WO2023071256A1 - 激光投影设备及投影图像的校正方法 - Google Patents

激光投影设备及投影图像的校正方法 Download PDF

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Publication number
WO2023071256A1
WO2023071256A1 PCT/CN2022/101830 CN2022101830W WO2023071256A1 WO 2023071256 A1 WO2023071256 A1 WO 2023071256A1 CN 2022101830 W CN2022101830 W CN 2022101830W WO 2023071256 A1 WO2023071256 A1 WO 2023071256A1
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WIPO (PCT)
Prior art keywords
image
projection
angle offset
data
initial
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PCT/CN2022/101830
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English (en)
French (fr)
Inventor
矫风
肖纪臣
刘鹏鹏
陈许
姜大鹏
梁倩
张冬冬
Original Assignee
青岛海信激光显示股份有限公司
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Priority claimed from CN202111275147.8A external-priority patent/CN113973195A/zh
Priority claimed from CN202111560475.2A external-priority patent/CN114268777B/zh
Priority claimed from CN202111563420.7A external-priority patent/CN114222100A/zh
Application filed by 青岛海信激光显示股份有限公司 filed Critical 青岛海信激光显示股份有限公司
Publication of WO2023071256A1 publication Critical patent/WO2023071256A1/zh

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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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/74—Projection arrangements for image reproduction, e.g. using eidophor
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N9/00—Details of colour television systems
    • H04N9/12—Picture reproducers
    • H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]

Definitions

  • the present disclosure relates to the technical field of projection display, and in particular, to a laser projection device and a correction method for a projected image.
  • Laser display products include projection screens and laser projection equipment.
  • Laser projection equipment can project images on projection screens to achieve video playback and other functions.
  • the laser projection equipment includes a light source assembly, an optical machine and a lens.
  • the light source assembly is used to provide a high-intensity laser illumination beam to the optical machine; the optical machine is used to modulate the image signal of the laser illumination beam to form a projection beam.
  • the formed projection beam enters the lens; the lens is used to project the projection beam onto the projection screen.
  • a laser projection device including a light source component, an optical engine, a lens, an image acquisition interface, and a circuit system architecture.
  • the light source assembly is configured to provide an illumination beam.
  • the light machine is configured to modulate the illumination beam with the image signal to obtain the projection beam.
  • the lens is configured to project the projection beam into an image.
  • the circuit system architecture includes a main control circuit and a display control circuit.
  • the main control circuit is coupled to the image acquisition interface and the display control circuit, and is configured to acquire the captured image through the image acquisition interface; obtain first correction data based on the position of the calibration mark in the captured image; and send the correction parameters to the display control circuit .
  • the correction parameters include first correction data.
  • the captured image is an image captured when the first projection image is projected onto the projection screen; the first projection image includes a calibration mark.
  • the display control circuit is configured to receive correction parameters, perform correction processing on the image to be projected based on the correction parameters, and transmit the image signal of the image to be projected after correction processing to the optical machine, so that the optical machine uses the image signal of the image to be projected after correction processing
  • the signal modulates the illumination beam to obtain the projection beam.
  • some embodiments of the present disclosure provide a method for correcting a projected image, which is applied to a laser projection device.
  • the correction method includes: firstly, during the startup process of the laser projection device, projecting a first projected image onto a projection screen, The first projected image includes a calibration logo. Secondly, a captured image is acquired, where the captured image is an image captured when the first projection image is projected onto the projection screen. Again, based on the captured image, it is determined whether the projection area of the first projection image exceeds the border of the projection screen.
  • the projection area of the first projection image exceeds the border of the projection screen, based on the position of the correction mark in the captured image and the position of the correction mark in the target image, determine whether there is an offset; the target image is the first projection image The captured image when the projected area of , matches the range of the projected screen. Finally, if there is an offset, the first correction data is determined according to the offset, and the image to be projected is corrected based on the correction parameters, where the correction parameters include the first correction data.
  • FIG. 1A is a schematic diagram of an application scenario where a projection system interacts with a control device and a server according to some embodiments of the present disclosure
  • FIG. 1B is a structural diagram of a laser projection device according to some embodiments of the present disclosure.
  • FIG. 2 is a schematic diagram of a light source assembly, an optical engine and a lens in a laser projection device according to some embodiments of the present disclosure
  • FIG. 3 is a structural diagram of an optical path in a laser projection device according to some embodiments of the present disclosure
  • FIG. 4 is a schematic diagram of the optical path principle of a light source assembly in a laser projection device according to some embodiments of the present disclosure
  • FIG. 5 is an arrangement structure diagram of tiny mirror mirrors in a digital micromirror device according to some embodiments of the present disclosure
  • Fig. 6 is a schematic diagram of the operation of a tiny mirror according to some embodiments of the present disclosure.
  • Fig. 7 is the schematic diagram of the position of a tiny reflector mirror swing in the digital micromirror device shown in Fig. 5;
  • FIG. 8 is a schematic diagram of the positions of a laser projection device and a projection screen according to some embodiments of the present disclosure
  • FIG. 9 is a structural diagram of another laser projection device according to some embodiments of the present disclosure.
  • Fig. 10 is a schematic diagram of a first projected image according to some embodiments of the present disclosure.
  • Fig. 11 is a schematic diagram of a startup video according to some embodiments of the present disclosure.
  • Fig. 12 is a schematic diagram of a first projected image and a second projected image according to some embodiments of the present disclosure
  • Fig. 13 is a schematic diagram of another first projected image and a second projected image according to some embodiments of the present disclosure.
  • Fig. 14 is a schematic diagram of matching a projection area of a first projection image with a frame of a projection screen according to some embodiments of the present disclosure
  • Fig. 15 is a schematic diagram of a projection area of a first projected image exceeding a frame of a projection screen according to some embodiments of the present disclosure
  • Fig. 16 is a schematic diagram of a coordinate system according to some embodiments of the present disclosure.
  • Fig. 17 is a schematic diagram of a roll angle offset of a laser projection device according to some embodiments of the present disclosure.
  • Fig. 18 is a schematic diagram of a pitch angle offset of a laser projection device according to some embodiments of the present disclosure.
  • Fig. 19 is a schematic diagram of a laser projection device yaw angle offset according to some embodiments of the present disclosure.
  • FIG. 20 is a structural diagram of a circuit system architecture according to some embodiments of the present disclosure.
  • Fig. 21 is a schematic diagram of a projection screen according to some embodiments of the present disclosure.
  • Fig. 22 is a schematic diagram of another projection screen according to some embodiments of the present disclosure.
  • Fig. 23 is a schematic diagram of another projection screen according to some embodiments of the present disclosure.
  • Fig. 24 is a flowchart of a calibration method according to some embodiments of the present disclosure.
  • Fig. 25 is a flowchart of another calibration method according to some embodiments of the present disclosure.
  • Fig. 26 is a flow chart of another correction method according to some embodiments of the present disclosure.
  • the working principle of the acceleration sensor the deformation of the sensitive parts inside the sensor is caused by the force, and the corresponding acceleration signal is obtained by measuring the deformation and converting it into a voltage output by the relevant circuit.
  • the acceleration sensor In a static state, the acceleration sensor must have a direction of gravity, so the data of one axis is 1g (that is, 9.8m 2 /s).
  • the working principle of the geomagnetic sensor the measurement device that uses the different motion states of the measured object in the geomagnetic field to indicate the attitude and movement angle of the measured object by sensing the distribution of the geomagnetic field is similar to a compass.
  • the working principle of the gyro sensor a device used to measure the rotation angle or angular velocity of an object in a relative inertial space. By integrating the acquired angular velocity value, the angular value of the object's movement can be determined.
  • the projection system includes a laser projection device and a projection screen 30
  • the laser projection device includes a host 10
  • the laser projection device can interact with a control device 500 and a server 600 .
  • the number of servers 600 may be one or more groups, and when the number of servers 600 is more than one group, the multiple groups of servers 600 may include one type of server or multiple types of servers.
  • the server 600 may be a video server, an electronic program guide (Electronic Program Guide, EPG) server, a cloud server, and the like.
  • EPG Electronic Program Guide
  • the server 600 can provide various contents and interactions to the host 10 .
  • the server 600 may provide other network service contents such as video-on-demand and advertisement services.
  • the host 10 can perform data communication with the server 600 through various communication methods.
  • the host 10 can perform wired communication connection or wireless communication connection with the server 600 through a local area network, a wireless local area network or other networks.
  • control device 500 is configured to control the host 10 through wireless or other wired methods.
  • control device 500 may be a remote controller 500A, and the remote controller 500A may communicate with the host 10 through infrared protocol communication, Bluetooth protocol communication, ZigBee protocol communication or other short-distance communication methods.
  • the user can control the host 10 through buttons, voice, control panel and other methods.
  • an application program can be installed on the control device 500 according to user requirements, and the application program can be used to control the host computer 10 .
  • control device 500 may be a smart device (such as a mobile terminal 500B, a tablet computer, a computer or a notebook computer), and the smart device may be connected via a local network (Local Area Network, LAN), a wide area network (Wide Area Network, WAN) , wireless local area network (Wireless Local Area Network, WLAN) or other networks communicate with the multimedia controller, and realize the control of the host computer 10 through the application program corresponding to the multimedia controller.
  • the user can control the host 10 through an application program running on the smart device, and the application program can provide the user with various control functions through an intuitive user interface (User Interface, UI) on the screen associated with the smart device.
  • UI User Interface
  • the host 10 includes a complete machine housing 101 (only part of the housing is shown in the figure), a light source assembly 100 , an optical engine 200 , and a lens 300 assembled in the complete machine housing 101 .
  • the light source assembly 100 is configured to provide an illumination beam (laser beam).
  • the optical machine 200 is configured to use an image signal to modulate the illumination beam provided by the light source assembly 100 to obtain a projection beam.
  • the lens 300 is configured to project the projection beam onto a projection screen or a wall for imaging.
  • the light source assembly 100 , the light engine 200 and the lens 300 are sequentially connected along the beam propagation direction, and each is wrapped by a corresponding housing.
  • the housings of the light source assembly 100 , the optical engine 200 and the lens 300 support the optical components and make the optical components meet certain sealing or airtight requirements.
  • the light source assembly 100 is airtightly sealed through its corresponding housing, which can better improve the problem of light decay of the light source assembly 100 .
  • One end of the light engine 200 is connected to the lens 300 and arranged along the first direction X of the whole machine, for example, the first direction X may be the width direction of the whole machine.
  • the light source assembly 100 is connected to the other end of the optical machine 200 .
  • the connection direction between the light source assembly 100 and the optical machine 200 is perpendicular to the connection direction between the optical machine 200 and the lens 300.
  • this connection structure can adapt to the optical path characteristics of the reflective light valve in the optical machine 200, and on the other hand On the one hand, it is also beneficial to shorten the length of the optical path in one dimension, which is beneficial to the structural arrangement of the whole machine.
  • the length of the optical path in this direction will be very long , which is not conducive to the structural arrangement of the whole machine.
  • light source assembly 100 may include three laser arrays. As shown in FIG. 2 , the light source assembly 100 is an example of a three-color laser light source, and the three laser arrays may be a red laser array 130 , a green laser array 120 and a blue laser array 110 ; but it is not limited thereto. The three laser arrays may also all be blue laser arrays 110 , or two laser arrays may be blue laser arrays 110 , and one laser array may be red laser arrays 130 .
  • the light source assembly 100 can generate an illumination beam containing light of the three primary colors, so there is no need to set a fluorescent wheel in the light source assembly 100 (when one or more lasers included in the light source When the array can only generate one or two colors of laser light, it is necessary to use the existing color laser to excite the fluorescent wheel to generate other colors of fluorescent light, so that the laser light and the fluorescent light together form white light), thereby simplifying the structure of the light source assembly 100, The volume of the light source assembly 100 is reduced.
  • the light source assembly 100 may also include two laser arrays.
  • the light source assembly 100 is a two-color laser light source as an example.
  • the two laser arrays can be a blue laser array 110 and a red laser array 130;
  • the light source assembly 100 can also include a laser array, that is, the light source assembly 100 is a monochromatic laser light source, that is, the light source assembly 100 only includes the blue laser array 110, or only includes the blue laser array 110 and the red laser array 130 pm.
