WO2022267219A1

WO2022267219A1 - Automatic focusing method and apparatus, and storage medium

Info

Publication number: WO2022267219A1
Application number: PCT/CN2021/115364
Authority: WO
Inventors: 李祥; 丁明内; 杨伟樑; 高志强
Original assignee: 广景视睿科技（深圳）有限公司
Priority date: 2021-06-21
Filing date: 2021-08-30
Publication date: 2022-12-29
Also published as: CN113596417A

Abstract

An automatic focusing method, comprising the following steps: obtaining a vertical projection distance between a projection unit and a projection area; obtaining rotation data of a motor, and calculating a horizontal rotation angle and a pitch rotation angle of the projection unit according to the rotation data of the motor; calculating an actual distance between the current projection position and the projection unit according to the vertical projection distance, the horizontal rotation angle and the pitch rotation angle; and adjusting the focal length of the projection unit according to the actual distance. By obtaining the vertical projection distance between the projection unit and the projection area, obtaining the rotation data of the motor, then calculating the actual distance between the current projection position and the projection unit according to the vertical projection distance and the horizontal rotation angle and the pitch rotation angle of the motor, and finally adjusting the focal length of the projection unit according to the actual distance, it is ensured that different projection positions correspond to different focal lengths, thereby achieving an automatic focusing function in dynamic projection.

Description

An automatic focusing method, device and storage medium

Cross References to Related Applications

This application claims the priority of the Chinese patent application with the application number 2021106873571 and the application title "An autofocus method, device and storage medium" submitted to the China Patent Office on June 21, 2021, the entire contents of which are incorporated by reference in In this application.

technical field

The present application relates to the technical field of digital projection display, in particular to an autofocus method, device and storage medium.

Background technique

With the rapid development of semiconductor technology, various projection devices have appeared on the market. The projection device is a common display device, while the traditional projection device usually projects at a fixed position. Since the projection device projects the display screen Therefore, it is very important whether the projection device is successfully focused on the screen so that the user can see a clear display image.

In some specific application scenarios, dynamic projection is required, such as large-scale stages, security alarms, and smart transportation, etc., to meet the specific needs of different scenarios by moving the projection screen in space. Since the projection position of the dynamic projection system is constantly changing, the projection distance will also be constantly changing. If a fixed-focus solution is adopted, the projection screen will inevitably appear blurred. Therefore, in the dynamic projection system, real-time auto-focus technology is required .

Contents of the invention

The main technical problem to be solved by the embodiments of the present application is to realize automatic focusing in the dynamic projection system to ensure the clarity of the projected image.

In order to solve the above technical problems, in the first aspect, a technical solution adopted in the implementation mode of the present application is to provide an automatic focusing method, including:

Obtain the vertical projection distance between the projection unit and the projection area;

Acquiring motor rotation data, and calculating a horizontal rotation angle and a pitch rotation angle of the projection unit according to the motor rotation data;

calculating the actual distance between the current projection position and the projection unit according to the vertical projection distance, the horizontal rotation angle and the pitch rotation angle;

adjusting the focal length of the projection unit according to the actual distance.

In some embodiments, the acquiring the vertical projection distance between the projection unit and the projection area includes:

Preset a first initial position parameter of the projection unit in space;

Presetting a second initial position parameter of the projection area in the space;

Calculate the vertical projection distance between the projection unit and the projection area according to the first initial position parameter and the second initial position parameter.

On the basis of the above technical solution, preferably, when the projection unit is located at the first initial position, the optical axis of the projection unit is perpendicular to the projection area.

In some embodiments, the calculating the actual distance between the current projection position and the projection unit includes:

Calculate the actual distance between the current projection position and the projection unit according to the formula D=Z/(cosβ*cosα); wherein, Z is the vertical projection distance between the projection unit and the projection area, and α is the projection unit The horizontal rotation angle of , β is the pitch rotation angle of the projection unit.

In some embodiments, the motor is a stepper motor;

The acquiring the motor rotation data, and calculating the horizontal rotation angle and pitch rotation angle of the projection unit according to the motor rotation data includes:

Obtain the motor rotation direction;

Obtain the step angle of the motor and the number of rotation steps of the motor;

The horizontal rotation angle and the pitch rotation angle of the projection unit are calculated according to the rotation direction of the motor, the step angle and the number of rotation steps.

