WO2020052255A1 - 投影装置及其控制方法 - Google Patents

投影装置及其控制方法 Download PDF

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Publication number
WO2020052255A1
WO2020052255A1 PCT/CN2019/086930 CN2019086930W WO2020052255A1 WO 2020052255 A1 WO2020052255 A1 WO 2020052255A1 CN 2019086930 W CN2019086930 W CN 2019086930W WO 2020052255 A1 WO2020052255 A1 WO 2020052255A1
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Prior art keywords
lens
distance
projection
angle
measuring element
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English (en)
French (fr)
Inventor
程文波
易琪
戴平安
李屹
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Shenzhen Appotronics Corp Ltd
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Appotronics Corp Ltd
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    • 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
    • G03B21/00—Projectors or projection-type viewers; Accessories therefor
    • G03B21/14—Details
    • 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
    • G03B21/142—Adjusting of projection optics

Definitions

  • the invention relates to the field of projection technology, in particular to a projection device and a control method thereof.
  • the projection direction of common projection devices is determined by the position where the projection device is placed. After most projection devices are fixed in position, the projection direction is determined. To change the projection direction, it is often necessary to rely on human eyes to manually move Due to the error of the human eye, the projection device or the lens adjustment of the projection device can be adjusted quickly and accurately to the ideal projection direction, which is inconvenient and restricts the use scene of the projection device, resulting in poor user experience.
  • the technical problem mainly solved by the invention is to provide a projection device and a control method thereof, so as to realize automatic adjustment of the projection direction of the projection device.
  • a technical solution adopted by the present invention is to provide a projection device, which is characterized by comprising: a base, which is arranged on a mounting surface, and the base has a first driving device; The base is drivingly connected, and the housing is driven by the first driving device to rotate around the first rotation axis perpendicular to the mounting surface; the second driving device is fixed to the housing; and the projection component is housed in the housing, and the projection component is on the second driving device Driven by the second rotation axis as the center, the second rotation axis is perpendicular to the first rotation axis; the projection component includes an optical machine, a lens connected to the optical machine, an angle measuring element and a distance measuring element, and the detection of the angle measuring element and the distance measuring element The direction is parallel to the optical axis of the lens.
  • the projection assembly further includes a control device for controlling the operation of the first driving device and the second driving device according to the detection results of the angle-measuring element and the distance-measuring element, so as to control the lens movement and finally stay at the desired s position.
  • the angle measuring element is used to detect the angle between the optical axis of the lens and the horizontal plane
  • the control device is used to control the second driving device to drive the projection component to rotate according to the detection result of the angle measuring element, so that the optical axis of the lens reaches a level .
  • control device is further configured to control the first driving device to drive the housing to rotate once after the optical axis of the lens reaches the level; the distance measuring element is used to detect the distance between the lens and the projection surface during the rotation of the housing once. To obtain multiple distance data, and the distance data corresponds to the orientation of the lens one by one.
  • the housing is provided with a light-transmitting area that allows outgoing light emitted by the lens to pass through.
  • the light-transmitting area is a slot-shaped opening, one end of the lens is connected to the optical machine, the other end passes through the opening and protrudes out of the housing.
  • the angle-measuring element and the distance-measuring element are fixed on a side wall of an end of the lens that emits light.
  • the projection device further includes a cover disposed between the base and the housing and partially surrounding the housing.
  • a technical solution adopted by the present invention is to provide a method for controlling a projection device, including the following steps:
  • Control the lens to rotate in the horizontal plane detect the distance between the lens and the projection surface at the same time, obtain multiple distance data, and the distance data corresponds to the multiple orientations of the lens;
  • the step of adjusting the lens of the projection device so that the angle between the optical axis of the lens and the horizontal plane is zero includes detecting the angle between the optical axis of the lens and the horizontal plane by using an angle measuring element. And put The value is sent to the control device of the projection device, if If the value is not zero, the control device controls the pitch driving device to work, and drives the lens to move; If the value is zero, the pitch drive does not work.
  • the lens is controlled to rotate in a horizontal plane, and the distance between the lens and the projection surface is detected at the same time.
  • the step of obtaining multiple distance data includes: the control device of the projection device controls the horizontal driving device to work, and drives the lens to rotate in the horizontal plane. 360 °.
  • the distance measuring element continuously detects the distance between the lens and the projection surface, and measures T + 1 distance data D 1 , D 2 , D 3 , ..., D (T-1) , D T , D (T + 1) , the distance data is sent to the control device.
  • the step of selecting distance data satisfying a preset condition from a plurality of distance data, and marking the feature distance includes: the control device receives T + 1 distance data, and selects D n ⁇ D (n-1) And the distance data D n of D n ⁇ D (n + 1) , and the marked distance data D n are characteristic distances.
  • the method for controlling a projection device further includes the following steps:
  • the control device of the projection device pre-stores the optimal projection distance
  • the control device selects the feature distance closest to the optimal projection distance from the selected multiple feature distances, marks it as the best distance, and the feature orientation corresponding to the best distance is the best orientation;
  • the method for controlling a projection device further includes the following steps:
  • the control device of the projection device pre-stores a picture width W x corresponding to the projection size
  • the marked feature distance D n is an effective distance; if W n ⁇ W x , the marked feature distance D n is an invalid distance.
  • the time period during which the distance data changes smoothly is T (na)
  • the method for controlling a projection device further includes the following steps:
  • the control device of the projection device pre-stores the correspondence between the projection angle and the projection distance
  • the method for controlling a projection device further includes the following steps:
  • the control device of the projection device pre-stores the initialization position of the lens
  • control device After the control device receives the shutdown signal, it controls the lens to move to the initialization position.