  • the laser array may be a blue laser array 110
  • the light source assembly 100 may further include: a fluorescent wheel 140 and a color filter wheel 150 .
  • the blue laser 110 emits blue light
  • a part of the blue light is irradiated on the fluorescent wheel 140 to generate red fluorescent light (when the light source assembly 100 includes the red laser array 130, it is not necessary to generate red fluorescent light) and green fluorescent light;
  • red fluorescent light (or red laser) and green fluorescent light sequentially pass through the light combining mirror 160 and then pass through the color filter wheel 150 for color filtering, and output the three primary colors sequentially.
  • red fluorescent light or red laser
  • green fluorescent light sequentially pass through the light combining mirror 160 and then pass through the color filter wheel 150 for color filtering, and output the three primary colors sequentially.
  • the human eye cannot distinguish the color of light at a certain moment, and what it perceives is still mixed white light.
  • the optical machine 200 may include: a light guide 210 , a lens assembly 220 , a mirror 230 , a digital micromirror device (Digital Micromirror Device, DMD) 240 and a prism assembly 250 .
  • the light pipe 210 can receive the illumination beam provided by the light source assembly 100 and homogenize the illumination beam.
  • the lens assembly 220 can amplify the illumination light beam first, then converge it and output it to the reflector 230 .
  • the mirror 230 can reflect the illumination beam to the prism assembly 250 .
  • the prism assembly 250 reflects the illumination beam to the DMD 240, and the DMD 240 modulates the illumination beam, and reflects the modulated projection beam to the lens 300.
  • the DMD 240 is the core component, and its function is to use the image signal to modulate the illumination beam provided by the light source assembly 100, that is, to control the illumination beam to display different colors and brightness for different pixels of the image to be displayed, so as to finally form Optical image, so DMD 240 is also known as light modulation device or light valve.
  • the light modulation device or light valve
  • the light modulation device can be divided into a transmissive light modulation device (or light valve) or a reflective light modulation device (or light valve).
  • the DMD 240 reflects the illumination beam, which is a reflective light modulation device.
  • the liquid crystal light valve transmits the illumination beam, so it is a transmissive light modulation device.
  • the optomechanics can be divided into single-chip systems, two-chip systems or three-chip systems.
  • the light source assembly, optical machine and lens in some embodiments of the present disclosure are schematic diagrams and optical path architecture diagrams, only one piece of DMD 240 is used in the optical machine 200, so the optical Machine 200 may be referred to as a system-on-a-chip.
  • the optical machine 200 can be called a three-chip system.
  • the DMD 240 is applied in the digital light processing (Digital Light Processing, DLP) projection architecture, as shown in Figure 2 and Figure 3, the optical machine 200 uses the DLP projection architecture.
  • the DMD 240 includes thousands of tiny reflective mirrors 2401 that can be individually driven to rotate, these tiny reflective mirrors 2401 are arranged in an array, and each tiny reflective mirror 2401 corresponds to a pixel in the image to be displayed .
  • each tiny reflector 2401 is equivalent to a digital switch, which can swing within the range of plus or minus 12 degrees ( ⁇ 12°) or plus or minus 17 degrees ( ⁇ 17°) under the action of an external electric field, to The reflected light can be imaged on the screen through the lens 300 along the optical axis to form a bright pixel.
  • the light reflected by the tiny mirror 2401 at a negative deflection angle is called OFF light, and the OFF light is invalid light, which usually hits the housing 101 of the complete machine, the housing of the optical machine 200 or absorbed by the light absorbing unit.
  • the light reflected by the tiny reflective lens 2401 at a positive deflection angle is called ON light.
  • the ON light is the effective light beam that the tiny reflective lens 2401 on the surface of the DMD 240 receives the illumination beam and enters the lens 300 through a positive deflection angle. For projection imaging.
  • the open state of the micro-reflector 2401 is the state where the micro-reflector 2401 is and can be maintained when the illumination beam emitted by the light source assembly 100 is reflected by the micro-reflector 2401 and can enter the lens 300, that is, the micro-reflector 2401 is at a positive deflection angle status.
  • the closed state of the tiny reflective mirror 2401 is the state where the tiny reflective mirror 2401 is and can be maintained when the illuminating light beam emitted by the light source assembly 100 is reflected by the tiny reflective mirror 2401 and does not enter the lens 300, that is, the tiny reflective mirror 2401 is in a negative deflection angle status.
  • the state at +12° is the on state
  • the state at -12° is the off state
  • the deflection angle between and +12° the actual working state of the tiny mirror 2401 is only the on state and the off state.
  • the state at +17° is the on state
  • the state at -17° is the off state.
  • the image signal is converted into digital codes such as 0 and 1, and these digital codes can drive the tiny mirror 2401 to vibrate.
  • part or all of the tiny mirrors 2401 will be switched once between the on state and the off state, so as to realize the display in one frame of image according to the duration time of the tiny mirrors 2401 respectively in the on state and the off state.
  • the gray scale of each pixel of For example, when a pixel has 256 gray scales from 0 to 255, the tiny mirrors corresponding to gray scale 0 are in the off state during the entire display period of one frame of image, and the tiny mirrors corresponding to gray scale 255 are in the off state during one frame.
  • the whole display period of the image is in the on state, and the tiny reflective mirror corresponding to the gray scale 127 is in the on state for half of the time in the display period of a frame of image, and the other half of the time is in the off state. Therefore, the state and the maintenance time of each state in the display period of each frame of image are controlled by the image signal to control the brightness (gray scale) of the corresponding pixel of the tiny mirror 2401 to realize the projection
  • the illumination beam to the DMD 240 is modulated for the purpose.
  • the light guide 210 at the front end of the DMD 240, the lens assembly 220 and the reflector 230 form an illumination light path, and the illumination beam emitted by the light source assembly 100 passes through the illumination light path to form a beam size and an incident angle that meet the requirements of the DMD 240.
  • the lens 300 includes a combination of multiple lenses, which are usually divided into groups, such as the front group, the middle group and the front group.
  • the front group is the lens group close to the light output side of the laser projection device (left side shown in FIG. 2 )
  • the rear group is the lens group close to the light output side of the light engine 200 (right side shown in FIG. 2 ).
  • the lens 300 may also be a zoom lens, or a fixed focus adjustable focus lens, or a fixed focus lens.
  • the laser projection device is an ultra-short-focus laser projection device
  • the lens 300 is an ultra-short-focus lens
  • the throw ratio of the lens 300 is usually less than 0.3, such as 0.24.
  • the throw ratio refers to the ratio of the projection distance to the screen width. The smaller the ratio, the larger the projection screen width at the same projection distance.
  • the ultra-short-focus lens with a relatively small projection can adapt to a narrow space while ensuring the projection effect.
  • the host 10 of the laser projection device is set separately from the projection screen, and there is generally a certain distance between them.
  • the projection picture projected by the lens 300 on the projection screen 30 will also shift, so the projection picture may exceed the projection screen 30.
  • the range of the situation will affect the projection display effect.
  • the photographing device 20 is a device capable of photographing the projection screen 30 .
  • the photographing device 20 may be a camera.
  • the photographing device 20 may be arranged on the whole machine casing 101 of the host 10, or the photographing device 20 may also be arranged at a position outside the whole machine casing 101 of the host 10.
  • the disposition of the photographing device 20 in the present disclosure The location is not limited.
  • the host 10 of the laser projection device further includes a power system architecture (power system architecture) 400, which may be a printed circuit board assembly (PCBA).
  • the circuit system architecture 400 is configured to control the operation of the light source assembly 100 and the light machine 200 .
  • the circuit system architecture 400 may be disposed in the complete machine housing 101 , and the present disclosure does not limit the arrangement position of the circuit system architecture 400 .
  • the circuit system architecture 400 includes a main control circuit 401 and a display control circuit 402 .
  • the main control circuit 401 is coupled to the image acquisition interface and the display control circuit 402.
  • the display control circuit 402 may be a DLP chip.
  • the main control circuit 401 is configured to: respond to the power-on command, send a shooting command to the shooting device 20 through the image acquisition interface; send the control command, the first projected image and the second projected image to the display control circuit 402 .
  • the power-on command can be triggered by the user, for example, when the user presses the power-on button on the laser projection device, or presses the control device corresponding to the laser projection device (it can be a mobile device connected in communication with the laser projection device, such as a mobile terminal such as a mobile phone) When the power button on the phone is pressed, the power-on command can be triggered.
  • the laser projection device in response to the power-on instruction, is powered on.
  • the laser projection device needs to power on the various devices (for example, the light source assembly 100 and the DMD 240) in it, and also needs to power on the circuits integrated in it (for example, the main control circuit 401 and the display The control circuit 402) is initialized.
  • all components in the laser projection device can work normally, so that the laser projection device can project the first projection image and the second projection image to the projection screen.
  • the first projection image includes a correction mark
  • the shape of the correction mark may include a rhombus, a star, or a cross.
  • the present disclosure does not limit the shape of the correction mark included in the first projection image.
  • the following embodiments are based on The shape of the calibration mark is a rhombus or a five-pointed star as an example for illustration.
  • the first projection image includes one or more correction marks, and when the first projection image includes multiple correction marks, the positions of the multiple correction marks in the first projection image are different.
  • the larger the number of correction marks included in the first projected image the higher the correction accuracy of the projected image.
  • the more the number of calibration signs included in the first projected image the more data the main control circuit 401 needs to calculate, and the more difficult the calculation is.
  • the first projection image may include an appropriate number of calibration marks.
  • the first projection image may include 4 correction marks, and the 4 correction marks may be distributed at the vertices of the first projection image, or at midpoints of sides of the first projection image.
  • the first projection image may include 16 calibration marks, and the 16 correction marks may be distributed in the first projection image in a manner of 4 rows and 4 columns.
  • the present disclosure does not limit the number and distribution positions of the correction markers included in the first projection image.
  • the following embodiments take four calibration markers distributed at the vertex positions of the first projection image as an example for illustration.
  • the first projected image can be obtained by adding a correction mark to the background image.
  • the background image may include video images or user interfaces during normal use of the laser projection device. It may also include a startup screen such as a startup animation or a brand icon.
  • the embodiment of the present disclosure does not limit the type of the background image.
  • the following embodiments take the background image including the startup screen as an example for illustration.
  • the start-up picture can be pre-stored in the main control circuit 401 .
  • the first projected image includes a startup screen, and the size of the first projected image may be the same as or larger than that of the startup screen.
  • the first projected image includes a startup screen 01 and six diamond-shaped calibration marks 02 , and the six diamond-shaped calibration marks 02 are uniformly distributed around the startup screen 01 .
  • the first projected image includes a startup screen 01 and six five-pointed star-shaped calibration marks 02 , and the six five-pointed star-shaped calibration marks 02 are evenly distributed around the startup screen 01 .
  • the startup screen 01 in FIG. 10 includes but not limited to screens such as startup animation or brand icons.
  • the color of the background image in the first projected image is different from the color of the correction mark, and there is a significant difference between the two colors, so that when the captured image is subsequently processed, it can be more accurately determined that the correction mark is in the captured image s position.
  • the color of the background image can be obtained first. Then, invert the color of the background image to obtain the identification color, for example, subtract the color value of the color of the background image from 255 to obtain the color value of the identification color. Finally, set the color of the calibration logo as the logo color.
  • the color of the background image in the first projected image is black, and the color of the calibration mark 02 is white.
  • the color of the background image in the first projected image is white, and the color of the calibration mark 02 is black.
  • the second projected image includes a startup screen and does not include a calibration mark.
  • the first projected image and the second projected image can be two adjacent frames of images (alternately projected), so that the user is not easy to perceive the first projected image and the correction mark in the first projected image, and then it can be realized according to the correction mark that the user does not perceive correct the projected image.
  • the start-up video includes three consecutive frames of start-up images of image Pm1 , image P0 and image Pm2 .
  • the main control circuit 401 may add four correction marks a to the image P0 shown in FIG. 11 to obtain a first projected image P1 .
  • FIG. 12 includes two frames of the second projection picture, which are the image Pm1 and the image Pm2 respectively, and neither the image Pm1 nor the image Pm2 includes the correction mark.
  • the main control circuit 401 may add a correction mark to one frame of the start-up picture (for example, P0) in the continuous multi-frame start-up picture to obtain the first projected image (for example, P1), and replace the first projected image with the first projected image P1.