In some embodiments, the adjusting the focal length of the projection unit according to the actual distance includes:

Acquiring the target position of the projection lens according to the actual distance;

Adjusting the projection lens to the target position according to the target position.

In order to solve the above technical problems, in the second aspect, another technical solution adopted in the embodiment of the present application is to provide an autofocus device, including:

a projection unit, configured to project an image to the projection area;

a data input unit, configured to acquire the vertical projection distance between the projection unit and the projection area;

The pan-tilt unit is connected with the projection unit in transmission, and is used to adjust the horizontal rotation angle and pitch rotation angle of the projection unit;

An intelligent computing unit, connected to the data input unit and the pan-tilt unit, is used to calculate the actual distance between the current projection position and the projection unit according to the vertical projection distance, the horizontal rotation angle and the pitch rotation angle ;

An auto-focus unit connected to the intelligent calculation unit, the auto-focus unit is used to adjust the focal length of the projection unit according to the actual distance.

In some embodiments, the pan/tilt unit includes a platform, a panning mechanism and a tilting mechanism;

a platform, the projection unit is fixedly connected to the platform;

The horizontal rotation mechanism includes a first stepping motor and a horizontal gear, and the platform is connected to the first stepping motor through a horizontal gear;

The tilting mechanism includes a second stepping motor and a vertical gear, and the platform is connected to the second stepping motor through a vertical gear.

In some embodiments, the projection unit includes:

a projection lens movable along the optical axis of the projection unit;

The focusing mechanism is connected to the projection lens in transmission and connected to the intelligent computing unit, and the intelligent computing unit is used to control the focusing mechanism to adjust the position of the projection lens in the direction of the optical axis.

In order to solve the above technical problems, in the third aspect, another technical solution adopted in the embodiments of the present application is to provide a computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and the computer-executable The instructions are used to make the computer execute the above-mentioned autofocus method.

In order to solve the above technical problems, in the fourth aspect, a technical solution adopted in the implementation mode of the present application is to provide an electronic device, including:

at least one processor; and,

a memory communicatively coupled to the at least one processor; wherein,

The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the above-mentioned autofocus method.

In order to solve the above-mentioned technical problems, in the fifth aspect, a technical solution adopted in the embodiments of the present application is to provide a computer program product, where the computer program product includes a computer program stored on a non-volatile computer-readable storage medium, The computer program includes program instructions, and when the program instructions are executed by the electronic device, the electronic device is made to execute the above auto-focus method.

The beneficial effects of the embodiments of the present application are: different from the situation of the related art, the automatic focusing method provided by the present application obtains the vertical projection distance between the projection unit and the projection area, and obtains the motor rotation data, and then according to the vertical projection distance, The horizontal rotation angle and pitch rotation angle of the motor calculate the actual distance between the current projection position and the projection unit, and finally adjust the focal length of the projection unit through the actual distance to ensure that different projection positions correspond to different focal lengths, thereby realizing automatic projection in dynamic projection. Focus function.

Description of drawings

One or more embodiments are exemplified by the corresponding drawings, and these exemplifications are not construed as limiting the embodiments. Elements with the same reference numerals in the drawings represent similar elements, unless otherwise specified Note that the drawings in the drawings are not limited to scale.

FIG. 1 is a schematic structural block diagram of an autofocus device provided in an embodiment of the present application;

Fig. 2 is a schematic structural block diagram of an intelligent computing unit provided by an embodiment of the present application;

FIG. 3 is a schematic diagram of an optical path of an autofocus device provided in an embodiment of the present application;

FIG. 4 is a schematic flowchart of an autofocus method provided in an embodiment of the present application;

FIG. 5 is a schematic diagram of a hardware structure of an electronic device provided by an embodiment of the present application.

detailed description

In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, not to limit the present application.

It should be noted that, if there is no conflict, various features in the embodiments of the present application can be combined with each other, and all of them are within the protection scope of the present application. In addition, although the functional modules are divided into the schematic diagram of the device, and the logical order is shown in the flowchart, in some cases, the division of modules in the schematic diagram of the device, or the sequence in the flowchart may be executed. steps shown or described.

Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the technical field of this application. The terms used in the description of the present application are only for the purpose of describing specific embodiments, and are not used to limit the present application. The term "and/or" used in this specification includes any and all combinations of one or more of the associated listed items.

The embodiment of the present application provides an autofocus device 100 , as shown in FIG. 1 , including a projection unit 10 , a data input unit 20 , a pan/tilt unit 30 , an intelligent computing unit 40 and an autofocus unit 50 .

The projection unit 10 is used to project the image to be projected to the projection area. The projected content of the projection unit 10 includes images or various videos, etc.; the autofocus unit 50 includes a focusing mechanism, and the projection unit 10 includes a projection lens, which can The optical axis of the projection unit 10 moves, the focus adjustment mechanism is connected with the projection lens and the focus adjustment mechanism is connected with the intelligent computing unit 40, and the intelligent calculation unit 40 is used to control the focus adjustment mechanism to adjust the position of the projection lens in the direction of the optical axis, in real time The focal length of the projection unit 10 is changed.

The data input unit 20 is configured to acquire the vertical projection distance between the projection unit 10 and the projection area. A projection space can be set, and the projection unit 10 can be installed at any position in the projection space, and an appropriate space coordinate system can also be established in the space, and the first initial position parameter of the projection unit 10 in the space is preset, and the preset projection The second initial position parameter of the area in the space, and then calculate the vertical projection distance between the projection unit 10 and the projection area according to the first initial position parameter and the second initial position parameter. In order to facilitate the acquisition of the vertical projection distance between the projection unit 10 and the projection area, the projection area is perpendicular to the optical axis of the projection unit 10, and the projection area is usually projected on the projection wall 60, that is, when the projection unit 10 is located at the first initial position, the projection The optical axis of the unit 10 is perpendicular to the projection wall 60 .

In one embodiment, the vertical distance between the projection unit 10 and the projection area can be measured by manual measurement; the projection unit 10 is set at any position in the space, and parameters such as the length, width, and height of the projection area are preset. 60 is usually set vertically, the projection unit 10 is set horizontally, the optical axis of the projection unit 10 is perpendicular to the projection wall 60, and then the distance between the projection unit 10 and the projection wall 60 is measured by manual measurement, and The manually measured distance data is input to the intelligent computing unit 40 through the data input unit 20 . In order to improve the measurement accuracy, multiple tests can also be performed, and the average value of multiple tests can be used as the vertical projection distance from the projection unit 10 to the projection area.

In one embodiment, the projection unit 10 can also be set at the first initial position in the space, and the first initial position parameter of the projection unit 10 can be input to the data input unit 20; Two initial position parameters, and input the second initial position parameters of the projection area to the data input unit 20, the data input unit 20 then transmits the information of the two initial position parameters to the intelligent computing unit 40, and the projection unit is calculated by the intelligent computing unit 40 10 The vertical projection distance from the projection area.

In one embodiment, a distance measuring unit may also be provided to measure the vertical projection distance between the projection unit 10 and the projection area through the distance measuring unit. The distance measuring unit can be arranged on the projection unit 10, and the distance measuring unit can be a camera, a sensor, or the like. The distance measuring unit acquires the position of the projection area, and calculates and measures the vertical projection distance between the projection unit 10 and the projection area. In order to improve the accuracy, multiple distance measuring units can be set, and the average value of multiple two-sentence units can be taken as the vertical projection distance from the projection unit 10 to the projection area.

The pan-tilt unit 30 is in transmission connection with the projection unit 10 and is used to adjust the horizontal rotation angle and the pitch rotation angle of the projection unit 10 in space.

The pan-tilt unit 30 includes a platform, a panning mechanism and a tilting mechanism. The projection unit 10 is arranged on the upper surface of the platform and fixedly connected with the platform. The horizontal rotation mechanism includes a first stepping motor and a horizontal gear. The platform is connected to the first stepping motor through a horizontal gear. The axis of the horizontal gear is parallel to the platform. Driven by the first stepping motor, the platform can rotate horizontally. The axis is parallel to the axis of the platform, so that the projection unit 10 can change the horizontal rotation angle in real time.