  • the beneficial effect of the present invention is that the projection device and the control method of the present invention can automatically find the optimal projection direction of the lens by controlling the lens to move in a horizontal plane and a plane perpendicular to the horizontal plane, without manual adjustment by the user, in any space
  • the projection device can be quickly and accurately adjusted to the optimal projection direction, which can adapt to different use scenarios and improve the user experience.
  • FIG. 1 is a schematic structural diagram of a first embodiment of a projection apparatus according to the present invention.
  • FIG. 2 is an application scenario diagram of the first embodiment of the projection apparatus of the present invention
  • FIG. 3 is a schematic structural diagram of a second embodiment of a projection apparatus according to the present invention.
  • FIG. 1 is a schematic structural diagram of a first embodiment of a projection apparatus of the present invention
  • FIG. 2 is an application scenario diagram of the first embodiment of the projection apparatus of the present invention.
  • the projection apparatus of this embodiment mainly includes a base 10, a casing 11, and a projection assembly 12 housed in the casing 11.
  • the base 10 is used for fixing the projection device to a mounting surface, and the mounting surface may be a ceiling, a floor, a table, or even a wall. It can be understood that when the mounting surface is a ceiling or a wall, the base 10 needs to be fixed to the mounting surface by means of ceilings or nails. When the mounting surface is a floor or a desktop, the base 10 only needs to be placed on the mounting surface. , So that the projection device can be fixed on the mounting surface. In this embodiment, a case where the mounting surface is a desktop, that is, the mounting surface is a horizontal plane is described.
  • the base 10 is provided with a first driving device 13.
  • the first driving device 13 is a rotating bracket.
  • the base 10 is connected to the casing 11 through the first driving device 13.
  • the casing 11 can be driven by the first driving device.
  • the first rotating shaft, that is, the extension line of the first driving device 13 is rotated as a center.
  • the first driving device 13 may be various types of azimuth servo devices known to those skilled in the art, and details are not described herein again.
  • the casing 11 is a hollow sphere, and the bottom of the casing 11 is connected to the first driving device 13. Second sides of the casing 11 are provided with second driving devices 14, and the second driving device 14 is a pitch servo device.
  • the projection module 12 in the housing 11 is connected to the second driving device 14, and the projection module 12 can be rotated around the second shaft, that is, the connection between the two second driving devices 14, under the driving of the second driving device 14. .
  • the cooperation of the base 10, the housing 11, the projection module 12 and the first driving device 13 and the second driving device 14 enables the projection module 12 to achieve almost all-round rotation.
  • the projection module 12 includes a light machine 121, a lens 122 connected to the light machine 121, an angle measuring element 123, and a distance measuring element 124.
  • the housing 11 is provided with a light-transmitting area that allows outgoing light emitted by the lens 122 to pass through.
  • the light-transmitting area is a slot-shaped opening 110.
  • One end of the lens 122 is connected to the optical machine 121, and the other end passes through the opening 110 and protrudes out of the housing 11. It can be understood that the light-transmitting area is not limited to a shape of a slot-shaped opening, as long as it can ensure that the emitted light can pass through no matter what position the lens is rotated to.
  • the angle-measuring element 123 and the distance-measuring element 124 are fixed on the side wall of one end of the lens 122 that emits light, so that the detection direction of the angle-measuring element 123 and the distance-measuring element 124 is parallel to the optical axis of the lens 122.
  • Angle measuring element is used to detect the angle between the optical axis of the lens and the horizontal plane
  • the distance-measuring element is used to detect the distance D between the light-emitting end of the lens and the projection surface during the rotation of the housing for one revolution.
  • the so-called projection surface refers to an obstacle in the direction of the optical axis of the lens, such as a wall of a room, a table, a chair, or a person in the room.
  • the angle-measuring element 123 and the distance-measuring element 124 may not be fixed on the lens 122, but may be fixed on the optical machine 121, as long as the angle-measuring element 123 and distance-measuring are ensured no matter which direction the lens 122 moves
  • the detection directions of the elements 124 may be parallel to the optical axis of the lens 122.
  • the projection module 12 further includes a control device (not shown).
  • the control device is electrically connected to the first driving device 13, the second driving device 14, the angle measuring element 123, and the distance measuring element 124, and can receive the angle measuring element 123 and the distance measuring element.
  • 124 sends signals, and sends control signals to the first driving device 13, the second driving device 14, the angle measuring element 123, and the distance measuring element 124.
  • the control device is configured to control the operation of the first driving device 13 and the second driving device 14 according to the detection results of the angle measuring element 123 and the distance measuring element 124.
  • control device according to the angle between the optical axis of the lens and the horizontal plane measured by the angle measuring element 123
  • the second driving device 14 is controlled to drive the projection assembly 12 to rotate in a plane perpendicular to the mounting surface, so that the optical axis of the lens 122 is horizontal.
  • the control device controls the first driving device 13 to drive the casing 11 to rotate once, that is, rotates 360 ° around the rotation axis perpendicular to the horizontal plane as the center.
  • the distance measuring element 124 detects the distance D between the lens 122 and the projection surface, and acquires multiple distance data. It can be understood that the distance data corresponds to the orientation of the lens, that is, each distance data corresponds to one orientation of the lens. Therefore, as long as the appropriate distance data (feature distance) is selected, the appropriate lens orientation (feature orientation) can be found Based on this, the control device can control the lens 122 to move and finally stay at the desired position.