  • a correction mark to one frame of the start-up picture (for example, P0) in the continuous multi-frame start-up picture to obtain the first projected image (for example, P1), and replace the first projected image with the first projected image P1.
  • P0 the start-up picture
  • P1 the first projected image
  • the main control circuit 401 may also insert the first projection image P1 between the image P0 and the image Pm2.
  • FIG. 13 includes three frames of the second projection image, which are image Pm1, image P0 and None of the image Pm2, image Pm1, image P0, and image Pm2 includes a calibration mark. Therefore, the main control circuit 401 can add a correction mark to one frame of the startup picture (for example, P0) in the continuous multi-frame startup picture to obtain the first projected image (for example, P1), and the Or insert the first projected image P1 afterwards.
  • the display control circuit 402 is configured to project the first projection image and the second projection image onto the projection screen 30 in response to a control command.
  • the display control circuit 402 projects the first projected image and the second projected image onto the projection screen 30
  • the first projected image and the second projected image can be alternately projected onto the projection screen 30 .
  • the laser projection device may play a start-up video, and both the first projected image and the second projected image are image frames in the start-up video.
  • the display control circuit 402 alternately projects the first projection image and the second projection image on the projection screen.
  • the display control circuit 402 first projects at least one frame of the second projection image to the projection screen, then projects a frame of the first projection image to the projection screen, then projects at least one frame of the second projection image to the projection screen, and then projects a frame of the second projection image to the projection screen.
  • Frame the first projected image and so on. That is, the display control circuit 402 can project multiple frames of the first projected image to the projection screen, and there is at least one frame of the second projected image between two adjacent frames of the first projected image, so as to realize the first projected image and the second projected image alternate projections.
  • the photographing device 20 is configured to photograph the first projection image projected by the lens 300 on the projection screen in response to the photographing instruction to obtain a photographed image.
  • the parameters of the photographing device 20 can be set according to the application scenario, for example, the photographing device 20 can capture images of multiple consecutive frames.
  • the photographing device 20 may photograph the projection screen. Therefore, the photographing device 20 can photograph the first projection image projected on the projection screen, and can also photograph the second projection image projected on the projection screen.
  • the captured images in the implementation of the present disclosure all refer to the first projection images projected on the projection screen captured by the capturing device 20 .
  • the exposure time of the photographing device 20 can be set as required.
  • the photographing device 20 may photograph consecutive multiple frames of images, or the number of image frames captured by the photographing device 20 per second is greater than the number of frames played by the laser projection device.
  • the main control circuit 401 is further configured to acquire captured images through the image acquisition interface, and determine whether the projection area of the first projected image exceeds the frame of the projection screen 30 based on the captured images. As shown in FIG. 14 , the projection area of the first projected image matches the frame of the projection screen 30, which means that the area Z1 of the projection screen 30 coincides with the projection area Z2 of the first projected image, and coincidence refers to almost overlapping or completely Coincident, nearly coincident may be a coincidence recognizable to the human eye.
  • the projection area Z2 of the first projection image may be an area enclosed by the outline of the first projection image
  • the area Z1 of the projection screen 30 may be an area enclosed by the outline of the frame of the projection screen 30 . Therefore, the main control circuit 401 is configured to: determine the outline of the frame of the projection screen 30 and the outline of the projection area of the first projection image in the captured image. If it is detected that the area surrounded by the outline of the first projected image is at least partially outside the area enclosed by the outline of the frame of the projection screen 30, then it is determined that the projected area of the first projected image in the captured image exceeds the frame of the projection screen 30 . By performing image processing (such as edge detection) on the captured image, the outline of the frame of the projection screen 30 and the outline of the projection area of the first projection image can be recognized.
  • image processing such as edge detection
  • some pictures are located outside the area enclosed by the outline of the frame of the projection screen 30, then determine the first projected image in the captured image.
  • the projection area exceeds the frame of the projection screen 30.
  • the main control circuit 401 is configured to: firstly, based on the captured image, determine the position of the correction mark in the captured image. Then, based on the position of the correction mark in the shot image and the position of the correction mark in the target image, it is determined whether there is an offset.
  • the target image is a captured image when the projection area of the first projection image matches the range of the projection screen. If there is an offset, it is determined that the projection area of the first projection image in the captured image exceeds the frame of the projection screen 30 .
  • the existence of an offset means that among the plurality of correction marks, at least one correction mark has a different position in the shot image and a position in the target image.
  • the four calibration marks a in the first projected image P1 are rhombuses with the same shape and size, and the left vertex a1 of the rhombus can be used as the marking point of the calibration marks to determine the correctness of the marks. position in the captured image. Therefore, the main control circuit 401 can determine the offset of the marking point a1 by comparing the position of the marking point a1 in the captured image with the position of the marking point a1 in the target image.
  • the frame of the projection screen 30 is a rectangle, and a two-dimensional coordinate system can be established with the lower left vertex of the rectangle as the origin, and the left frame and the lower frame of the rectangle as the two axes of the two-dimensional coordinate system.
  • the offset of the marked point a1 can be determined, that is, the offset of the calibration mark. If the offsets of the four calibration signs a are all 0, there is no offset, and if the offset of at least one of the four calibration signs a is not 0, then there is an offset.
  • the image to be projected does not need to be corrected.
  • the laser projection device can continue to perform the power-on operation, so that the laser projection device can complete initialization and ensure that the laser projection device can work normally.
  • the main control circuit 401 is further configured to: if it is determined that the projection area of the first projected image in the captured image exceeds the frame of the projection screen 30 , determine the first correction data according to the offset. If it is determined that the projection area of the first projected image in the captured image exceeds the border of the projection screen 30, it can be considered that the laser projection device projects the first projected image onto the projected screen on the projection screen 30. The projection screen has shifted, and the image to be projected needs to be corrected. , to ensure the subsequent projection effect.
  • the first correction data is determined according to the offset, and the first correction data may include offsets or offset directions of multiple calibration marks.
  • the first correction data may be a vector including an offset direction and an offset value.
  • the main control circuit 401 is further configured to: send a correction parameter to the display control circuit 402, where the correction parameter includes the first correction data.
  • the display control circuit 402 is configured to receive the correction parameters, perform correction processing on the image to be projected based on the correction parameters, and transmit the image signal of the image to be projected after correction processing to the optical machine 200, so that the optical machine 200 uses the image signal to be projected after the correction processing
  • the image signal of the projected image modulates the illuminating light beam, and projects the corrected image to be projected onto the projection screen 30 .
  • the laser projection device can continue to perform the power-on operation, so that the laser projection device can complete initialization and ensure that the laser projection device can work normally.
  • Performing correction processing on the image to be projected based on the correction parameters may be performing correction processing on the second projection image subsequent to the first projection image based on the correction parameters, so as to ensure that the correction is completed during the startup process of the laser projection device, so as to ensure the user's viewing effect.
  • the main control circuit 401 can also directly determine whether the image to be projected needs to be corrected by determining whether there is an offset.
  • the circuit system architecture 400 further includes an attitude detection sensor 403 , and the attitude detection sensor 403 is coupled to the main control circuit 401 .
  • the attitude detection sensor 403 is configured to acquire attitude data of the laser projection device, and the attitude data includes initial attitude data and actual attitude data.
  • the initial attitude data is used to reflect the initial attitude of the laser projection device, and the actual attitude data is used to reflect the current attitude of the laser projection device.
  • the main control circuit 401 is further configured to: firstly, determine whether the actual posture data matches the initial posture data.
  • the roll angle offset, pitch angle offset and yaw angle offset of the laser projection device switching from the initial attitude to the current attitude are acquired based on the attitude data.
  • the roll angle offset is the deflection angle of the laser projection device relative to the initial posture with the first coordinate axis as the rotation axis, and the first coordinate axis is the projection direction of the laser projection device in the initial posture in the horizontal plane.
  • the pitch angle offset is the deflection angle of the laser projection device relative to the initial posture with the second coordinate axis as the rotation axis, and the second coordinate axis is a direction perpendicular to the first coordinate axis in the horizontal plane.
  • the yaw angle offset is the deflection angle of the laser projection device relative to the initial posture with the third coordinate axis as the rotation axis, and the third coordinate axis is the vertical direction.
  • the initial posture of the laser projection device may be the posture after the user or professional manually corrects the laser projection device according to the projection environment and the actual projection screen, and the projection screen is the screen projected by the laser projection device on the projection screen.
  • the projection direction of the laser projection device is aligned with the projection screen, so that the projection screen of the laser projection device is an ideal rectangular projection screen.
  • the laser projection device has different initial postures under different projection environments. In the same projection environment, the user only needs to perform a manual correction after the laser projection device is turned on for the first time to keep the laser projection device in the initial posture. After that, no matter how many times the laser projection device is switched on and off, the initial posture of the laser projection device remains unchanged. . When the projection environment of the laser projection device changes, the initial posture of the laser projection device will also change accordingly.
  • the user uses the laser projection device to project in the first room, after turning on the first room for the first time, the user manually corrects the laser projection device to be in the first posture, and the first posture is the laser projection device in the first position.
  • the initial posture of the room after the laser projection device is turned off and on in the first room, there is no need to manually correct and readjust the initial posture of the laser projection device.
  • the second room is not the same room as the first room.
  • the second room is in a second posture, and the second posture is an initial posture when the laser projection device is in the second room.
  • the first coordinate axis is the projection direction of the laser projection device in the initial posture in the horizontal plane.
  • the first coordinate axis is perpendicular to the drawing direction, and the third coordinate axis is the vertical direction.
  • the main control circuit 401 determines the angular offset of the laser projection device Exemplary instructions.
  • the roll angle offset is the deflection angle of the laser projection device relative to the initial posture with the first coordinate axis as the rotation axis.
  • the coordinate system formed by the X-axis, Y-axis, and Z-axis is the coordinate system established when the laser projection device is in the initial posture.
  • the laser projection device rolls the laser projection device rotates around the X-axis, and That is, the YZ plane rotates around the X axis to form a Y1Z1 plane, and the angle ⁇ formed by the Y axis and the Y1 axis (or the angle ⁇ formed by the Z axis and the Z1 axis) is the roll angle offset of the laser projection device.
  • the pitch angle offset is the deflection angle of the laser projection device relative to the initial posture with the second coordinate axis as the rotation axis.
  • the coordinate system formed by the X-axis, Y-axis, and Z-axis is the coordinate system established when the laser projection device is in the initial attitude.
  • the laser projection device pitches the laser projection device rotates around the Y-axis, that is, The XZ plane rotates around the Y axis to form the X1Z1 plane, and the angle ⁇ formed by the X axis and the X1 axis (or the angle ⁇ formed by the Z axis and the Z1 axis) is the pitch angle offset of the laser projection device.
  • the yaw angle offset is the deflection angle of the laser projection device relative to the initial attitude with the third coordinate axis as the rotation axis.
  • the coordinate system formed by the X-axis, Y-axis, and Z-axis is the coordinate system established when the laser projection device is in the initial attitude.
  • the laser projection device When the laser projection device yaws, the laser projection device rotates around the Z-axis, and That is, the XY plane rotates around the Z axis to form an X1Y1 plane, and the angle ⁇ formed by the X axis and the X1 axis (or the angle ⁇ formed by the Y axis and the Y1 axis) is the yaw angle offset of the laser projection device.
  • the posture detection sensor 403 includes an acceleration sensor 4031 and a geomagnetic sensor 4032 .
  • the geomagnetic sensor 4032 is configured to detect the yaw angle of the laser projection device.
  • the actual posture data includes the actual acceleration data detected by the acceleration sensor 4031 and the actual geomagnetic data detected by the geomagnetic sensor 4032 .
  • the initial attitude data includes initial acceleration data detected by the acceleration sensor 4031 and initial geomagnetic data detected by the geomagnetic sensor 4032 .
  • the main control circuit 401 is configured to: determine whether the current posture of the laser projection device has changed compared with the initial posture.
  • the implementation may be: comparing the actual acceleration data with the initial acceleration data, and comparing the actual geomagnetic data with the initial geomagnetic data. If the actual acceleration data is different from the initial acceleration data, and/or the actual geomagnetic data is different from the initial geomagnetic data, it can be determined that the actual attitude data does not match the initial attitude data, thereby determining that the current attitude of the laser projection device has changed compared to the initial attitude .