The pitch rotation mechanism includes a second stepping motor and a vertical gear. The platform is connected to the second stepping motor through the vertical gear. The axis of the vertical gear is perpendicular to the platform. Driven by the second stepping motor, the vertical gear The rotation drives the platform to rotate, and the rotation axis is perpendicular to the axis of the platform, so that the projection unit 10 can change the pitching angle in real time.

The intelligent calculation unit 40 is connected with the data input unit 20 and the pan-tilt unit 30, and is used to calculate the actual distance between the current projection position and the projection unit 10 according to the above-mentioned vertical projection distance, the above-mentioned horizontal rotation angle and the above-mentioned pitch rotation angle, and the projection area has a length parameters such as width and height, and the projection position refers to the center position of the projection area. The data input unit 20 can transmit the information of the vertical projection distance between the acquired projection unit 10 and the projection area to the intelligent computing unit 40; The information is transmitted to the intelligent computing unit 40, and the intelligent computing unit 40 calculates the rotation angle of the two motors according to the step angle and the number of rotation steps of the two motors, so as to obtain the horizontal rotation angle and the pitch rotation angle of the projection unit 10. A stepper motor is an open-loop control element that converts electrical pulse signals into angular displacement or linear displacement. In the case of non-overload, the speed and stop position of the motor only depend on the frequency and number of pulses of the pulse signal, and are not affected by the load change. When the stepper driver receives a pulse signal, it drives the stepper motor to press The set direction turns a fixed angle, which is called "step angle", and its rotation runs step by step at a fixed angle. The angular displacement can be controlled by controlling the number of pulses, so as to achieve the purpose of accurate positioning, and at the same time, the speed and acceleration of motor rotation can be controlled by controlling the pulse frequency, so as to achieve the purpose of speed regulation.

Intelligent calculation unit 40 can obtain the pulse number of each stepping motor mentioned above, and obtain the step number of stepping motor according to this pulse number, because the step angle of each stepping motor is fixed, the step angle of stepping motor θ=360/(M*Y), where θ is the step angle of the stepping motor, M is the number of gear teeth, and Y is the number of running beats; taking a four-phase motor with fifty gear teeth as an example, a four-phase four-beat The running mode, that is, the step angle θ=360/(50*4)=1.8 degrees.

It can be seen that the horizontal rotation angle α=θ ₁ *N ₁ of the projection unit 10, wherein α is the horizontal rotation angle of the first stepping motor, θ ₁ is the step angle of the first stepping motor, and N ₁ is the first The number of pulses of the stepper motor; the pitch rotation angle β=θ ₂ *N ₂ of the projection unit 10, wherein β is the pitch rotation angle of the second stepper motor, and θ ₂ is the step angle of the second stepper motor, N ₂ is the number of pulses of the second stepping motor.

The intelligent calculation unit 40 calculates the actual distance between the current projection position and the projection unit 10 according to the vertical projection distance, the horizontal rotation angle and the pitch rotation angle. As shown in Figure 3, the projection unit 10 is set in the space through the pan-tilt unit 30, the first projection position is (0,0), the vertical distance between the projection unit 10 and the first projection position is Z, and the projection area is transferred to the second projection position. When the projection position is (x, y ₀ ), the projection unit 10 needs to turn to the right and rotate the angle α horizontally, and then rotate upwards the angle β, and then calculate the actual distance between the current projection position and the projection unit 10 according to the formula D=Z/(cosβ*cosα) ; wherein D is the actual distance between the second projection position (i.e. the current projection position) and the projection unit 10, Z is the vertical projection distance between the projection unit 10 and the projection area, α is the horizontal rotation angle of the projection unit 10, and β is the projection unit 10 pitch rotation angle of .

Referring to FIG. 2 , the intelligent computing unit 40 includes at least one processor 42 and a memory 41 communicatively connected to the at least one processor 42 . The processor 42 and the memory 41 may be connected through a bus or in other ways.

The processor 42, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computing executable programs and modules. The processor 42 executes various functional applications and data processing of the controller by running non-volatile software programs, instructions and modules stored in the memory 41 , that is, implements the autofocus method in any of the following method embodiments.