  • the distance measuring element 124 measures T + 1 distance data D 1 , D 2 , D 3 ,..., D (T-1) , D T , D (T + 1) , select satisfies D n ⁇ D (n-1 ) and D n ⁇ D (n + 1 ) is the distance data D n, D n is the distance data of the alternative characteristic distance. This is because in a space surrounded by multiple walls, the lens is rotated when the optical axis of the lens has been adjusted to a level that satisfies D n ⁇ D (n-1) and D n ⁇ D (n + 1) .
  • the distance data D n is the shortest distance from the lens to a wall, that is, when the distance data D n is measured by the distance measuring element 124, the optical axis of the lens 122 is exactly perpendicular to the wall surface, and the lens 122 faces the wall surface at this time. Therefore, the projection device can automatically make the lens directly face the wall without manual operation.
  • the mounting surface is a wall
  • the mounting surface is perpendicular to the horizontal plane.
  • the first driving device 13 is responsible for driving the casing 11 to rotate in a plane perpendicular to the horizontal plane
  • the second driving device 14 is responsible for driving the projection module 12 to rotate in the horizontal plane.
  • the detection principle of the angle-measuring element 123 and the distance-measuring element 124 and the selection principle of the feature distance are the same as those in the case where the mounting surface is a desktop, and are not repeated here.
  • control device may pre-store the optimal projection distance of the projection device. Taking the space surrounded by four walls as an example, according to the above selection principle, the control device will select four candidate feature distances. By comparing the four candidate feature distance data with the optimal projection distance, the closest The feature distance of the best projection distance is marked as the best distance, and the feature orientation corresponding to the best distance is the best orientation. In this way, the degree of automation of the projection device in finding the optimal projection direction is further improved.
  • control device may pre-store a screen width W x corresponding to a projection size of the projection device.
  • control device selects multiple characteristic distances D n , according to the calculation formula:
  • control device may pre-store the correspondence between the projection angle and the projection distance, and after the lens moves to the optimal orientation, find the corresponding projection angle according to the characteristic distance, control the lens pitch, and adjust the angle between the lens and the horizontal plane. In this way, the projection screen can be projected at a height suitable for human viewing.
  • the projection device of the present invention can automatically find the optimal projection direction of the lens by controlling the lens to rotate in the horizontal plane and the plane perpendicular to the horizontal plane, without manual adjustment by the user, and can quickly and accurately adjust the projection device to the maximum in any space.
  • the good projection direction can adapt to different usage scenarios, and is especially suitable for portable projectors (such as micro-projectors) that may change the venue every time it is used, which improves the user experience.
  • FIG. 3 is a schematic structural diagram of a second embodiment of a projection apparatus according to the present invention.
  • the projection device in the second embodiment is a ceiling-type projection device, that is, the mounting surface is a ceiling.
  • the projection device further includes a cover 25 disposed between the base 20 and the casing 21 and partially surrounding the casing 21.
  • the outer cover 25 only covers half of the housing 21 near the base 20 at most, so the outer cover 25 does not block the lens 222 when the projection device projects an image.
  • the distance between the inner surface of the housing 25 and the housing 21 is greater than or equal to the distance between the end of the lens 22 that emits light and the housing 21, so that the lens 222 can be housed in the housing 25 when the lens 222 rotates in a direction closer to the base 20.
  • the control device can control the lens 222 to move into the outer cover 25. This design is beneficial to protect the lens when the projection device is not working.
  • the angle between the lens 222 and the horizontal plane can be detected first, and the optical axis of the lens can be adjusted to be horizontal without being blocked by the cover 25, and then the distance measurement can be performed without affecting the projection device.
  • the function of automatically finding the best projection direction of the lens can be performed without affecting the projection device.
  • the control method of the projection device according to an embodiment of the present invention is described below.
  • the control method of this embodiment includes the following steps.
  • Step S310 Adjust the lens of the projection device so that the angle between the optical axis of the lens and the horizontal plane is zero. Specifically, the angle between the optical axis of the lens and the horizontal plane is detected by using an angle measuring element And put The value is sent to the control device of the projection device, if If the value is not zero, the control device controls the pitch driving device to work, and drives the lens to move; If the value is zero, the pitch drive does not work.
  • step S320 the lens is controlled to rotate in a horizontal plane, and the distance between the lens and the projection surface is detected at the same time to obtain multiple distance data.
  • the control device of the projection device controls the operation of the horizontal driving device, and drives the lens to rotate 360 ° in the horizontal plane.
  • the distance measuring element is used to continuously detect the distance between the lens and the projection surface, and T + 1 is measured.
  • the distance data D 1 , D 2 , D 3 ,..., D (T-1) , D T , D (T + 1) are transmitted to the control device.
  • Multiple distance data corresponds to multiple orientations of the lens, that is, each distance data corresponds to one orientation of a lens.
  • Step S330 Select distance data that meets a preset condition from the plurality of distance data, and mark the distance data as a characteristic distance.
  • the control means receives the T + 1 from the data and select satisfies D n ⁇ D (n-1 ) and D n ⁇ D (n + 1 ) is the distance data D n, mark the distance data D n is a characteristic distance.
  • the orientation of the lens corresponding to the feature distance is the feature orientation.
  • step S340 the lens is moved to the characteristic orientation.
  • the control device controls the operation of the horizontal driving device to drive the lens to turn to a characteristic orientation in a horizontal plane.
  • the control method of the projection device of the present invention automatically finds the characteristic orientation of the lens by controlling the lens to move in a horizontal plane and a plane perpendicular to the horizontal plane, and can quickly and accurately adjust the lens to a desired projection direction without manual adjustment by the user.
  • the method for controlling the projection apparatus further includes the following steps.
  • step S301 the control device of the projection device pre-stores the optimal projection distance.