  • the attitude detection sensor further includes a gyro sensor 4033 configured to detect the angular velocity of the laser projection device on the three axes of X axis, Y axis and Z axis.
  • the actual attitude data includes the actual acceleration data detected by the acceleration sensor 4031, the actual geomagnetic data detected by the geomagnetic sensor 4032 and the actual angular velocity data detected by the gyro sensor 4033.
  • the initial attitude data includes initial acceleration data detected by the acceleration sensor 4031 and initial geomagnetic data detected by the geomagnetic sensor 4032 .
  • the main control circuit 401 can determine that the actual posture data of the laser projection device does not match the initial posture data, that is to say, the current posture of the laser projection device has changed compared with the initial posture, then the projection screen of the laser projection device may be biased. shift.
  • the main control circuit 401 is configured to: determine the first roll angle offset ⁇ 1 and the first pitch angle offset ⁇ 1 according to the actual acceleration data and the initial acceleration data.
  • a Y represents the acceleration on the Y axis measured by the acceleration sensor 4031
  • a Z represents the acceleration on the Z axis measured by the acceleration sensor 4031 .
  • a X represents the acceleration on the X-axis measured by the acceleration sensor 4031
  • a Z represents the acceleration on the Z-axis measured by the acceleration sensor 4031 .
  • the main control circuit 401 determines that the attitude of the laser projection device has changed, the main control circuit 401 is further configured to: according to the actual angular velocity data, determine the second roll angle offset, the second pitch angle offset offset and second yaw angle offset.
  • the second roll angle offset ⁇ 2 is determined, and t X represents the time for the laser projection device to rotate on the X axis.
  • the second pitch angle offset ⁇ 2 is determined, and t Y represents the time for the laser projection device to rotate on the Y axis.
  • t Z represents the rotation time of the laser projection device on the Z axis.
  • the main control circuit 401 is configured to: determine the roll angle offset according to the first roll angle offset and the second roll angle offset.
  • the roll angle offset is equal to the weighted average of the first roll angle offset and the second roll angle offset.
  • Determine the roll angle offset ⁇ 3 of the laser projection device wherein, represents the roll angle offset of the laser projection device, ⁇ 1 represents the first roll angle offset, and ⁇ 2 represents the second roll angle offset quantity.
  • the first picture tilt angle ⁇ of the projected picture may be determined according to the roll angle offset ⁇ 3 .
  • the first picture tilt angle ⁇ is the rotation angle between the rectangular projection picture of the laser projection device after a roll change and the rectangular projection picture of the laser projection device in an initial posture.
  • the first corresponding relationship between the roll angle offset ⁇ 3 and the first screen tilt angle ⁇ can be pre-stored in the main control circuit 401, so that the main control circuit 401 can The corresponding relationship obtains the first screen tilt angle ⁇ .
  • the main control circuit 401 is configured to: determine the pitch angle offset according to the first pitch angle offset and the second pitch angle offset.
  • the pitch angle offset is equal to the weighted average of the first pitch angle offset and the second pitch angle offset. For example, according to the formula Determine the pitch angle offset of the laser projection device, where ⁇ 3 represents the pitch angle offset of the laser projection device, ⁇ 1 represents the first pitch angle offset, and ⁇ 2 represents the second pitch angle offset.
  • the second screen tilt angle ⁇ of the projected picture may be determined according to the pitch angle offset ⁇ 3 .
  • the projected image will become an isosceles trapezoidal image as shown in Figure 22, and the second image inclination angle ⁇ is the distance between the waist of the isosceles trapezoidal image and the laser projection device.
  • the second corresponding relationship between the pitch angle offset ⁇ 3 and the second screen tilt angle ⁇ can be pre-stored in the main control circuit 401, so that the main control circuit 401 can be based on the pitch angle offset ⁇ 3 and the second The corresponding relationship obtains the second screen tilt angle ⁇ .
  • the main control circuit 401 is configured to: determine the yaw angle offset according to the first yaw angle offset and the second yaw angle offset.
  • the yaw angle offset is equal to the weighted average of the first yaw angle offset and the second yaw angle offset. For example, according to the formula Determine the yaw angle offset of the laser projection device, wherein ⁇ 3 represents the yaw angle offset of the laser projection device, ⁇ 1 represents the first yaw angle offset, and ⁇ 2 represents the second yaw angle offset quantity.
  • the third picture inclination angle ⁇ of the projected picture may be determined according to the yaw angle offset ⁇ 3 .
  • the projected picture will become a right-angled trapezoidal picture as shown in Figure 23, and the third picture inclination angle ⁇ is the waist of the right-angled trapezoidal picture and the laser projection device at the initial stage.
  • the third corresponding relationship between the yaw angle offset ⁇ 3 and the third screen tilt angle ⁇ can be pre-stored in the main control circuit 401 , so that the main control circuit 401 can The third corresponding relationship obtains the third screen tilt angle ⁇ .
  • the main control circuit 401 After the user triggers the power-on command, first, the main control circuit 401 generates a shooting command and a control command in response to the power-on command, and sends the shooting command to the shooting device 20 through the image acquisition interface, and sends the control command and the first projected image to the display control circuit 402. and a second projected image.
  • the display control circuit 402 projects the first projection image and the second projection image to the projection screen 30 .
  • the photographing device 20 photographs the first projection image projected by the lens 300 on the projection screen to obtain a photographed image.
  • the main control circuit 401 acquires the captured image through the image acquisition interface, and determines whether the projection area Z2 of the first projected image exceeds the frame of the projection screen 30 based on the captured image. If the projection area of the first projected image in the captured image exceeds the border of the projection screen 30, the offset is determined based on the position of the correction mark in the captured image and the position of the correction mark in the target image, and determined based on the offset first correction data.
  • the main control circuit 401 sends the correction parameter to the display control circuit 402, and the correction parameter includes the first correction data.
  • the display control circuit 402 corrects the second projection image subsequent to the first projection image based on the correction parameters, and projects the corrected second projection image onto the projection screen 30 by the optical machine 200 and the lens 300 .
  • the main control circuit 401 determines the second correction data of the laser projection device according to the actual attitude data and the initial attitude data (that is, determines the roll angle offset, the pitch angle offset and the yaw angle offset) .
  • the main control circuit 401 sends the correction parameter to the display control circuit 402, and the correction parameter includes the second correction data.
  • the display control circuit 402 performs correction processing on the image to be projected based on the correction parameters, and projects the corrected image to be projected onto the projection screen 30 by the optical machine 200 and the lens 300 .
  • the laser projection device can automatically correct the image to be projected without manual correction by the user. Therefore, while ensuring a good viewing experience for the user, operations of the user are also reduced, thereby making the user experience better.
  • Some embodiments of the present disclosure also provide a method for correcting a projected image, which is applied to a laser projection device. As shown in FIG. 24 , the correction method includes the following steps:
  • Step 2401 in response to a power-on instruction, send a shooting instruction through an image acquisition interface; send a control instruction, a first projected image, and a second projected image to a display control circuit.
  • the first projected image includes a calibration logo and a startup screen.
  • the second projected image includes a startup screen and does not include a calibration mark.
  • Step 2402 Project the first projection image and the second projection image onto the projection screen in response to the control instruction.
  • Step 2403 in response to the shooting instruction, shoot the first projection image projected by the lens on the projection screen.
  • the correction method further includes the following steps:
  • Step 2501. During the booting process of the laser projection device, project the first projection image onto the projection screen.
  • Step 2502 acquire a captured image.
  • the captured image is an image captured when the first projection image is projected onto the projection screen.
  • Step 2503 based on the captured image, determine whether the projection area of the first projection image exceeds the border of the projection screen.
  • Step 2504 If it is determined that the projection area of the first projection image exceeds the border of the projection screen, determine whether there is an offset based on the position of the calibration mark in the captured image and the position of the correction mark in the target image.
  • the target image is a captured image when the projection area of the first projection image matches the range of the projection screen.
  • Step 2505 if there is an offset, determine first correction data according to the offset, and correct the image to be projected based on the correction parameters.
  • the correction parameters include first correction data.
  • the implementation manner of step 2503 may be as follows: firstly, based on the captured image, the position of the correction mark in the captured image is determined. Then, based on the position of the correction mark in the shot image and the position of the correction mark in the target image, it is determined whether there is an offset. If there is an offset, it is determined that the projected area of the first projected image in the captured image exceeds the frame of the projected screen.
  • step 2503 may also be implemented by: determining the outline of the frame of the projection screen and the outline of the projection area of the first projection image in the captured image. If it is detected that the area enclosed by the outline of the projection area of the first projected image is at least partly outside the area enclosed by the outline of the frame of the projection screen, then it is determined that the projection area of the first projected image in the captured image exceeds the area of the projection screen. frame.
  • the correction method further includes the following steps:
  • Step 2601 acquire actual attitude data.
  • Step 2602. determine the roll angle offset and pitch angle offset for the laser projection device to switch from the initial attitude to the current attitude according to the actual attitude data and the initial attitude data and yaw angle offset.
  • the initial posture data is the data detected by the posture detection sensor when the laser projection device is in the initial posture.
  • the roll angle offset is the deflection angle of the laser projection device relative to the initial posture with the first coordinate axis as the rotation axis, and the first coordinate axis is the projection direction of the laser projection device in the initial posture in the horizontal plane.
  • the pitch angle offset is the deflection angle of the laser projection device relative to the initial posture with the second coordinate axis as the rotation axis, and the second coordinate axis is a direction perpendicular to the first coordinate axis in the horizontal plane.
  • the yaw angle offset is the deflection angle of the laser projection device relative to the initial posture with the third coordinate axis as the rotation axis, and the third coordinate axis is the vertical direction.
  • Step 2603 obtain second correction data according to the roll angle offset, the pitch angle offset and the yaw angle offset.
  • the correction parameters also include second correction data.
  • the actual attitude data includes actual acceleration data and actual geomagnetic data
  • the initial attitude data includes initial acceleration data and initial geomagnetic data.
  • Step 2602 may be implemented by: determining the first roll angle offset and the first pitch angle offset according to the actual acceleration data and the initial acceleration data. And according to the actual geomagnetic data and the initial geomagnetic data, the first yaw angle offset is determined.
  • the actual attitude data includes actual acceleration data, actual geomagnetic data and actual angular velocity data
  • the initial attitude data includes initial acceleration data and initial geomagnetic data.
  • Step 2602 may be implemented by: determining the first roll angle offset and the first pitch angle offset according to the actual acceleration data and the initial acceleration data.
  • the first yaw angle offset is determined according to the actual geomagnetic data and the initial geomagnetic data.
  • a second roll angle offset, a second pitch angle offset, and a second yaw angle offset are determined.
  • the roll angle offset may be determined according to the first roll angle offset and the second roll angle offset.
  • the roll angle offset is equal to the weighted average of the first roll angle offset and the second roll angle offset.
  • the pitch angle offset may be determined according to the first pitch angle offset and the second pitch angle offset.
  • the pitch angle offset is equal to the weighted average of the first pitch angle offset and the second pitch angle offset.
  • the yaw angle offset may be determined according to the first yaw angle offset and the second yaw angle offset.
  • the yaw angle offset is equal to the weighted average of the first yaw angle offset and the second yaw angle offset.