The memory 41 may include a program storage area and a data storage area. The program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the application of the automatic corresponding device. In addition, the memory 41 may include a high-speed random access memory 41 , and may also include a non-volatile memory 41 , such as at least one disk memory 41 , flash memory, or other non-volatile solid-state memory 41 . In some embodiments, the memory 41 may optionally include memory 41 remotely located relative to the processor 42, and these remote memories 41 may be connected to the processor 42 through a network.

The intelligent computing unit 40 also includes a display screen 43 , the vertical projection distance can be measured by setting a distance measuring unit, the measurement result is transmitted to the intelligent computing unit 40 , and finally displayed on the display screen 43 . The cost of setting up the distance measuring unit is relatively high, and the method of manual measurement can also be used, and then the manual measurement is input to the intelligent calculation unit 40 through the data input unit, and the intelligent calculation unit 40 displays the measurement result through the display screen 43 .

The auto-focus unit 50 is connected with the intelligent computing unit 40, and is used to adjust the focal length of the projection unit 10 according to the actual distance D. The auto-focus unit 50 includes a focus adjustment mechanism, which is connected to the lens of the projection unit 10 through transmission. The focus adjustment mechanism is composed of The intelligent computing unit 40 is controlled, and the intelligent computing unit 40 controls the focusing mechanism to adjust the position of the projection lens on the optical axis of the projection unit 10 according to the calculated actual distance D between the projection unit 10 and the current projection position, so as to change the projection unit 10 in real time. The focal length ensures clear imaging in the projection area.

The present application also provides an embodiment of an auto-focus method, which is applied to the above-mentioned auto-focus device 100. Referring to FIG. 4, it is a schematic flow chart of an auto-focus method provided by the embodiment of the present application. The method includes but is not limited to the following step:

S10, acquiring the vertical projection distance between the projection unit and the projection area;

Specifically, a projection space can be set in advance, and the projection unit can be installed at any position in the projection space, or an appropriate space coordinate system can be established in the space, and the first initial position parameter of the projection unit in the space can be preset. The second initial position parameter of the projection area in space is set, and the vertical projection distance between the projection unit and the projection area is calculated according to the first initial position parameter and the second initial position parameter. It should be noted that since the focal length of the projection lens of the projection unit can be adjusted between the minimum focal length and the maximum focal length, within the focus range of the projection lens, the focal length of the projection unit has a one-to-one correspondence with the projection distance, and the minimum focal length should correspond to The minimum projection distance, the maximum focal length should correspond to the maximum projection distance, the distance between the first initial position and the second initial position should be within the minimum projection distance and maximum projection distance, and the length, width and height of the projection area can be set in advance Parameters, the distance between the projection area and the projection unit must be within the adjustable range of the focal length of the projection unit, so as to facilitate clear imaging.

In order to facilitate the acquisition of the vertical projection distance between the projection unit and the projection area, the projection area is perpendicular to the optical axis of the projection unit, and the projection area is usually projected on the projection wall, that is, when the projection unit is in the first initial position, the optical axis of the projection unit perpendicular to the projection wall. The vertical projection distance can also be measured by setting the distance measuring unit, and the measurement result is transmitted to the intelligent calculation unit, and finally displayed on the display screen. The vertical projection distance between the projection unit and the projection area can be measured by setting a ranging unit. The ranging unit can choose a camera, sensor, microwave radar, etc. The cost of setting the ranging unit is relatively high, so manual measurement can also be used. , manually measure the vertical projection distance between the projection unit and the projection area, and then input it to the intelligent computing unit through the data input unit after manual measurement. The intelligent computing unit is connected to the display screen, and the vertical projection distance between the projection unit and the projection area can be directly input manually , the data of the vertical projection distance can be displayed on the display.

S20. Acquire motor rotation data, and calculate a horizontal rotation angle and a pitch rotation angle of the projection unit according to the motor rotation data.