  • step S331 the control device selects the feature distance closest to the optimal projection distance from the selected multiple feature distances, marks it as the best distance, and the feature orientation corresponding to the best distance is the best orientation.
  • Step S341 move the lens to the optimal orientation.
  • the method for controlling the projection apparatus further includes the following steps.
  • Step S302 the projection size control means prestored device corresponding to the width of the screen W x.
  • Step S333 and the ratio of W n W x, if W n ⁇ W x, wherein the effective distance labeled D n; if W n ⁇ W x, markers characteristic distance D n from invalid.
  • T (na) the time period during which the distance data changes smoothly
  • T (n + b) the time period during which the distance data changes smoothly.
  • the method for controlling a projection device further includes the following steps:
  • Step S303 The control device of the projection device pre-stores the correspondence between the projection angle and the projection distance.
  • step S342 after the lens moves to the characteristic orientation, the angle between the lens and the horizontal plane is adjusted according to the characteristic distance.
  • control device can also adjust the angle between the lens and the horizontal plane, so that the projection screen is projected at a height suitable for viewing.
  • the method for controlling the projection apparatus further includes the following steps.
  • step S300 the control device of the projection device pre-stores the initialization position of the lens.
  • step S350 the control device controls the lens to move to the initialization position after receiving the shutdown signal.
  • control device can control the lens to move to the initialization position. This design is beneficial to protect the lens when the projection device is not working.
  • the projection device and the control method of the present invention can automatically find the optimal projection direction of the lens by controlling the lens to move in the horizontal plane and the plane perpendicular to the horizontal plane, and the projection can be quickly and accurately performed in any space without manual adjustment by the user.
  • the device is adjusted to the best projection direction, which can adapt to different usage scenarios and improve the user experience.

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  • Optics & Photonics (AREA)
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Abstract