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Abstract

本公开一些实施例提供一种激光投影设备，包括光源组件、光机、镜头、图像采集接口和电路系统架构。图像采集接口，被配置为在激光投影设备的开机过程中，获取拍摄图像。电路系统架构包括主控电路和显示控制电路。主控电路耦接至图像采集接口和显示控制电路，被配置为通过图像采集接口获取拍摄图像，并基于校正标识在拍摄图像中的位置，得到第一校正数据；向显示控制电路发送校正参数；校正参数包括第一校正数据。显示控制电路被配置为接收校正参数，基于校正参数对待投影图像进行校正处理，并向光机传输校正处理后的待投影图像的图像信号，以使光机利用校正处理后的待投影图像的图像信号对照明光束进行调制，以获得投影光束。

Description

激光投影设备及投影图像的校正方法
本申请要求于2021年10月29日提交的、申请号为202111275147.8的中国专利申请，于2021年12月20日提交的、申请号为202111563420.7的中国专利申请，以及于2021年12月20日提交的、申请号为202111560475.2的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本公开涉及投影显示技术领域，尤其涉及一种激光投影设备及投影图像的校正方法。
背景技术
随着激光显示产品的普及，激光显示产品开始作为替代电视的大屏幕产品走进了千家万户。激光显示产品包括投影屏幕和激光投影设备，激光投影设备能够在投影屏幕上投射画面，以实现视频播放等功能。
激光投影设备包括光源组件、光机和镜头，该光源组件用于向光机提供高强度的激光照明光束；该光机用于对激光照明光束进行图像信号调制形成投影光束，经光机调制后形成的投影光束进入镜头；该镜头用于将投影光束投射至投影屏幕上。
发明内容
一方面，本公开一些实施例提供一种激光投影设备，包括光源组件、光机、镜头、图像采集接口和电路系统架构。光源组件被配置为提供照明光束。光机被配置为利用图像信号对照明光束进行调制，以获得投影光束。镜头被配置为将投影光束投射成像。电路系统架构包括主控电路和显示控制电路。主控电路耦接至图像采集接口和显示控制电路，且被配置为通过图像采集接口获取拍摄图像；并基于校正标识在拍摄图像中的位置，得到第一校正数据；向显示控制电路发送校正参数。校正参数包括第一校正数据。拍摄图像为第一投影图像投射至投影屏幕上时拍摄的图像；第一投影图像包括校正标识。显示控制电路被配置为接收校正参数，基于校正参数对待投影图像进行校正处理，并向光机传输校正处理后的待投影图像的图像信号，以使光机利用校正处理后的待投影图像的图像信号对照明光束进行调制，以获得投影光束。
另一方面，本公开一些实施例提供一种投影图像的校正方法，应用于激光投影设备，校正方法包括：首先，在激光投影设备的开机过程中，将第一投影图像投射至投影屏幕上，第一投影图像包括校正标识。其次，获取拍摄图像，拍摄图像为第一投影图像投射至投影屏幕上时拍摄的图像。再次，基于拍摄图像，确定第一投影图像的投影区域是否超出投影屏幕的边框。然后，若确定第一投影图像的投影区域超出投影屏幕的边框，基于校正标识在拍摄图像中的位置和校正标识在目标图像中的位置，确定是否存在偏移量；目标图像为第一投影图像的投影区域与投影屏幕的范围匹配时的拍摄图像。最后，若存在偏移量，根据偏移量确定第一校正数据，基于校正参数对待投影的图像进行校正，校正参数包括第一校正数据。
附图说明
图1A为根据本公开一些实施例的一种投影系统与控制装置以及服务器交互的应用场景的示意图；
图1B为根据本公开一些实施例的一种激光投影设备的结构图；
图2为根据本公开一些实施例的激光投影设备中光源组件、光机和镜头的示意图；
图3为根据本公开一些实施例的激光投影设备中的光路架构图；
图4为根据本公开一些实施例的激光投影设备中光源组件的光路原理示意图；
图5为根据本公开一些实施例的数字微镜器件中的微小反射镜片的排列结构图；
图6为根据本公开一些实施例的微小反射镜片的工作示意图；
图7为图5所示的数字微镜器件中一个微小反射镜片摆动的位置示意图；
图8为根据本公开一些实施例的一种激光投影设备与投影屏幕的位置示意图；
图9为根据本公开一些实施例的另一种激光投影设备的结构图；
图10为根据本公开一些实施例的一种第一投影图像的示意图；
图11为根据本公开一些实施例的一种开机视频的示意图；
图12为根据本公开一些实施例的一种第一投影图像与第二投影图像的示意图；
图13为根据本公开一些实施例的另一种第一投影图像与第二投影图像的示意图；
图14为根据本公开一些实施例的一种第一投影图像的投影区域与投影屏幕的边框匹配的示意图；
图15为根据本公开一些实施例的一种第一投影图像的投影区域超出投影屏幕的边框的示意图；
图16为根据本公开一些实施例的一种坐标系的示意图；
图17为根据本公开一些实施例的一种激光投影设备横滚角度偏移量的示意图；
图18为根据本公开一些实施例的一种激光投影设备俯仰角度偏移量的示意图；
图19为根据本公开一些实施例的一种激光投影设备偏航角度偏移量的示意图；
图20为根据本公开一些实施例的一种电路系统架构的结构图；
图21为根据本公开一些实施例的一种投影画面的示意图；
图22为根据本公开一些实施例的另一种投影画面的示意图；
图23为根据本公开一些实施例的又一种投影画面的示意图；
图24为根据本公开一些实施例的一种校正方法的流程图；
图25为根据本公开一些实施例的另一种校正方法的流程图；
图26为根据本公开一些实施例的又一种校正方法的流程图。
具体实施方式
为了便于本领域技术人员的理解，本申请实施例在此对本申请实施例中涉及到的名词进行说明。
加速度传感器的工作原理：通过作用力造成传感器内部敏感部件发生变形，通过测量其变形并用相关电路转化成电压输出，得到相应的加速度信号。在静止的状态下，加速度传感器一定会有一个方向为重力的作用，因此有一个轴的数据是1g(即9.8m 2/s)，当物体发生运动时，X、Y、Z轴上的数据都会发生变化，此时通过AX 2+AY 2+AZ 2＝9.8m 2/s就可以计算出物体在三个轴上的运动分量，其中，AX 2为激光投影设备的初始加速度数据在X轴上的分量，AY 2为激光投影设备的初始加速度数据在Y轴上的分量，AZ 2为激光投影设备的初始加速度数据在Z轴上的分量。从而可以确定物体发生了何种运动。
地磁传感器的工作原理：利用被测物体在地磁场中的运动状态不同，通过感应地磁场的分布变化而指示被测物体的姿态和运动角度等信息的测量装置，与指南针类似。
陀螺传感器的工作原理：用于测量物体在相对惯性空间转角或角速度的装置，通过对获取的角速度值进行积分就可以确定物体移动的角度值。
如图1A所示，投影系统包括激光投影设备和投影屏幕30，激光投影设备包括主机10，激光投影设备可以与控制装置500以及服务器600进行交互。
在一些实施例中，服务器600的数量可以是一组或多组，当服务器600的数量为多组时，多组服务器600可以包括一种服务器或多种服务器。比如服务器600可以是视频服务器，电子节目指南(Electronic Program Guide，EPG)服务器，云端服务器等。示例性地，服务器600可以向主机10提供多种内容和互动。比如，服务器600可以提供视频点播和广告服务等其他网络服务内容。主机10可以通过多种通信方式与服务器600进行数据通信，比如，主机10可以通过局域网、无线局域网或其他网络与服务器600进行有线通信连接或无线通信连接。
在一些实施例中，控制装置500被配置为通过无线或其他有线方式来控制主机10。
示例性地，控制装置500可以是遥控器500A，遥控器500A可以通过红外协议通信、蓝牙协议通信、紫蜂(ZigBee)协议通信或其他短距离通信方式与主机10进行通信。用户可以通过按键、语音、控制面板等方式来控制主机10。在一些实施例中，可以根据用户需求在控制装置500上安装应用程序，该应用程序可以用于控制主机10。示例性地，控制装置500可以是智能设备(比如，移动终端500B、平板电脑、计算机或笔记本电脑)，该智能设备可以通过本地网(Local Area Network，LAN)、广域网(Wide Area Network，WAN)、 无线局域网(Wireless Local Area Network，WLAN)或其他网络与多媒体控制器之间通信，并通过与多媒体控制器相应的应用程序实现对主机10的控制。比如，用户可以通过在智能设备上运行的应用程序控制主机10，该应用程序可以在与智能设备关联的屏幕上通过直观的用户界面(User Interface，UI)为用户提供多种控制功能。
如图1B所示，主机10包括整机壳体101(图中仅示出部分壳体)，装配于整机壳体101中的光源组件100、光机200，以及镜头300。该光源组件100被配置为提供照明光束(激光束)。该光机200被配置为利用图像信号对光源组件100提供的照明光束进行调制以获得投影光束。该镜头300被配置为将投影光束投射在投影屏幕或墙壁上成像。光源组件100、光机200和镜头300沿着光束传播方向依次连接，各自由对应的壳体进行包裹。光源组件100、光机200和镜头300各自的壳体对各光学部件进行支撑并使得各光学部件达到一定的密封或气密要求。比如，光源组件100通过其对应的外壳实现气密性密封，可以较好地改善光源组件100的光衰问题。
光机200的一端和镜头300连接且沿着整机第一方向X设置，比如第一方向X可以为整机的宽度方向。在光机200的另一端连接有光源组件100。在本示例中，光源组件100与光机200的连接方向，垂直于光机200与镜头300的连接方向，这种连接结构一方面可以适应光机200中反射式光阀的光路特点，另一方面，还有利于缩短一个维度方向上光路的长度，利于整机的结构排布。例如，当将光源组件100、光机200和镜头300设置在一个维度方向(例如第二方向，第二方向与第一方向X垂直的方向)上时，该方向上光路的长度就会很长，从而不利于整机的结构排布。
在一些实施例中，光源组件100可以包括三个激光器阵列。如图2所示，光源组件100为三色激光光源为例，该三个激光器阵列可分别为红色激光器阵列130、绿色激光器阵列120和蓝色激光器阵列110；但并不局限于此。该三个激光器阵列也可以均为蓝色激光器阵列110，或者两个激光器阵列为蓝色激光器阵列110、一个激光器阵列为红色激光器阵列130。当光源组件100包括的多个激光器可以产生三基色，则光源组件100可以产生包含三基色光的照明光束，因此光源组件100内不需要设置荧光轮(当光源组件所包括的一个或多个激光器阵列仅能产生一种或两种颜色的激光时，需要使用已有颜色的激光激发荧光轮来产生其他颜色的荧光，从而使激光和荧光一起形成白光)，进而能够简化光源组件100的结构，减小光源组件100的体积。
在一些实施例中，光源组件100还可以包括两个激光器阵列。光源组件100为双色激光光源为例，该两个激光器阵列可以为蓝色激光器阵列110和红色激光器阵列130；也可以均为蓝色激光器阵列110，即光源组件100为单色激光光源。
在另一些实施例中，光源组件100还可以包括一个激光器阵列，即光源组件100为单色激光光源，即光源组件100仅包括蓝色激光器阵列110，或者仅包括蓝色激光器阵列110和红色激光器阵列130时。
如图4所示，激光器阵列可以为蓝色激光器阵列110，该光源组件100还可以包括：荧光轮140和滤色轮150。该蓝色激光器110发射蓝光后，一部分蓝光照射到荧光轮140上以产生红光荧光(当光源组件100包括红色激光器阵列130时，则不需要再产生红色荧光)和绿光荧光；该蓝光激光、红光荧光(或红色激光)以及绿光荧光依次通过合光镜160后再通过滤色轮150进行滤色，并时序性地输出三基色光。根据人眼的视觉暂留现象，人眼分辨不出某一时刻光的颜色，感知到的仍然是混合的白光。
