture covers the panoramic projection area when the pre-stored panoramic projection picture is projected to the panoramic projection area.
  5. 根据权利要求1-4任一项所述的方法,其特征在于,所述根据所述局部投影区域的位置调节投影设备的投影方向,包括:The method according to any one of claims 1 to 4, wherein the adjusting the projection direction of the projection device according to the position of the partial projection area comprises:
    根据所述局部投影区域的位置,移动投影设备,直至移动后的投影设备的投影光轴垂直于所述局部投影区域所在的平面。According to the position of the partial projection area, the projection device is moved until the projection optical axis of the moved projection device is perpendicular to the plane in which the partial projection area is located.
  6. 根据权利要求1-4任一项所述的方法,其特征在于,所述根据所述局部投影区域的位置调节投影设备的投影方向,包括:The method according to any one of claims 1 to 4, wherein the adjusting the projection direction of the projection device according to the position of the partial projection area comprises:
    根据所述局部投影区域的位置,调节投影设备的投影角度,直至调节后的投影设备的投影光轴聚焦于所述局部投影区域。According to the position of the partial projection area, the projection angle of the projection device is adjusted until the projection optical axis of the adjusted projection device is focused on the partial projection area.
  7. 一种投影装置,其特征在于,包括: A projection device, comprising:
    确定模块,用于从全景投影区域中确定局部投影区域的位置;a determining module for determining a position of the partial projection area from the panoramic projection area;
    调节模块,用于根据所述局部投影区域的位置,调节投影设备的投影方向,并且使所述投影设备将与所述局部投影区域对应的局部投影画面,投影至所述局部投影区域。And an adjustment module, configured to adjust a projection direction of the projection device according to the position of the partial projection area, and cause the projection device to project a partial projection image corresponding to the partial projection area to the partial projection area.
  8. 根据权利要求7所述的装置,其特征在于,所述确定模块包括:The apparatus according to claim 7, wherein the determining module comprises:
    第一确定单元,用于确定用户在全景投影区域的位置;a first determining unit, configured to determine a location of the user in the panoramic projection area;
    第二确定单元,用于根据确定到的用户在所述全景投影区域的位置,在所述全景投影区域中确定局部投影区域的位置。And a second determining unit, configured to determine a location of the partial projection area in the panoramic projection area according to the determined location of the user in the panoramic projection area.
  9. 根据权利要求8所述的装置,其特征在于,所述第一确定单元包括:The apparatus according to claim 8, wherein the first determining unit comprises:
    第一确定子单元,用于捕捉全景投影区域所处位置的全景图片;a first determining subunit, configured to capture a panoramic picture of a location where the panoramic projection area is located;
    第二确定子单元,用于从所述全景图片中确定所述用户在所述全景投影区域的位置。a second determining subunit, configured to determine, from the panoramic picture, a location of the user in the panoramic projection area.
  10. 根据权利要求7所述的装置,其特征在于,The device of claim 7 wherein:
    所述局部投影画面是从预存的全景投影画面中裁剪得到的,其中,当将所述预存的全景投影画面投影至所述全景投影区域时,所述预存的全景投影画面覆盖所述全景投影区域。The partial projection screen is cropped from a pre-stored panoramic projection screen, wherein the pre-stored panoramic projection screen covers the panoramic projection area when the pre-stored panoramic projection screen is projected to the panoramic projection area .
  11. 根据权利要求7-10任一项所述的装置,其特征在于,所述调节模块包括:The apparatus according to any one of claims 7 to 10, wherein the adjustment module comprises:
    第一调节单元,用于根据所述局部投影区域的位置,移动投影设备,直至移动后的投影设备的投影光轴垂直于所述局部投影区域所在的平面。The first adjusting unit is configured to move the projection device according to the position of the partial projection area until the projection optical axis of the moved projection device is perpendicular to a plane where the partial projection area is located.
  12. 根据权利要求7-10任一项所述的装置,其特征在于,所述调节模块包括:The apparatus according to any one of claims 7 to 10, wherein the adjustment module comprises:
    第二调节单元,用于根据所述局部投影区域的位置,调节投影设备的投影角度,直至调节后的投影设备的投影光轴聚焦于所述局部投影区域。The second adjusting unit is configured to adjust a projection angle of the projection device according to the position of the partial projection area until the projection optical axis of the adjusted projection device is focused on the partial projection area.
  13. 一种机器人,其特征在于,包括:A robot characterized by comprising:
    至少一个处理器;以及, At least one processor; and,
    投影设备;Projection device
    调节装置,用于调节投影设备的投影方向;An adjusting device for adjusting a projection direction of the projection device;
    与所述至少一个处理器通信连接的存储器;其中,a memory communicatively coupled to the at least one processor; wherein
    所述处理器分别和所述投影设备、所述调节装置及所述存储器连接;The processor is respectively connected to the projection device, the adjusting device and the memory;
    所述存储器存储有可被所述至少一个处理器执行的指令程序,所述指令程序被所述至少一个处理器执行,以使所述至少一个处理器能够基于所述投影设备和所述调节装置,执行如权利要求1-6任一项所述的方法。 The memory stores an instruction program executable by the at least one processor, the instruction program being executed by the at least one processor to enable the at least one processor to be based on the projection device and the adjustment device The method of any of claims 1-6.
PCT/CN2016/111754 2016-12-23 2016-12-23 Projection method and device, and robot WO2018112898A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/111754 WO2018112898A1 (en) 2016-12-23 2016-12-23 Projection method and device, and robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
PCT/CN2016/111754 WO2018112898A1 (en) 2016-12-23 2016-12-23 Projection method and device, and robot
CN201680002677.6A CN106797455A (en) 2016-12-23 2016-12-23 A kind of projecting method, device and robot