The projection unit can be set at any position in the space through the pan-tilt unit. The projection unit is fixedly installed on the upper surface of the platform of the pan-tilt unit and can rotate with the platform unit. The pan-tilt unit can drive the projection unit to rotate horizontally or pitch. The pan/tilt unit includes two motors, both of which are stepping motors, namely the first stepping motor and the second stepping motor. The motor rotation data includes the step angle of the motor rotation, the direction of the motor rotation and the step of the motor rotation. The number of motor rotation steps can be judged by the number of pulses of the stepping motor. The step angle of the motor indicates the angle at which the motor rotates every time a pulse signal is sent by the control system, or in other words, the gear rotates every time a pulse signal is input. The angle is called the step angle. The first stepping motor can drive the projection unit to rotate horizontally, and the calculation formula of the horizontal rotation angle is α=θ ₁ *N ₁ , where α is the horizontal rotation angle of the first stepping motor, and the step of the first stepping motor of θ ₁ Distance angle, N ₁ is the number of pulses of the first stepping motor, that is, the number of rotation steps of the first stepping motor; pitch rotation angle β=θ ₂ *N ₂ , where β is the pitch rotation angle of the second stepping motor , θ ₂ is the step angle of the second stepping motor, N ₂ is the number of pulses of the second stepping motor, that is, the number of rotation steps of the second stepping motor.

As shown in Figure 3, the first initial position parameter of the preset projection unit is (0, Z), and the first initial position parameter of the projection position of the projection area is (0, 0), then the vertical projection of the projection unit and the projection area The distance is Z. The vertical distance between the projection unit and the projection area can also be obtained through various other methods, such as manual measurement input, or distance measurement by setting the distance measurement unit; the measurement accuracy can also be improved by performing multiple measurements and averaging.

S30, calculate the actual distance between the current projection position and the projection unit according to the vertical projection distance, the horizontal rotation angle and the pitch rotation angle; the actual distance between the current projection position and the projection unit can be calculated according to the formula D=Z/(cosβ*cosα); wherein, Z is the vertical projection distance between the projection unit and the projection area, α is the horizontal rotation angle of the projection unit, and β is the pitch rotation angle of the projection unit. The pan-tilt unit can drive the projection unit to rotate horizontally to change the projection position of the projection unit on the same horizontal line. The pan-tilt unit can also drive the projection unit to tilt and rotate to change the pitch projection angle of the projection unit. For the convenience of calculation, the projection unit is horizontally clockwise Rotation or counterclockwise horizontal rotation, the rotation angle is always a positive value; similarly, the projection unit is rotated upwards or downwards, and its rotation angle is always a positive value.

S40. Adjust the focal length of the projection unit according to the actual distance.

Since the focal length of the projection lens of the projection unit can be adjusted between the minimum focal length and the maximum focal length, within the focusing range of the projection lens, the focal length of the projection unit has a one-to-one correspondence with the projection distance, and the minimum focal length should correspond to the minimum projection Distance, the maximum focal length should correspond to the maximum projection distance, according to the minimum focal length and maximum focal length of the projection unit to determine the projection distance range of the projection unit [D ₀ , D ₁ ], that is, at the projection distance [D ₀ , D ₁ ], The focus adjustment operation can be performed on the projection lens that can move along the optical axis through the focus adjustment mechanism, so as to make the projection picture clearer. The actual distance between the projection unit and the projection area is usually controlled by the pan-tilt unit, which controls the rotation of the projection unit. The larger the rotation angle, the larger the rotation angle of the projection unit, and the greater the actual distance between the projection unit and the projection area. Far, in order to ensure that the actual distance between the projection unit and the projection area is within the minimum projection distance and the maximum projection distance, the maximum rotation angle of the round table unit can be preset, and the maximum rotation angle of the pan/tilt unit corresponds to the maximum projection distance. When both the projection unit and the projection area are at the initial position, the optical axis of the projection unit is perpendicular to the projection area, therefore, the maximum rotation angle of the pan/tilt unit is the same when it rotates forward or backward. When the focusing range of the projection unit is large enough and its maximum projection distance exceeds the distance of any position on the projection wall, it is not necessary to set the maximum rotation angle of the pan/tilt unit to ensure that the projection unit can project on the projection wall. .