光源组件100发出的照明光束进入光机200。如图2和图3所示，光机200可以包括：光导管210，透镜组件220，反射镜230，数字微镜器件(Digital Micromirror Device，DMD)240以及棱镜组件250。该光导管210可以接收光源组件100提供的照明光束，并对该照明光束进行匀化。透镜组件220可以对照明光束先进行放大后进行会聚并出射至反射镜230。反射镜230可以将照明光束反射至棱镜组件250。棱镜组件250将照明光束反射至DMD 240，DMD 240对照明光束进行调制，并将调制后得到的投影光束反射至镜头300中。
光机200中，DMD 240是核心部件，其作用是利用图像信号对光源组件100提供的照 明光束进行调制，即：控制照明光束针对待显示图像的不同像素显示不同的颜色和亮度，以最终形成光学图像，因此DMD 240也被称为光调制器件或光阀。根据光调制器件(或光阀)对照明光束进行透射还是进行反射，可以将光调制器件(或光阀)分为透射式光调制器件(或光阀)或反射式光调制器件(或光阀)。例如，如图2和图3所示，DMD 240对照明光束进行反射，即为一种反射式光调制器件。而液晶光阀对照明光束进行透射，因此是一种透射式光调制器件。此外，根据光机中使用的光调制器件(或光阀)的数量，可以将光机分为单片系统、双片系统或三片系统。例如，图2和图3所示的本公开一些实施例的激光投影设备中的光源组件、光机和镜头的示意图和光路架构图中，的光机200中仅使用了一片DMD 240，因此光机200可被称为单片系统。当使用三片数字微镜器件时，则光机200可以被称为三片系统。
DMD 240应用于数字光处理(Digital Light Processing，DLP)投影架构中，如图2和图3所示，光机200使用了DLP投影架构。如图5所示，DMD 240包含成千上万个可被单独驱动以旋转的微小反射镜片2401，这些微小反射镜片2401呈阵列排布，每个微小反射镜片2401对应待显示图像中的一个像素。在DLP投影架构中，每个微小反射镜片2401相当于一个数字开关，在外加电场作用下可以在正负12度(±12°)或者正负17度(±17°)的范围内摆动，以使得被反射的光能够沿光轴方向通过镜头300成像在屏上，形成一个亮的像素。
如图6所示，微小反射镜片2401在负的偏转角度反射出的光，称之为OFF光，OFF光为无效光，通常打到整机壳体101上、光机200的壳体上或者光吸收单元上吸收掉。微小反射镜片2401在正的偏转角度反射出的光，称之为ON光，ON光是DMD 240表面的微小反射镜片2401接收照明光束照射，并通过正的偏转角度射入镜头300的有效光束，用于投影成像。微小反射镜片2401的开状态为光源组件100发出的照明光束经微小反射镜片2401反射后可以进入镜头300时，微小反射镜片2401所处且可以保持的状态，即微小反射镜片2401处于正的偏转角度的状态。微小反射镜片2401的关状态为光源组件100发出的照明光束经微小反射镜片2401反射后未进入镜头300时，微小反射镜片2401所处且可以保持的状态，即微小反射镜片2401处于负的偏转角度的状态。
示例性地，如图7所示，对于偏转角度为±12°的微小反射镜片2401，位于+12°的状态即为开状态，位于-12°的状态即为关状态，而对于-12°和+12°之间的偏转角度，微小反射镜片2401的实际工作状态仅开状态和关状态。
示例性地，对于偏转角度为±17°的微小反射镜片2401，位于+17°的状态即为开状态，位于-17°的状态即为关状态。图像信号通过处理后被转换成0、1这样的数字代码，这些数字代码可以驱动微小反射镜片2401摆动。
在一帧图像的显示周期内，部分或全部微小反射镜片2401会在开状态和关状态之间切换一次，从而根据微小反射镜片2401在开状态和关状态分别持续的时间来实现一帧图像中的各个像素的灰阶。例如，当像素具有0～255这256个灰阶时，与灰阶0对应的微小反射镜片在一帧图像的整个显示周期内均处于关状态，与灰阶255对应的微小反射镜片在一帧图像的整个显示周期内均处于开状态，而与灰阶127对应的微小反射镜片在一帧图像的显示周期内一半时间处于开状态、另一半时间处于关状态。因此通过图像信号控制DMD240中每个微小反射镜片在一帧图像的显示周期内所处的状态以及各状态的维持时间，可以控制该微小反射镜片2401对应像素的亮度(灰阶)，实现对投射至DMD 240的照明光束进行调制的目的。
DMD 240前端的光导管210，透镜组件220和反射镜230形成照明光路，光源组件100发出的照明光束经过照明光路后形成符合DMD 240所要求的光束尺寸和入射角度。
如图2所示，本公开一些实施例的激光投影设备中光源组件、光机和镜头的示意图中，镜头300包括多片透镜组合，通常按照群组进行划分，分为前群、中群和后群三段式，或者前群和后群两段式。前群是靠近激光投影设备出光侧(图2所示的左侧)的镜片群组，后群是靠近光机200出光侧(图2所示的右侧)的镜片群组。根据上述多种镜片组组合，镜头300也可以是变焦镜头，或者为定焦可调焦镜头，或者为定焦镜头。在一些实施例中， 激光投影设备为超短焦激光投影设备，镜头300为超短焦镜头，镜头300的投射比通常小于0.3，比如0.24。投射比是指投影距离与画面宽度之比，比值越小，说明相同投影距离，投射画面的宽度越大。投射比较小的超短焦镜头保证投射效果的同时，能够适应较狭窄的空间。
如图8所示，激光投影设备的主机10与投影屏幕分开设置，两者之间一般相距一段距离。当激光投影设备的主机10发生移动时，也就是整机壳体101发生移动时，镜头300投射到投影屏幕30上的投影画面也会产生移位，因此可能会造成投影画面超出投影屏幕30的范围的情况，影响投影显示效果。
为此，本公开的一些实施例提供一种激光投影设备，如图8和图9所示，激光投影设备包括主机10，主机10上设有图像采集接口，图像采集接口用于连接拍摄装置20。该拍摄装置20为能够对投影屏幕30进行拍摄的设备。例如，该拍摄装置20可以为摄像头。
示例性地，拍摄装置20可以设置于主机10的整机壳体101上，或者，拍摄设备20也可以设置于主机10的整机壳体101之外的位置，本公开对于拍摄装置20的设置位置并不限定。
在一些实施例中，如图9所示，激光投影设备的主机10还包括电路系统架构(power system architecture)400，该电路系统架构400可以为印刷电路板组件(Printed Circuit Board Assembly，PCBA)。该电路系统架构400被配置为控制光源组件100和光机200运行。示例性地，如图1B所示，电路系统架构400可以设置于整机壳体101内，本公开对于电路系统架构400的设置位置并不限定。
在一些实施例中，如图9所示，电路系统架构400包括主控电路401和显示控制电路402。主控电路401耦接至图像采集接口与显示控制电路402，示例性地，显示控制电路402可以为DLP芯片。
主控电路401被配置为：响应于开机指令，通过图像采集接口向拍摄装置20发送拍摄指令；向显示控制电路402发送控制指令、第一投影图像和第二投影图像。开机指令可以为用户触发的，比如用户按下激光投影设备上的开机按钮时，或者按下激光投影设备对应的控制装置(可以为与激光投影设备通信连接的移动设备，比如手机等移动终端)上的开机按钮时，均可触发开机指令。
示例性地，响应于该开机指令，激光投影设备开机。在激光投影设备开机的过程中，激光投影设备需要对其内的各个器件(例如，光源组件100和DMD 240)进行上电，还需要对其内集成的电路(例如，主控电路401和显示控制电路402)进行初始化。在上述上电与初始化的操作完成之后，激光投影设备中的各部件均能够进行正常工作，使得激光投影设备能够将第一投影图像和第二投影图像投射至投影屏幕。
在一些实施例中，第一投影图像包括校正标识，校正标识的形状可以包括菱形、星形或十字形，本公开对于第一投影图像包括的校正标识的形状并不限定，下述实施例以校正标识的形状为菱形或五角星为例进行示例性说明。
示例性地，第一投影图像包括的校正标识为一个或多个，当第一投影图像包括多个校正标识时，该多个校正标识在第一投影图像中的位置不同。第一投影图像包括的校正标识的数量越多，投影图像的校正精度越高。但是第一投影图像包括的校正标识的数量越多，则主控电路401所需计算的数据量越多，计算难度越大。为了平衡校正精度以及计算难度之间的关系，可以使得第一投影图像包括合适数量的校正标识。第一投影图像可以包括4个校正标识，该4个校正标识可以分布于第一投影图像的顶点位置，也可以分布于第一投影图像的边的中点位置。再比如，第一投影图像可以包括16个校正标识，且该16个校正标识可以以4行4列的方式军训分布于第一投影图像中。本公开对于第一投影图像包括的校正标识的数量以及分布位置并不限定，下述实施例以4个校正标识分布于第一投影图像的顶点位置为例进行示例性说明。
在一些实施例中，通过在背景图像上添加校正标识，可以得到第一投影图像。该背景图像可以包括激光投影设备正常使用过程中的视频画面或者用户界面。也可以包括开机动画或品牌图标等的开机画面，本公开实施例对于背景图像的类型不作限定，下述实施例以 背景图像包括开机画面为例进行示例性说明。该开机画面可以预存在主控电路401中。
例如，第一投影图像包括开机画面，第一投影图像的尺寸可以与开机画面的尺寸，也可以大于开机画面的尺寸。如图10中的(a)所示，第一投影图像包括开机画面01和六个菱形的校正标识02，六个菱形的校正标识02均匀的分布在开机画面01的周围。如图10中的(b)所示，第一投影图像包括开机画面01和六个五角星形的校正标识02，六个五角星形的校正标识02均匀的分布在开机画面01的周围。图10中的开机画面01包括但不限于开机动画或品牌图标等画面。
示例性地，第一投影图像中背景图像的颜色与校正标识的颜色不同，而且两种颜色之间存在显著差异，以便后续在对拍摄图像进行处理时，更准确地确定校正标识在拍摄图像中的位置。比如，可以首先获取背景图像的颜色。然后，将该背景图像的颜色进行反色处理得到标识颜色，比如使用255减去背景图像的颜色的色彩值，即可得到标识颜色的色彩值。最后，在将校正标识的颜色设置为标识颜色。
例如，如图10中的(a)所示，第一投影图像中背景图像的颜色为黑色，校正标识02的颜色为白色。如图10中的(b)所示，第一投影图像中背景图像的颜色为白色，校正标识02的颜色为黑色。
在一些实施例中，第二投影图像包括开机画面且不包括校正标识。第一投影图像与第二投影图像可以为相邻两帧图像(交替投射)，使得用户不易感知到第一投影图像以及第一投影图像中的校正标识，进而可以根据校正标识实现在用户无感知的情况对投影图像进行校正。
示例性地，如图11所示，开机视频包括图像Pm1，图像P0和图像Pm2三帧连续的开机画面。如图12所示，主控电路401可以在图11所示的图像P0中添加4个校正标识a，得到第一投影图像P1。示例性地，图12中包括两帧第二投影画面，分别为图像Pm1和图像Pm2，图像Pm1和图像Pm2均不包括校正标识。因此，主控电路401可以在连续的多帧开机画面中的一帧开机画面(例如，P0)中添加校正标识，得到第一投影图像(例如，P1)，并用该第一投影图像P1替换该一帧开机画面P0。
如图13所示，主控电路401也可以在图像P0与图像Pm2之间插入第一投影图像P1，示例性地，图13中包括三帧第二投影图像，分别为图像Pm1、图像P0和图像Pm2，图像Pm1、图像P0和图像Pm2均不包括校正标识。因此，主控电路401可以在连续的多帧开机画面中的一帧开机画面(例如，P0)中添加校正标识，得到第一投影图像(例如，P1)，并在该一帧开机画面P0之前或之后插入该第一投影图像P1。
在一些实施例中，显示控制电路402被配置为响应于控制指令，将第一投影图像与第二投影图像投射至投影屏幕30上。显示控制电路402在将第一投影图像与第二投影图像投射至投影屏幕30上，可以将第一投影图像与第二投影图像交替投射至投影屏幕30上。