一种投影装置及控制方法。投影装置包括底座（10）、外壳（11）、第二驱动装置（14）和投影组件（12）；底座（10）设置于安装面，底座（10）具有第一驱动装置（13）；外壳（11）通过第一驱动装置（13）与底座（10）传动连接，外壳（11）在第一驱动装置（13）的驱动下以垂直于安装面的第一转轴为中心旋转；第二驱动装置（14）固定于外壳；投影组件（12）收容于外壳，投影组件（12）在第二驱动装置（14）的驱动下以第二转轴为中心旋转，第二转轴垂直于第一转轴；投影组件（12）包括光机（121）、与光机（121）相连的镜头（122）、测角元件（123）和测距元件（124），测角元件（123）和测距元件（124）的检测方向与镜头（122）的光轴平行。投影装置及控制方法能够自动寻找镜头的最佳投影方向，并迅速准确地将镜头调节至最佳投影方向。

Description

投影装置及其控制方法 技术领域
本发明涉及投影技术领域，特别是涉及一种投影装置及其控制方法。
背景技术
目前，常见的投影装置的投影方向是由投影装置放置的位置决定的，大多数投影装置在位置固定后，投影方向就确定了，若要改变投影方向，往往需要依靠人眼目视，手动挪动投影装置或遥控调整投影装置的镜头移动，由于人眼有误差，无法迅速准确地将投影装置调节至理想的投影方向，既不便捷，又限制了投影装置的使用场景，导致用户体验不佳。
因此，有必要提供一种投影装置及其控制方法，实现投影装置的投影方向的自动调节，便于迅速准确地将投影装置调节至最佳的投影方向，适应不同的使用场景，改善用户体验。
发明内容
本发明主要解决的技术问题是提供一种投影装置及其控制方法，以实现投影装置的投影方向的自动调节。
为解决上述技术问题，本发明采用的一个技术方案是：提供一种投影装置，其特征在于，包括：底座，设置于安装面，底座具有第一驱动装置；外壳，外壳通过第一驱动装置与底座传动连接，外壳在第一驱动装置的驱动下以垂直于安装面的第一转轴为中心旋转；第二驱动装置，固定于外壳；和投影组件，收容于外壳，投影组件在第二驱动装置的驱动下以第二转轴为中心旋转，第二转轴垂直于第一转轴；投影组件包括光机、与光机相连的镜头、测角元件和测距元件，测角元件和测距 元件的检测方向与镜头的光轴平行。
在一个实施例中，投影组件还包括控制装置，控制装置用于根据测角元件和测距元件的检测结果控制第一驱动装置和第二驱动装置运作，从而控制镜头移动并最终停留在所期望的位置。
在一个实施例中，测角元件用于检测镜头的光轴与水平面的夹角，控制装置用于根据测角元件的检测结果控制第二驱动装置驱动投影组件旋转，使镜头的光轴达到水平。
在一个实施例中，控制装置还用于在镜头的光轴达到水平后，控制第一驱动装置驱动外壳旋转一周；测距元件用于在外壳旋转一周的过程中，检测镜头与投影面之间的距离，获取多个距离数据，距离数据与镜头的方位一一对应。
在一个实施例中，外壳设有允许由镜头射出的出射光穿过的透光区。
在一个实施例中，透光区为槽型开口，镜头的一端与光机相连，另一端穿过开口，并凸出于外壳。
在一个实施例中，测角元件和测距元件固定于镜头的射出光的一端的侧壁上。
在一个实施例中，投影装置还包括设置于底座和外壳之间，并部分包围外壳的外罩。
为解决上述技术问题，本发明采用的一个技术方案是：提供一种投影装置的控制方法，包括以下步骤：
调整投影装置的镜头，使镜头的光轴与水平面的夹角为零；
控制镜头在水平面内转动，同时检测镜头与投影面之间的距离，获取多个距离数据，距离数据与镜头的多个方位一一对应；
选取多个距离数据中满足预设条件的距离数据，标记为特征距离，特征距离所对应的镜头的方位为特征方位；
移动镜头至特征方位。
在一个实施例中，调整投影装置的镜头，使镜头的光轴与水平面的夹角为零的步骤包括：利用测角元件检测镜头的光轴与水平面的夹角
Figure PCTCN2019086930-appb-000001
并把
Figure PCTCN2019086930-appb-000002
值发送至投影装置的控制装置，若
Figure PCTCN2019086930-appb-000003
值不为零，则控制装置控制俯仰驱动装置工作，带动镜头移动；若
Figure PCTCN2019086930-appb-000004
值为零，则俯仰驱动装置不工作。
在一个实施例中，控制镜头在水平面内转动，同时检测镜头与投影面之间的距离，获取多个距离数据的步骤包括：投影装置的控制装置控制水平驱动装置工作，带动镜头在水平面内转动360°，在镜头运动的过程中，测距元件持续检测镜头与投影面之间的距离，测得T+1个距离数据D 1，D 2，D 3，…，D (T-1)，D T，D (T+1)，距离数据被发送至控制装置。
在一个实施例中，选取多个距离数据中满足预设条件的距离数据，标记为特征距离的步骤包括：控制装置接收T+1个距离数据，并选取满足D n<D (n-1)且D n<D (n+1)的距离数据D n，标记距离数据D n为特征距离。
在一个实施例中，投影装置的控制方法还包括以下步骤：
投影装置的控制装置预存最佳投影距离；
控制装置在选取的多个特征距离中选出最接近最佳投影距离的特征距离，标记为最佳距离，最佳距离所对应的特征方位为最佳方位；
移动镜头至最佳方位。
在一个实施例中，投影装置的控制方法还包括以下步骤：
投影装置的控制装置预存投影尺寸所对应的画面宽度W x；
根据计算式W n＝2D n*tan(V*T n/2)计算特征宽度，其中，D n为特征距离，V为镜头在水平面内转动的角速度，T n为测得特征距离D n的时间前后，距离数据平稳变化的时长；
若W n≥W x，标记特征距离D n为有效距离；若W n＜W x，标记特征距离D n为无效距离。
在一个实施例中，测得特征距离D n的时间前，距离数据平稳变化的时长为T (n-a)，测得特征距离D n的时间后，距离数据平稳变化的时长为T (n+b)，若T (n-a)＜T (n+b)，则T n＝2T (n-a)；若T (n-a)＞T (n+b)，则T n＝2T (n+b)；若T (n-a)＝T (n+b)，则T n＝T (n-a)+T (n+b)。
在一个实施例中，投影装置的控制方法还包括以下步骤：
投影装置的控制装置预存投影角度与投影距离的对应关系；
在镜头移动至特征方位后，根据特征距离调整镜头与水平面的夹 角。
在一个实施例中，投影装置的控制方法还包括以下步骤：
投影装置的控制装置预存镜头的初始化位置；
控制装置接收关机信号后，控制镜头移动至初始化位置。