The focus adjustment mechanism can obtain the target position of the projection lens according to the actual distance, which can be pre-established within the focus range of the projection lens, the corresponding relationship table between the position of the projection lens and the projection distance, and the corresponding relationship table shows each projection distance, that is, the actual distance; Corresponding to the position of the projection lens, when the projection unit is rotating horizontally or vertically, the actual distance between the projection unit and the projection area will change. Within the focusing range of the projection unit, the projection of the projection unit can be constructed first. The corresponding relationship between the position of the lens and the actual projection distance, and then construct a corresponding relationship table according to the corresponding relationship. After obtaining the actual distance between the projection unit and the projection position, find the target position of the projection lens corresponding to the actual distance through the correspondence table, at the target position, the projection unit can clearly image at the projection position; then, through the intelligent calculation unit control The focus adjustment mechanism adjusts the projection lens to the target position, so as to realize the automatic focus in the dynamic projection, so as to ensure the clear projection picture.

An autofocus method provided by the embodiment of the present application obtains the vertical projection distance between the projection unit and the projection area, and obtains the motor rotation data, and then calculates the current projection position according to the vertical projection distance, the horizontal rotation angle and the pitch rotation angle of the motor The actual distance from the projection unit, and finally adjust the focal length of the projection unit through the actual distance to ensure that different projection positions correspond to different focal lengths, thereby realizing the auto-focus function in dynamic projection.

Embodiments of the present application also provide a computer-readable storage medium, the computer-readable storage medium may be a non-volatile computer storage medium, the computer storage medium stores computer-executable instructions, and the computer-executable instructions are stored by one or more Execution by a processor, such as a processor in FIG. 2 , may enable the one or more processors to execute the auto-focus projection method in any of the above-mentioned method embodiments, for example, execute the auto-focus method in any of the above-mentioned method embodiments, For example, the steps shown in FIG. 4 described above are executed; the functions of the units of the device shown in FIG. 1 can also be realized.

FIG. 5 is a schematic diagram of the hardware structure of the electronic device 70 of the autofocus method provided by the embodiment of the present application. As shown in FIG. 5 , the electronic device 70 includes:

One or more processors 72 and memory 71, one processor 72 is taken as an example in FIG. 5 .

The processor 72 and the memory 71 may be connected through a bus or in other ways. In FIG. 5 , connection through a bus is taken as an example.

The memory 71, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs and module units, such as the program corresponding to the autofocus method in the embodiment of the present application instruction/unit. The processor 72 executes various functional applications and data processing of the electronic device by running the non-volatile software programs, instructions and units stored in the memory 71 , that is, implements the autofocus method in the foregoing method embodiment.

The memory 71 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required by a function; In addition, the memory 71 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 71 may optionally include a memory that is remotely located relative to the processor 72 , and these remote memories may be connected to the autofocus device 100 through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The one or more modules are stored in the memory 71, and when executed by the one or more processors 72, execute the auto-focus method in any of the above method embodiments, for example, execute the above-described FIG. 4 Steps S10 to S40 of the method realize the functions of units 10-50 in FIG. 1 .

The above-mentioned products can execute the method provided by the embodiment of the present application, and have corresponding functional modules and beneficial effects for executing the method. For technical details not described in detail in this embodiment, refer to the method provided in the embodiment of this application.

The electronic equipment of the embodiment of the present application exists in various forms, including but not limited to:

(1) The intelligent computing unit of the above-mentioned embodiment.

(2) Ultra-mobile personal computer equipment: This type of equipment belongs to the category of personal computers, has computing and processing functions, and generally has the characteristics of mobile Internet access. Such terminals include: PDA, MID and UMPC equipment, etc.

(3) Server: A device that provides computing services. The composition of a server includes a processor, hard disk, memory, system bus, etc. The server is similar to a general-purpose computer architecture, but due to the need to provide high-reliability services, it is important in terms of processing power and stability. , Reliability, security, scalability, manageability and other aspects have high requirements.

An embodiment of the present application provides a computer program product, the computer program product includes a computer program stored on a non-volatile computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by the When executed by the terminal, the terminal is enabled to execute the autofocus method of the terminal in any of the above method embodiments, for example, execute steps S10 to S40 of the method in FIG. 4 described above to implement the unit 10-50 in FIG. 1 Function.