例如，在激光投影设备开机的过程中，激光投影设备可以播放开机视频，第一投影图像和第二投影图像均为该开机视频中的图像帧。显示控制电路402将第一投影图像和第二投影图像交替投射在投影屏幕上。比如，显示控制电路402先向投影屏幕投射至少一帧第二投影图像，然后向投影屏幕投射一帧第一投影图像，之后向投影屏幕投射至少一帧第二投影图像，再向投影屏幕投射一帧第一投影图像，以此类推。即，显示控制电路402可以向投影屏幕投射多帧第一投影图像，且相邻的两帧第一投影图像之间具有至少一帧第二投影图像，从而实现第一投影图像和第二投影图像的交替投射。
在一些实施例中，拍摄装置20被配置为响应于拍摄指令，对镜头300在投影屏幕上投射的第一投影图像进行拍摄，得到拍摄图像。拍摄装置20的参数可以根据应用场景进行设定，比如，拍摄装置20可以拍摄连续多帧的图像。
示例性地，在激光投影设备开机的过程中，显示控制电路402向投影屏幕投射第一投影图像和第二投影图像时，拍摄装置20可以对投影屏幕进行拍摄。故拍摄装置20可以拍摄投影屏幕上投射的第一投影图像，也可以拍摄投影屏幕上投射的第二投影图像。本公开实施中的拍摄图像均指拍摄装置20拍摄的投影屏幕上投射的第一投影图像。
示例性地，拍摄装置20的曝光时间可以根据需要进行设定。例如，拍摄装置20可以 拍摄连续多帧图像，或者，拍摄装置20每秒拍摄的图像帧数大于激光投影设备播放的帧数。
在一些实施例中，主控电路401还被配置为通过图像采集接口获取拍摄图像，基于拍摄图像，确定第一投影图像的投影区域是否超出投影屏幕30的边框。如图14所示，第一投影图像的投影区域与投影屏幕30的边框匹配，指的是，投影屏幕30的区域Z1与第一投影图像的投影区域Z2重合，重合指的是几乎重合或完全重合，几乎重合可以为人眼可识别出的重合。
在一些实施例中，第一投影图像的投影区域Z2可以为第一投影图像的轮廓围城的区域，投影屏幕30的区域Z1可以为投影屏幕30的边框的轮廓所围成的区域。因此，主控电路401被配置为：在拍摄图像中确定投影屏幕30的边框的轮廓，以及第一投影图像的投影区域的轮廓。若检测出第一投影图像的轮廓所围成的区域至少部分位于投影屏幕30的边框的轮廓所围成的区域外，则确定拍摄图像中的第一投影图像的投影区域超出投影屏幕30的边框。通过对拍摄图像进行图像处理(比如边缘检测(edge detection))，可以识别出投影屏幕30的边框的轮廓以及第一投影图像的投影区域的轮廓。
如图15所示，第一投影图像的投影区域的轮廓所围成的区域中，有部分画面位于投影屏幕30的边框的轮廓所围成的区域外，则确定拍摄图像中的第一投影图像的投影区域超出投影屏幕30的边框。
在一些实施例中，主控电路401被配置为：首先，基于拍摄图像，确定校正标识在拍摄图像中的位置。然后，基于校正标识在拍摄图像中的位置和校正标识在目标图像中的位置，确定是否存在偏移量。目标图像为第一投影图像的投影区域与投影屏幕的范围匹配时的拍摄图像。若存在偏移量，则确定拍摄图像中的第一投影图像的投影区域超出投影屏幕30的边框。存在偏移量，指的是多个校正标识中，至少有一个校正标识在拍摄图像中的位置和在目标图像中的位置不同。
示例性地，如图12所示，第一投影图像P1中的4个校正标识a为形状与尺寸均相同的菱形，可以将菱形的左顶点a1作为校正标识的标记点，以确定校正标识的在拍摄图像中的位置。因此，主控电路401通过对比标记点a1在拍摄图像中的位置和标记点a1在目标图像中的位置，可确定标记点a1的偏移量。示例性地，投影屏幕30的边框为长方形，可以以该长方形的左下顶点为原点，以该长方形的左边框、下边框分别为二维坐标系的两个轴，建立二维坐标系。获取标记点a1在拍摄图像中的位置在该二维坐标系中的第一坐标，并获取标记点a1在目标图像中的位置在该二维坐标系中的第二坐标，将第一坐标与第二坐标进行对比，即可确定标记点a1的偏移量，也就是校正标识的偏移量。若4个校正标识a的偏移量均为0，则不存在偏移量，若4个校正标识a中至少有一个校正标识的偏移量不为0，则存在偏移量。
在一些实施例中，若基于校正标识在拍摄图像中的位置和校正标识在目标图像中的位置，确定不存在偏移量，则无需对待投影图像进行校正处理。激光投影设备可以继续执行开机操作，以使得激光投影设备能够完成初始化，保证激光投影设备能够正常工作。
在一些实施例中，主控电路401还被配置为：若确定拍摄图像中的第一投影图像的投影区域超出投影屏幕30的边框，根据偏移量确定第一校正数据。若确定拍摄图像中的第一投影图像的投影区域超出投影屏幕30的边框，可以认为激光投影设备将第一投影图像投射至投影屏幕30上的投影画面发生了偏移，需要对待投影图像进行校正，以保证后续的投影效果。根据偏移量确定第一校正数据，第一校正数据可以包括多个校正标识的偏移量或者偏移方向。比如，第一校正数据可以为包括偏移方向和偏移数值大小的矢量。
在一些实施例中，主控电路401还被配置为：向显示控制电路402发送校正参数，校正参数包括第一校正数据。显示控制电路402被配置为接收校正参数，基于校正参数对待投影图像进行校正处理，并向光机200传输校正处理后的待投影图像的图像信号，以使光机200利用该校正处理后的待投影图像的图像信号对照明光束进行调制，将校正处理后的待投影图像投射至投影屏幕30上。校正完成后，激光投影设备可以继续执行开机操作，以使得激光投影设备能够完成初始化，保证激光投影设备能够正常工作。基于校正参数对 待投影图像进行校正处理，可以为基于校正参数对第一投影图像后续的第二投影图像进行校正处理，以保证在激光投影设备开机过程中完成校正，以保证用户的观看效果。
在一些实施例中，若确定拍摄图像中的第一投影图像的投影区域未超出投影屏幕30的边框，但是激光投影设备将第一投影图像投射至投影屏幕30上的投影画面发生了形变，此时第一投影图像中的校正标识也会发生形变，因此，主控电路401也可以直接通过确定是否存在偏移量来确定是否需要对待投影图像进行校正处理。
在一些实施例中，如图20所示，电路系统架构400还包括姿态检测传感器403，姿态检测传感器403耦接至主控电路401。姿态检测传感器403被配置为获取激光投影设备的姿态数据，姿态数据包括初始姿态数据和实际姿态数据。初始姿态数据用于反映激光投影设备的初始姿态，实际姿态数据用于反映激光投影设备的当前姿态。
主控电路401还被配置为：首先，确定实际姿态数据与初始姿态数据是否匹配。当实际姿态数据与初始姿态数据不匹配时，基于姿态数据获取激光投影设备从初始姿态切换到当前姿态的横滚角度偏移量、俯仰角度偏移量和偏航角度偏移量。横滚角度偏移量为激光投影设备以第一坐标轴为转轴相对于初始姿态所偏转的角度，第一坐标轴为处于初始姿态的激光投影设备在水平面内的投影方向。俯仰角度偏移量为激光投影设备以第二坐标轴为转轴相对于初始姿态所偏转的角度，第二坐标轴为在水平面内与第一坐标轴垂直的方向。偏航角度偏移量为激光投影设备以第三坐标轴为转轴相对于初始姿态所偏转的角度，第三坐标轴为竖直方向。然后，根据横滚角度偏移量、俯仰角度偏移量和偏航角度偏移量，得到第二校正数据；校正参数还包括第二校正数据。
示例性地，激光投影设备的初始姿态可以为用户或者专业人员根据投影环境及实际的投影画面对激光投影设备进行手动校正之后的姿态，投影画面即为激光投影设备投射至投影屏幕上的画面。激光投影设备处于初始姿态时，激光投影设备的投影方向与投影屏幕对准，从而激光投影设备的投影画面为理想的矩形投影画面。并且，激光投影设备在不同的投影环境下具有不同的初始姿态。在同一个投影环境下，用户只需要在激光投影设备首次开机后进行一次手动校正使激光投影设备位于初始姿态，之后无论激光投影设备开关机多少次，激光投影设备的初始姿态都是不变的。当激光投影设备的投影环境改变后，激光投影设备的初始姿态也会随之改变。
示例性地，若用户使用激光投影设备在第一房间进行投影，首次在第一房间开机后用户经过一次手动校正使激光投影设备处于第一姿态，该第一姿态即为激光投影设备处于第一房间时的初始姿态，在第一房间将激光投影设备关机再开机后，无需再进行手动校正重新调整激光投影设备的初始姿态。但若用户将激光投影设备移动到第二房间进行投影，第二房间与第一房间不是同一个房间，初次在第二房间开机时，需要对激光投影设备进行一次手动校正，使激光投影设备在第二房间中处于第二姿态，该第二姿态即为激光投影设备处于第二房间时的初始姿态。
当激光投影设备处于初始姿态后，以激光投影设备的初始姿态为基准建立三维坐标系。示例性地，如图16所示，第一坐标轴为处于初始姿态的激光投影设备在水平面内的投影方向，比如第一坐标轴可以垂直于投影屏幕30，第二坐标轴为在水平面内与第一坐标轴垂直的图方向，第三坐标轴为竖直方向。为了便于描述，以第一坐标轴称为X轴，第二坐标轴称为Y轴，第三坐标轴称为Z轴为例，对主控电路401如何确定激光投影设备的角度偏移量进行示例性说明。
示例性地，横滚角度偏移量为激光投影设备以第一坐标轴为转轴相对于初始姿态所偏转的角度。如图17所示，X轴、Y轴、Z轴构成的坐标系为激光投影设备处于初始姿态时建立的坐标系，当激光投影设备发生横滚时，激光投影设备绕X轴发生转动，也即YZ平面绕X轴转动，转动后形成Y1Z1平面，Y轴与Y1轴形成的夹角α(或Z轴与Z1轴形成的夹角α)即为激光投影设备的横滚角度偏移量。
示例性地，俯仰角度偏移量为激光投影设备以第二坐标轴为转轴相对于初始姿态所偏转的角度。如图18所示，X轴、Y轴、Z轴构成的坐标系为激光投影设备处于初始姿态时建立的坐标系，当激光投影设备发生俯仰时，激光投影设备绕Y轴发生转动，也即XZ平 面绕Y轴转动，转动后形成X1Z1平面，X轴与X1轴形成的夹角β(或Z轴与Z1轴形成的夹角β)即为激光投影设备的俯仰角度偏移量。
示例性地，偏航角度偏移量为激光投影设备以第三坐标轴为转轴相对于初始姿态所偏转的角度。如图19所示，X轴、Y轴、Z轴构成的坐标系为激光投影设备处于初始姿态时建立的坐标系，当激光投影设备发生偏航时，激光投影设备绕Z轴发生转动，也即XY平面绕Z轴转动，转动后形成X1Y1平面，X轴与X1轴形成的夹角γ(或Y轴与Y1轴形成的夹角γ)即为激光投影设备的偏航角度偏移量。
在一些实施例中，如图20所示，姿态检测传感器403包括加速度传感器4031和地磁传感器4032。示例性地，加速度传感器4031可以为重力加速度传感器，通过AX 2+AY 2+AZ 2＝9.8m 2/s，可以检测到激光投影设备在三个坐标轴上的重力加速度分量，其中，AX 2为激光投影设备的初始加速度数据在X轴上的分量，AY 2为激光投影设备的初始加速度数据在Y轴上的分量，AZ 2为激光投影设备的初始加速度数据在Z轴上的分量。地磁传感器4032被配置为检测激光投影设备的偏航角度。实际姿态数据包括加速度传感器4031检测到的实际加速度数据和地磁传感器4032检测到的实际地磁数据。初始姿态数据包括加速度传感器4031检测到的初始加速度数据和地磁传感器4032检测到的初始地磁数据。
在一些实施例中，主控电路401被配置为：确定激光投影设备的当前姿态相较于初始姿态是否发生了改变。实现方式可以为：将实际加速度数据与初始加速度数据进行比较，以及将实际地磁数据与初始地磁数据进行比较。若实际加速度数据与初始加速度数据不同，和/或实际地磁数据与初始地磁数据不同，可以确定实际姿态数据与初始姿态数据不匹配，从而确定激光投影设备的当前姿态相较于初始姿态发生了改变。
在一些实施例中，如图20所示，姿态检测传感器还包括陀螺传感器4033，陀螺传感器4033被配置为检测激光投影设备在X轴，Y轴和Z轴这三个轴上的角速度。
当激光投影设备在关机状态中发生姿态的改变时，由于激光投影设备未开机，因此没有对待投影图像进行校正的需求，也无需根据姿态改变时的实际姿态数据进行角度偏移量的计算。