本发明的有益效果是：本发明的投影装置及其控制方法，通过控制镜头在水平面和垂直于水平面的平面内移动，能够自动寻找镜头的最佳投影方向，无需使用者手动调节，在任何空间内都能迅速准确地将投影装置调节至最佳的投影方向，可适应不同的使用场景，改善了用户体验。
附图说明
图1是本发明的投影装置的第一实施例的结构示意图；
图2是本发明的投影装置的第一实施例的应用场景图；
图3是本发明的投影装置的第二实施例的结构示意图。
具体实施方式
请参见图1和图2，图1是本发明的投影装置的第一实施例的结构示意图，图2是本发明的投影装置的第一实施例的应用场景图。如图1所示，本实施例的投影装置主要包括底座10、外壳11和收容于外壳11的投影组件12。
底座10用于使投影装置固定于安装面，安装面可以是天花板、地板或桌面，甚至可以是墙壁。可以理解，在安装面是天花板或墙壁的情况下，底座10需要通过吊顶或打钉等方式，固定于安装面；在安装面是地板或桌面的情况下，底座10只需要放置于安装面上，即可使投影装置固定于安装面。本实施例以安装面为桌面，即安装面为水平面的情况进行说明。
底座10上设有第一驱动装置13，本实施例中，第一驱动装置13为旋转支架，底座10通过第一驱动装置13与外壳11相连，外壳11在第一驱动装置的驱动下，能够以第一转轴，即第一驱动装置13的延长线，为中心进行旋转。在其他实施例中，第一驱动装置13可以是本领域技术人员熟知的各类方位伺服装置，在此不再赘述。
本实施例中，外壳11为中空球体，外壳11的底部与第一驱动装置13相连，外壳11的两侧设有第二驱动装置14，该第二驱动装置14为俯仰伺服装置。
外壳11内的投影组件12与第二驱动装置14相连，投影组件12在第二驱动装置14的驱动下，能够以第二转轴，即两个第二驱动装置14的连线，为中心进行旋转。
通过底座10、外壳11、投影组件12与第一驱动装置13、第二驱动装置14的配合，使得投影组件12能够实现几乎全方位的旋转。
如图1和图2所示，投影组件12包括光机121、与光机121相连的镜头122、测角元件123和测距元件124。
外壳11设有允许由镜头122射出的出射光穿过的透光区。在本实施例中，透光区为槽型开口110，镜头122的一端与光机121相连，另一端穿过开口110，并凸出于外壳11。可以理解，透光区不止有槽型开口一种形状，只要保证无论镜头旋转到什么位置，都能使出射光穿过即可。
本实施例中，测角元件123和测距元件124固定于镜头122的射出光的一端的侧壁上，使得测角元件123和测距元件124的检测方向与镜头122的光轴平行。测角元件用于检测镜头的光轴与水平面的夹角
Figure PCTCN2019086930-appb-000005
测距元件用于在外壳旋转一周的过程中，检测镜头的出光端与投影面之间的距离D。所谓投影面，是指镜头的光轴方向上的障碍物，例如房间的墙壁、房间内的桌椅或者人。在其他实施例中，测角元件123和测距元件124也可以不固定在镜头122上，而是固定在光机121上，只要保证无论镜头122向哪个方向移动，测角元件123和测距元件124的检测方向都与镜头122的光轴平行即可。
投影组件12还包括控制装置(图未示)，控制装置与第一驱动装置13、第二驱动装置14、测角元件123和测距元件124电连接，可以接收测角元件123和测距元件124发出的信号，和向第一驱动装置13、第二驱动装置14、测角元件123和测距元件124发出控制信号。控制装置用于根据测角元件123和测距元件124的检测结果控制第一驱动装置13 和第二驱动装置14运作。
具体地，控制装置根据测角元件123测得的镜头的光轴与水平面的夹角
Figure PCTCN2019086930-appb-000006
控制第二驱动装置14驱动投影组件12在垂直于安装面的平面内旋转，使镜头122的光轴达到水平。
在镜头122的光轴达到水平后，控制装置即控制第一驱动装置13驱动外壳11旋转一周，即以垂直于水平面的旋转轴为中心旋转360°。在外壳11旋转一周的过程中，测距元件124检测镜头122与投影面之间的距离D，获取多个距离数据。可以理解，距离数据与镜头的方位一一对应，即每个距离数据都对应镜头的一个方位，因此，只要选出合适的距离数据(特征距离)，就能找到合适的镜头方位(特征方位)，基于此，控制装置可以控制镜头122移动并最终停留在所期望的位置。
特征距离的选取原则如下：
假设在镜头旋转360°的过程中，测距元件124测得T+1个距离数据D 1，D 2，D 3，…，D (T-1)，D T，D (T+1)，选取满足D n<D (n-1)且D n<D (n+1)的距离数据D n，该距离数据D n即为备选的特征距离。这是因为，在一个多面墙围成的空间内，镜头在的光轴已被调至水平的情况下旋转，满足D n<D (n-1)且D n<D (n+1)的距离数据D n为镜头到一面墙的最短距离，即测距元件124测得距离数据D n时，镜头122的光轴正好垂直于墙面，此时镜头122正对墙面。由此，无需人手操作，投影装置就能自动使镜头正对墙面。
可以理解，在安装面为墙壁的情况下，安装面垂直于水平面，第一驱动装置13负责驱动外壳11在垂直于水平面的平面内旋转，第二驱动装置14负责驱动投影组件12在水平面内旋转。测角元件123和测距元件124的检测原理以及特征距离的选取原则与安装面为桌面的情况相同，在此不再赘述。
进一步地，控制装置可以预存投影装置的最佳投影距离。以四面墙围成的空间为例，根据上述选取原则，控制装置会选出四个备选的特征距离，通过将四个备选的特征距离数据与最佳投影距离比对，可以将最接近最佳投影距离的特征距离标记为最佳距离，最佳距离所对应的特征 方位为最佳方位。这样，进一步提高了投影装置寻找最佳投影方向的自动程度。
进一步地，控制装置可以预存投影装置的投影尺寸所对应的画面宽度W x。
控制装置在选取出多个特征距离D n后，根据计算式：
W n＝2D n*tan(V*T n/2)
计算特征宽度W n，其中，V为镜头122在水平面内转动的角速度，T n为测得特征距离D n的时间前后，距离数据平稳变化的时长。所谓平稳变化，即测得特征距离D n前的a个距离数据D (n-1)，D (n-2)，…，D (n-a)的呈规律性递增，测得特征距离D n前的b个距离数据D (n+1)，D (n+2)，…，D (n+b)的也呈规律性递增。