Publications (1)

Publication Number Publication Date
WO2018112898A1 true WO2018112898A1 (en) 2018-06-28

Family

ID=58952194

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/111754 WO2018112898A1 (en) 2016-12-23 2016-12-23 Projection method and device, and robot

Country Status (2)

Country Link
CN (1) CN106797455A (en)
WO (1) WO2018112898A1 (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107463902B (en) * 2017-08-07 2020-11-24 上海碧虎网络科技有限公司 Method and system for automatically identifying projection abnormity of projector
KR20190024190A (en) * 2017-08-31 2019-03-08 (주)휴맥스 Voice recognition image feedback providing system and method
CN109996051B (en) * 2017-12-31 2021-01-05 广景视睿科技(深圳)有限公司 Projection area self-adaptive dynamic projection method, device and system
CN108600716A (en) * 2018-05-17 2018-09-28 京东方科技集团股份有限公司 Projection device and system, projecting method
CN112040207A (en) * 2020-08-27 2020-12-04 广景视睿科技(深圳)有限公司 Method and device for adjusting projection picture and projection equipment
CN112511814A (en) * 2021-02-05 2021-03-16 深圳市橙子数字科技有限公司 Projector focusing method, projector, computer device, and storage medium

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000352761A (en) * 1999-06-10 2000-12-19 Sony Corp Video projection device and method therefor, and video projection controller
CN104750445A (en) * 2015-03-09 2015-07-01 联想(北京)有限公司 Information processing method and electronic devices
CN104750443A (en) * 2013-12-31 2015-07-01 联想(北京)有限公司 Display control method and electronic equipment
CN105262968A (en) * 2015-10-22 2016-01-20 神画科技(深圳)有限公司 Projection system automatically adjusting position of projection screen and projection method
CN105573345A (en) * 2014-10-14 2016-05-11 深圳市维森软件股份有限公司 Full-view-field-based controlling method and apparatus of pan-tilt-zoom camera