The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course also by hardware. Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing related hardware through computer programs, and the programs can be stored in a computer-readable storage medium. During execution, it may include the processes of the embodiments of the above-mentioned methods. Wherein, the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, RAM), etc.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; under the thinking of the present application, the above embodiments or technical features in different embodiments can also be combined, The steps can be performed in any order, and there are many other variations of the different aspects of the application as described above, which have not been presented in detail for the sake of brevity; although the application has been described in detail with reference to the preceding examples, those of ordinary skill in the art The skilled person should understand that: it is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the implementation of the present application. The scope of technical solutions.

Claims

An automatic focusing method is characterized in that, comprising:

Obtain the vertical projection distance between the projection unit and the projection area;

Acquiring motor rotation data, and calculating a horizontal rotation angle and a pitch rotation angle of the projection unit according to the motor rotation data;

calculating the actual distance between the current projection position and the projection unit according to the vertical projection distance, the horizontal rotation angle and the pitch rotation angle;

adjusting the focal length of the projection unit according to the actual distance.
The autofocus method according to claim 1, wherein said acquiring the vertical projection distance between the projection unit and the projection area comprises:

Preset a first initial position parameter of the projection unit in space;

Presetting a second initial position parameter of the projection area in the space;

Calculate the vertical projection distance between the projection unit and the projection area according to the first initial position parameter and the second initial position parameter.
The autofocus method according to claim 2, wherein when the projection unit is located at the first initial position, the optical axis of the projection unit is perpendicular to the projection area.
The autofocus method according to any one of claims 1 to 3, wherein the calculating the actual distance between the current projection position and the projection unit comprises:

Calculate the actual distance between the current projection position and the projection unit according to the formula D=Z/(cosβ*cosα); wherein, Z is the vertical projection distance between the projection unit and the projection area, and α is the projection unit The horizontal rotation angle of , β is the pitch rotation angle of the projection unit.
The autofocus method according to claim 4, wherein the motor is a stepping motor;

The acquiring the motor rotation data, and calculating the horizontal rotation angle and pitch rotation angle of the projection unit according to the motor rotation data includes:

Obtain the motor rotation direction;

Obtain the step angle of the motor and the number of rotation steps of the motor;

The horizontal rotation angle and the pitch rotation angle of the projection unit are calculated according to the rotation direction of the motor, the step angle and the number of rotation steps.
The autofocus method according to claim 4, wherein the adjusting the focal length of the projection unit according to the actual distance comprises:

Acquiring the target position of the projection lens according to the actual distance;

Adjusting the projection lens to the target position according to the target position.
An autofocus device, characterized in that it comprises:

a projection unit, configured to project an image to the projection area;

a data input unit, configured to acquire the vertical projection distance between the projection unit and the projection area;

The pan-tilt unit is connected with the projection unit in transmission, and is used to adjust the horizontal rotation angle and pitch rotation angle of the projection unit;

An intelligent computing unit, connected to the data input unit and the pan-tilt unit, is used to calculate the actual distance between the current projection position and the projection unit according to the vertical projection distance, the horizontal rotation angle and the pitch rotation angle ;

An auto-focus unit connected to the intelligent calculation unit, the auto-focus unit is used to adjust the focal length of the projection unit according to the actual distance.
The autofocus device according to claim 7, wherein the pan-tilt unit comprises a platform, a horizontal rotation mechanism and a pitch rotation mechanism;

a platform, the projection unit is fixedly connected to the platform;

The horizontal rotation mechanism includes a first stepping motor and a horizontal gear, and the platform is connected to the first stepping motor through a horizontal gear;

The tilting mechanism includes a second stepping motor and a vertical gear, and the platform is connected to the second stepping motor through a vertical gear.
The autofocus device according to claim 7, wherein the projection unit comprises:

a projection lens movable along the optical axis of the projection unit;

The focusing mechanism is connected to the projection lens in transmission and connected to the intelligent computing unit, and the intelligent computing unit is used to control the focusing mechanism to adjust the position of the projection lens in the direction of the optical axis.
A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to perform the automatic operation according to any one of claims 1-6 Focus method.
An electronic device, characterized in that it comprises:

at least one processor; and,

a memory communicatively coupled to the at least one processor; wherein,

The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can perform the method described in any one of claims 1-6. Autofocus method.
A computer program product, characterized in that the computer program product includes a computer program stored on a non-volatile computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by an electronic device , causing the electronic device to execute the autofocus method according to any one of claims 1-6.