假设测得特征距离D n的时间前，距离数据平稳变化的时长为T (n-a)，测得特征距离D n的时间后，距离数据平稳变化的时长为T (n+b)，若T (n-a)＜T (n+b)，则T n＝2T (n-a)；若T (n-a)＞T (n+b)，则T n＝2T (n+b)；若T (n-a)＝T (n+b)，则T n＝T (n-a)+T (n+b)。
若W n≥W x，标记该特征距离D n为有效距离；若W n＜W x，标记该特征距离D n为无效距离。
这样，能保证所选的特征距离D n的准确率。
进一步地，控制装置可以预存投影角度与投影距离的对应关系，在镜头移动至最佳方位后，再根据特征距离查找对应的投影角度，控制镜头俯仰，调整镜头与水平面的夹角。这样，可以使投影画面投射在适合人观看的高度。
本发明的投影装置能够通过控制镜头在水平面和垂直于水平面的平面内转动，自动寻找镜头的最佳投影方向，无需使用者手动调节，在任何空间内都能迅速准确地将投影装置调节至最佳的投影方向，可适应不同的使用场景，尤其适用于每次使用都可能更换场地的便携式投影机(例如微投)，改善了用户体验。
请参见图3，图3是本发明的投影装置的第二实施例的结构示意图。 如图3所示，第二实施例中的投影装置为吊顶式投影装置，即安装面为天花板。第二实施例与第一实施例的主要区别在于，投影装置还包括设置于底座20和外壳21之间，并部分包围外壳21的外罩25。
外罩25最多只罩住外壳21的靠近底座20的一半，因此在投影装置投影图像时，外罩25不会遮挡镜头222。外罩25的内表面与外壳21之间的距离大于等于镜头22射出光的一端与外壳21之间的距离，使得镜头222向靠近底座20的方向旋转时，能够收容于外罩25。当镜头222不射出投影光时，控制装置可以控制镜头222移动到外罩25内，这样的设计有利于在投影装置不工作时，保护镜头。
可以理解，每次投影装置开机时，可以首先检测镜头222与水平面之间的夹角，将镜头的光轴调整至水平，不被外罩25遮挡，然后才进行测距，不会影响投影装置的自动寻找镜头的最佳投影方向的功能。
下面对本发明的一个实施例的投影装置的控制方法进行说明，本实施例的控制方法包括以下步骤。
步骤S310，调整投影装置的镜头，使镜头的光轴与水平面的夹角为零。具体地，利用测角元件检测镜头的光轴与水平面的夹角
Figure PCTCN2019086930-appb-000007
并把
Figure PCTCN2019086930-appb-000008
值发送至投影装置的控制装置，若
Figure PCTCN2019086930-appb-000009
值不为零，则控制装置控制俯仰驱动装置工作，带动镜头移动；若
Figure PCTCN2019086930-appb-000010
值为零，则俯仰驱动装置不工作。
步骤S320，控制镜头在水平面内转动，同时检测镜头与投影面之间的距离，获取多个距离数据。具体地，投影装置的控制装置控制水平驱动装置工作，带动镜头在水平面内转动360°，在镜头运动的过程中，利用测距元件持续检测镜头与投影面之间的距离，测得T+1个距离数据D 1，D 2，D 3，…，D (T-1)，D T，D (T+1)，距离数据被发送至控制装置。多个距离数据与镜头的多个方位一一对应，即每个距离数据对应一个镜头的一个方位。
步骤S330，选取多个距离数据中满足预设条件的距离数据，标记为特征距离。具体地，控制装置接收T+1个距离数据，并选取满足D n<D (n-1)且D n<D (n+1)的距离数据D n，标记距离数据D n为特征距离。特征距离所 对应的镜头的方位为特征方位。
步骤S340，移动镜头至特征方位。具体地，控制装置控制水平驱动装置工作，带动镜头在水平面内转至特征方位。
本发明的投影装置的控制方法通过控制镜头在水平面和垂直于水平面的平面内移动，自动寻找镜头的特征方位，无需使用者手动调节，就能迅速准确地将镜头调节至所期望的投影方向。
在本实施例中，投影装置的控制方法还包括以下步骤。
步骤S301，投影装置的控制装置预存最佳投影距离。
步骤S331，控制装置在选取的多个特征距离中选出最接近最佳投影距离的特征距离，标记为最佳距离，该最佳距离所对应的特征方位为最佳方位。
步骤S341，移动镜头至最佳方位。
这样，进一步提高了投影装置寻找最佳投影方向的自动程度。
在本实施例中，投影装置的控制方法还包括以下步骤。
步骤S302，投影装置的控制装置预存投影尺寸所对应的画面宽度W x。
步骤S332，根据计算式W n＝2D n*tan(V*T n/2)计算特征宽度，其中，D n为特征距离，V为镜头在水平面内转动的角速度，T n为测得特征距离D n的时间前后，距离数据平稳变化的时长。
步骤S333，比对W n与W x，若W n≥W x，标记特征距离D n为有效距离；若W n＜W x，标记特征距离D n为无效距离。
具体地，测得特征距离D n的时间前，距离数据平稳变化的时长为T (n-a)，测得特征距离D n的时间后，距离数据平稳变化的时长为T (n+b)，若T (n-a)＜T (n+b)，则T n＝2T (n-a)；若T (n-a)＞T (n+b)，则T n＝2T (n+b)；若T (n-a)＝T (n+b)，则T n＝T (n-a)+T (n+b)。
这样，能保证所选的特征距离D n的准确率。
在一个实施例中，投影装置的控制方法还包括以下步骤：
步骤S303，投影装置的控制装置预存投影角度与投影距离的对应关系。
步骤S342，在镜头移动至特征方位后，根据特征距离调整镜头与水平面的夹角。
这样，在镜头移动至最佳方位后，控制装置还能调整镜头与水平面的夹角，使投影画面投射在适合人观看的高度。
在一个实施例中，投影装置的控制方法还包括以下步骤。
步骤S300，投影装置的控制装置预存镜头的初始化位置。
步骤S350，控制装置接收关机信号后，控制镜头移动至初始化位置。
当镜头不射出投影光时，控制装置可以控制镜头移动至初始化位置，这样的设计有利于在投影装置不工作时，保护镜头。
可以理解，上述步骤可以全部执行，也可以根据需要只执行一部分。
本发明的投影装置及其控制方法能够通过控制镜头在水平面和垂直于水平面的平面内移动，自动寻找镜头的最佳投影方向，无需使用者手动调节，在任何空间内都能迅速准确地将投影装置调节至最佳的投影方向，可适应不同的使用场景，改善了用户体验。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明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，均同理包括在本发明的专利保护范围内。