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7134080B2 (en) * 2002-08-23 2006-11-07 International Business Machines Corporation Method and system for a user-following interface
EP2795919A4 (en) * 2011-12-23 2015-11-11 Nokia Technologies Oy Aligning videos representing different viewpoints
JP6075066B2 (en) * 2012-12-28 2017-02-08 株式会社リコー Image management system, image management method, and program
US9241103B2 (en) * 2013-03-15 2016-01-19 Voke Inc. Apparatus and method for playback of multiple panoramic videos with control codes
CN103226282B (en) * 2013-05-13 2016-09-07 合肥华恒电子科技有限责任公司 A kind of Portable virtual reality projection device
CN104244019B (en) * 2014-09-18 2018-01-19 孙轩 Multi-screen display method and display system in a kind of panoramic video image room
CN104602129B (en) * 2015-01-27 2018-03-06 三星电子(中国)研发中心 The player method and system of interactive multi-angle video
CN104735464A (en) * 2015-03-31 2015-06-24 华为技术有限公司 Panorama video interactive transmission method, server and client end
CN105117024A (en) * 2015-09-25 2015-12-02 联想(北京)有限公司 Control method, electronic equipment and electronic device
CN105898460A (en) * 2015-12-10 2016-08-24 乐视网信息技术(北京)股份有限公司 Method and device for adjusting panorama video play visual angle of intelligent TV
CN105632384A (en) * 2016-03-02 2016-06-01 青岛海信电器股份有限公司 Projection display system and projection display method
CN105828090A (en) * 2016-03-22 2016-08-03 乐视网信息技术(北京)股份有限公司 Panorama live broadcasting method and device
CN105916060A (en) * 2016-04-26 2016-08-31 乐视控股(北京)有限公司 Method, apparatus and system for transmitting data
CN106125468B (en) * 2016-06-29 2018-12-18 海信集团有限公司 A kind of multi-direction projection device and method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000352761A (en) * 1999-06-10 2000-12-19 Sony Corp Video projection device and method therefor, and video projection controller
CN104750443A (en) * 2013-12-31 2015-07-01 联想(北京)有限公司 Display control method and electronic equipment
CN105573345A (en) * 2014-10-14 2016-05-11 深圳市维森软件股份有限公司 Full-view-field-based controlling method and apparatus of pan-tilt-zoom camera
CN104750445A (en) * 2015-03-09 2015-07-01 联想(北京)有限公司 Information processing method and electronic devices
CN105262968A (en) * 2015-10-22 2016-01-20 神画科技(深圳)有限公司 Projection system automatically adjusting position of projection screen and projection method

Also Published As

Publication number Publication date
CN106797455A (en) 2017-05-31

Similar Documents

Publication Publication Date Title
WO2018112898A1 (en) Projection method and device, and robot
CN101697105B (en) Camera type touch detection positioning method and camera type touch detection system
US8398246B2 (en) Real-time projection management
US9591229B2 (en) Image tracking control method, control device, and control equipment
EP3122034A1 (en) Method for calibrating a camera
CN105718862A (en) Method, device and recording-broadcasting system for automatically tracking teacher via single camera
WO2019128109A1 (en) Face tracking based dynamic projection method, device and electronic equipment
JP2015138445A (en) Display control method, information processing device, and display control program
WO2021093231A1 (en) Ultra-short-focus image-screen alignment method and apparatus, ultra-short-focus projection device, and medium
WO2017215246A1 (en) Input device recognition method and system, and input instruction recognition method and system
WO2017114251A1 (en) Projection correction method and device
WO2015103835A1 (en) Method and device for controlling azimuth of pan/tilt camera device
Chaudhury et al. Auto-rectification of user photos
WO2021093232A1 (en) Ultra-short-focus alignment method and apparatus for picture and screen, ultra-short-focus projector, and storage medium
CN112689135B (en) Projection correction method, projection correction device, storage medium and electronic equipment
JP2013192098A (en) Projection system, projection method, program, and recording medium
CN101794184B (en) Coordinate detection device and locating method thereof
WO2018006566A1 (en) View adjustment method and system
WO2013124901A1 (en) Optical-projection-type display apparatus, portable terminal, and program
US20190392597A1 (en) Imaging method and imaging control apparatus
KR101111503B1 (en) Apparatus for controlling Pan/Tilt/Zoom camera in omnidirectional and method for the same
JP6172987B2 (en) Azimuth angle estimation apparatus and azimuth angle estimation program
WO2018099128A1 (en) Method and device used in projection apparatus
JP2005327220A (en) Device, method for creating illustration drawing, control program and readable recording medium
CN109361909A (en) Projection display system and projection correction's method

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16924880

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 15/10/2019)

122 Ep: pct application non-entry in european phase

Ref document number: 16924880

Country of ref document: EP

Kind code of ref document: A1