Claims (15)

  1. 一种投影装置，其特征在于，包括：
    底座，设置于安装面，所述底座具有第一驱动装置；
    外壳，所述外壳通过所述第一驱动装置与所述底座传动连接，所述外壳在所述第一驱动装置的驱动下以垂直于所述安装面的第一转轴为中心旋转；
    第二驱动装置，固定于所述外壳；和
    投影组件，收容于所述外壳，所述投影组件在所述第二驱动装置的驱动下以第二转轴为中心旋转，所述第二转轴垂直于所述第一转轴；
    所述投影组件包括光机、与所述光机相连的镜头、测角元件和测距元件，所述测角元件和所述测距元件的检测方向与所述镜头的光轴平行。
  2. 根据权利要求1所述的投影装置，其特征在于，所述投影组件还包括控制装置，所述控制装置用于根据所述测角元件和所述测距元件的检测结果控制所述第一驱动装置和所述第二驱动装置运作，从而控制所述镜头移动。
  3. 根据权利要求2所述的投影装置，其特征在于，所述测角元件用于检测所述镜头的光轴与所述水平面的夹角，所述控制装置用于根据所述夹角控制所述第二驱动装置驱动所述投影组件旋转，使所述镜头的光轴达到水平。
  4. 根据权利要求3所述的投影装置，其特征在于，所述控制装置还用于在所述镜头的光轴达到水平后，控制所述第一驱动装置驱动所述外壳旋转一周；在所述外壳旋转一周的过程中，所述测距元件用于检测所述镜头与投影面之间的距离，获取多个距离数据，所述距离数据与所述镜头的方位一一对应。
  5. 根据权利要求1所述的投影装置，其特征在于，所述外壳设有允许由所述镜头射出的出射光穿过的透光区。
  6. 根据权利要求5所述的投影装置，其特征在于，所述透光区为槽 型开口，所述镜头的一端与所述光机相连，另一端穿过所述开口，并凸出于所述外壳。
  7. 根据权利要求1所述的投影装置，其特征在于，所述投影装置还包括设置于所述底座和所述外壳之间，并部分包围所述外壳的外罩。
  8. 一种投影装置的控制方法，包括权利要求1至8任意一项所述的投影装置，所述控制方法包括以下步骤：
    调整所述投影装置的镜头，使所述镜头的光轴与水平面的夹角为零；
    控制所述镜头在水平面内转动，同时检测所述镜头与投影面之间的距离，获取多个距离数据，所述距离数据与所述镜头的多个方位一一对应；
    选取所述多个距离数据中满足预设条件的距离数据，标记为特征距离，所述特征距离所对应的所述镜头的方位为特征方位；
    移动所述镜头至所述特征方位。
  9. 根据权利要求8所述的控制方法，其特征在于，所述调整所述投影装置的镜头，使所述镜头的光轴与水平面的夹角为零的步骤包括：
    利用测角元件检测所述镜头的光轴与水平面的夹角
    Figure PCTCN2019086930-appb-100001
    并把
    Figure PCTCN2019086930-appb-100002
    值发送至所述投影装置的控制装置，若所述
    Figure PCTCN2019086930-appb-100003
    值不为零，则所述控制装置控制第二驱动装置工作，带动所述镜头移动；若所述
    Figure PCTCN2019086930-appb-100004
    值为零，则所述俯仰驱动装置不工作。
  10. 根据权利要求8所述的控制方法，其特征在于，控制所述镜头在水平面内转动，同时检测所述镜头与投影面之间的距离，获取多个距离数据的步骤包括：
    所述投影装置的控制装置控制水平驱动装置工作，带动所述镜头在水平面内转动360°，在所述镜头运动的过程中，测距元件持续检测所述镜头与投影面之间的距离，测得T+1个距离数据D 1，D 2，D 3，…，D (T-1)，D T，D (T+1)，所述距离数据被发送至所述控制装置。
  11. 根据权利要求10所述的控制方法，其特征在于，所述选取所述多个距离数据中满足预设条件的距离数据，标记为特征距离的步骤包 括：
    所述控制装置接收所述T+1个距离数据，并选取满足D n<D (n-1)且D n<D (n+1)的距离数据D n，标记所述距离数据D n为特征距离。
  12. 根据权利要求8所述的控制方法，其特征在于，还包括以下步骤：
    所述投影装置的控制装置预存最佳投影距离；
    所述控制装置在选取的多个特征距离中选出最接近所述最佳投影距离的特征距离，标记为最佳距离，所述最佳距离所对应的特征方位为最佳方位；
    移动所述镜头至所述最佳方位。
  13. 根据权利要求8所述的控制方法，其特征在于，还包括以下步骤：
    所述投影装置的控制装置预存投影尺寸所对应的画面宽度W x；
    根据计算式W n＝2D n*tan(V*T n/2)计算特征宽度，其中，D n为特征距离，V为所述镜头在水平面内转动的角速度，T n为测得所述特征距离D n的时间前后，距离数据平稳变化的时长；
    若W n≥W x，标记所述特征距离D n为有效距离；若W n＜W x，标记所述特征距离D n为无效距离。
  14. 根据权利要求13所述的控制方法，其特征在于，测得所述特征距离D n的时间前，距离数据平稳变化的时长为T (n-a)，测得所述特征距离D n的时间后，距离数据平稳变化的时长为T (n+b)，若T (n-a)＜T (n+b)，则T n＝2 T (n-a)；若T (n-a)＞T (n+b)，则T n＝2 T (n+b)；若T (n-a)＝T (n+b)，则T n＝T (n-a)+T (n+b)。
  15. 根据权利要求8所述的控制方法，其特征在于，还包括以下步骤：
    所述投影装置的控制装置预存投影角度与投影距离的对应关系；
    在所述镜头移动至所述特征方位后，根据所述特征距离调整所述镜头与水平面的夹角。
PCT/CN2019/086930 2018-09-14 2019-05-15 投影装置及其控制方法 Ceased WO2020052255A1 (zh)

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