当激光投影设备在开机状态中发生姿态的改变时，实际姿态数据包括加速度传感器4031检测到的实际加速度数据，地磁传感器4032检测到的实际地磁数据以及陀螺传感器4033检查到的实际角速度数据。初始姿态数据包括加速度传感器4031检测到的初始加速度数据和地磁传感器4032检测到的初始地磁数据。
示例性地，以激光投影设备在初始姿态下的初始加速度数据为AX 2＝0m 2/s，AY 2＝0m 2/s，AZ 2＝9.8m 2/s，初始地磁数据为15°(方向为北偏东)，初始角速度数据为0为例，若实际加速度数据为AX 2＝1.5m 2/s，AY 2＝2.4m 2/s，AZ 2＝5.9m 2/s，实际地磁数据为25°rad/s(方向为北偏东)，实际角速度数据为ω X＝2rad/s，ω Y＝1.5rad/s，ω Z＝3rad/s，ω X表示陀螺传感器4033检测的激光投影设备在X轴上转动的角速度，ω Y表示陀螺传感器4033检测的激光投影设备在Y轴上转动的角速度，ω Z表示陀螺传感器4033检测的激光投影设备在Z轴上转动的角速度。则主控电路401可以确定激光投影设备的实际姿态数据与初始姿态数据不匹配，也就是说激光投影设备的当前姿态相较于初始姿态发生了改变，那么激光投影设备的投影画面可能发生了偏移。
在一些实施例中，主控电路401被配置为：根据实际加速度数据和初始加速度数据，确定第一横滚角度偏移量α 1和第一俯仰角度偏移量β 1。示例性地，根据公式
Figure PCTCN2022101830-appb-000001
计算激光投影设备的第一横滚角度偏移量α 1，a Y表示加速度传感器4031测量的Y轴上的加速度,a Z表示加速度传感器4031测量的Z轴上的加速度。根据公式
Figure PCTCN2022101830-appb-000002
计算激光投影设备的第一俯仰角度偏移量β 1，a X表示加速度传感器4031测量的X轴上的加速度,a Z表示加速度传感器4031测量的Z轴上的加速度。
在一些实施例中，在实际地磁数据与初始地磁数据不同的情况下，主控电路401被配置为：根据实际地磁数据和初始地磁数据，确定第一偏航角度偏移量。由于地磁传感器4032检测的是激光投影设备相对于地球北极的偏转角度，因此第一偏航角度偏移量λ 1＝实际地磁数据±初始地磁数据。例如，初始地磁数据为北偏东20°，实际地磁数据为北偏西15°，则激光投影设备的偏航角度偏移量为35°。再例如，初始地磁数据为北偏东20°，实际地磁数据为北偏东30°，则激光投影设备的第一偏航角度偏移量λ 1为10°。
在一些实施例中，若主控电路401确定激光投影设备的姿态发生了改变，主控电路401还被配置为：根据实际角速度数据，确定第二横滚角度偏移量，第二俯仰角度偏移量和第二偏航角度偏移量。
根据
Figure PCTCN2022101830-appb-000003
确定第二横滚角度偏移量α 2，t X表示激光投影设备在X轴上转动的时间。根据
Figure PCTCN2022101830-appb-000004
确定第二俯仰角度偏移量β 2，t Y表示激光投影设备在Y轴上转动的时间。根据
Figure PCTCN2022101830-appb-000005
第二偏航角度偏移量λ 2，t Z表示激光投影设备在Z轴上转动的时间。
在一些实施例中，主控电路401被配置为：根据第一横滚角度偏移量和第二横滚角度偏移量，确定横滚角度偏移量。示例性地，横滚角度偏移量等于第一横滚角度偏移量和第二横滚角度偏移量的加权平均值。例如，根据公式
Figure PCTCN2022101830-appb-000006
确定激光投影设备的横滚角度偏移量α 3，其中，表示激光投影设备的横滚角度偏移量，α 1表示第一横滚角度偏移量，α 2表示第二横滚角度偏移量。
示例性地，在计算出横滚角度偏移量α 3之后，可以根据横滚角度偏移量α 3确定投影画面的第一画面倾斜角α。如图21所示，第一画面倾斜角α为激光投影设备在经过横滚变化后的矩形投影画面和激光投影设备在初始姿态时的矩形投影画面之间的旋转角。比如，可以将横滚角度偏移量α 3和第一画面倾斜角α的第一对应关系预先存储于主控电路401中，进而使得主控电路401可以根据横滚角度偏移量和第一对应关系得到第一画面倾斜角α。
在一些实施例中，主控电路401被配置为：根据第一俯仰角度偏移量和第二俯仰角度偏移量，确定俯仰角度偏移量。示例性地，俯仰角度偏移量等于第一俯仰角度偏移量和第二俯仰角度偏移量的加权平均值。例如，根据公式
Figure PCTCN2022101830-appb-000007
确定激光投影设备的俯仰角度偏移量，其中，β 3表示激光投影设备的俯仰角度偏移量，β 1表示第一俯仰角度偏移量，β 2表示第二俯仰角度偏移量。
示例性地，在计算出俯仰角度偏移量β 3之后，可以根据俯仰角度偏移量β 3确定投影画面的第二画面倾斜角β。如图22所示，激光投影设备在经过俯仰变化后，投影画面会变成如图22所示的等腰梯形画面，第二画面倾斜角β为该等腰梯形画面的腰与激光投影设备在初始姿态下的矩形投影画面的垂直边的夹角。比如，可以将俯仰角度偏移量β 3和第二画面倾斜角β的第二对应关系预先存储于主控电路401中，进而使得主控电路401可以根据俯仰角度偏移量β 3和第二对应关系得到第二画面倾斜角β。
在一些实施例中，主控电路401被配置为：根据第一偏航角度偏移量和第二偏航角度偏移量，确定偏航角度偏移量。示例性地，偏航角度偏移量等于第一偏航角度偏移量和第二偏航角度偏移量的加权平均值。例如，根据公式
Figure PCTCN2022101830-appb-000008
确定激光投影设备的偏航角度偏移量，其中，λ 3表示激光投影设备的偏航角度偏移量，λ 1表示第一偏航角度偏移量，λ 2表示第二偏航角度偏移量。
示例性地，计算出偏航角度偏移量λ 3之后，可以根据偏航角度偏移量λ 3确定投影画面的第三画面倾斜角λ。如图23所示，激光投影设备在经过偏航变化后，投影画面会变成如 图23所示的直角梯形画面，第三画面倾斜角λ为该直角梯形画面的腰与激光投影设备在初始姿态下的矩形投影画面的水平边的夹角。比如，可以将偏航角度偏移量λ 3和第三画面倾斜角λ的第三对应关系预先存储于主控电路401中，进而使得主控电路401可以根据偏航角度偏移量λ 3和第三对应关系得到第三画面倾斜角λ。
综合上述实施例，对本公开一些实施例的激光投影设备开机时的其中一种工作过程进行示例性说明。用户触发开机指令后，首先，主控电路401响应于开机指令，生成拍摄指令和控制指令，并通过图像采集接口向拍摄装置20发送拍摄指令，向显示控制电路402发送控制指令、第一投影图像和第二投影图像。响应于控制指令，显示控制电路402将第一投影图像和第二投影图像投射至投影屏幕30。响应于拍摄指令，拍摄装置20拍摄镜头300在投影屏幕上投射的第一投影图像，得到拍摄图像。然后，主控电路401通过图像采集接口获取拍摄图像，基于拍摄图像确定第一投影图像的投影区域Z2是否超出投影屏幕30的边框。若拍摄图像中的第一投影图像的投影区域超出投影屏幕30的边框，则基于校正标识在拍摄图像中的位置和校正标识在目标图像中的位置，确定偏移量，并基于偏移量确定第一校正数据。接着，主控电路401向显示控制电路402发送校正参数，校正参数包括第一校正数据。最后，显示控制电路402基于校正参数对第一投影图像后续的第二投影图像进行校正，并由光机200和镜头300将校正后的第二投影图像投射至投影屏幕30上。
此外，当激光投影设备的姿态检测传感器403检测到的实际姿态数据与初始姿态数据不匹配时，说明激光投影设备发生了移动。这种情况下，主控电路401根据实际姿态数据与初始姿态数据，确定激光投影设备的第二校正数据(即确定横滚角度偏移量、俯仰角度偏移量以及偏航角度偏移量)。接着，主控电路401向显示控制电路402发送校正参数，校正参数包括第二校正数据。最后，显示控制电路402基于校正参数对待投影图像进行校正处理，并由光机200和镜头300将校正后的待投影图像投射至投影屏幕30上。
可见，无论是在激光投影设备开机过程中、还是正常工作过程中，一旦激光投影设备发生了移动或者偏转，激光投影设备均可以自动对待投影图像进行校正，而无需用户手动进行校正。从而在保证用户的良好观看体验的同时，也减少了用户的操作，进而使得用户体验感更好。
本公开的一些实施例还提供一种投影图像的校正方法，应用于激光投影设备，如图24所示，校正方法包括以下步骤：
步骤2401、响应于开机指令，通过图像采集接口发送拍摄指令；向显示控制电路发送控制指令、第一投影图像和第二投影图像。
第一投影图像包括校正标识和开机画面。第二投影图像包括开机画面且不包括校正标识。
步骤2402、响应于控制指令，将第一投影图像与第二投影图像投射至投影屏幕上。
步骤2403、响应于拍摄指令，对镜头在投影屏幕上投射的第一投影图像进行拍摄。
在一些实施例中，如图25所示，校正方法还包括以下步骤：
步骤2501、在激光投影设备的开机过程中，将第一投影图像投射至投影屏幕上。
步骤2502、获取拍摄图像。
摄图像为第一投影图像投射至投影屏幕上时拍摄的图像。
步骤2503、基于拍摄图像，确定第一投影图像的投影区域是否超出投影屏幕的边框。
步骤2504、若确定第一投影图像的投影区域超出投影屏幕的边框，基于校正标识在拍摄图像中的位置和校正标识在目标图像中的位置，确定是否存在偏移量。
目标图像为第一投影图像的投影区域与投影屏幕的范围匹配时的拍摄图像。
步骤2505、若存在偏移量，根据偏移量确定第一校正数据，基于校正参数对待投影的图像进行校正。
校正参数包括第一校正数据。
在一些实施例中，步骤2503的实现方式可以为：首先，基于拍摄图像，确定校正标识在拍摄图像中的位置。然后，基于校正标识在拍摄图像中的位置和校正标识在目标图像中的位置，确定是否存在偏移量。若存在偏移量，则确定拍摄图像中的第一投影图像的投 影区域超出投影屏幕的边框。
在一些实施例中，步骤2503的实现方式还可以为：在拍摄图像中确定投影屏幕的边框的轮廓，以及第一投影图像的投影区域的轮廓。若检测出第一投影图像的投影区域的轮廓所围成的区域至少部分位于投影屏幕的边框的轮廓所围成的区域外，则确定拍摄图像中的第一投影图像的投影区域超出投影屏幕的边框。
在一些实施例中，如图26所示，校正方法还包括以下步骤：
步骤2601、获取实际姿态数据。
步骤2602、在实际姿态数据与初始姿态数据不匹配的情况下，根据实际姿态数据和初始姿态数据，确定激光投影设备从初始姿态切换到当前姿态的横滚角度偏移量、俯仰角度偏移量和偏航角度偏移量。
初始姿态数据为激光投影设备处于初始姿态时姿态检测传感器所检测到的数据。横滚角度偏移量为激光投影设备以第一坐标轴为转轴相对于初始姿态所偏转的角度，第一坐标轴为处于初始姿态的激光投影设备在水平面内的投影方向。俯仰角度偏移量为激光投影设备以第二坐标轴为转轴相对于初始姿态所偏转的角度，第二坐标轴为在水平面内与第一坐标轴垂直的方向。偏航角度偏移量为激光投影设备以第三坐标轴为转轴相对于初始姿态所偏转的角度，第三坐标轴为竖直方向。
步骤2603、根据横滚角度偏移量、俯仰角度偏移量和偏航角度偏移量，得到第二校正数据。
校正参数还包括第二校正数据。
在一些实施例中，实际姿态数据包括实际加速度数据和实际地磁数据，初始姿态数据包括初始加速度数据和初始地磁数据。步骤2602的实现方式可以为：根据实际加速度数据和初始加速度数据，确定第一横滚角度偏移量和第一俯仰角度偏移量。并根据实际地磁数据和初始地磁数据，确定第一偏航角度偏移量。
在一些实施例中，实际姿态数据包括实际加速度数据、实际地磁数据和实际角速度数据，初始姿态数据包括初始加速度数据和初始地磁数据。步骤2602的实现方式可以为：根据实际加速度数据和初始加速度数据，确定第一横滚角度偏移量和第一俯仰角度偏移量。根据实际地磁数据和初始地磁数据，确定第一偏航角度偏移量。并且，根据实际角速度数据，确定第二横滚角度偏移量、第二俯仰角度偏移量和第二偏航角度偏移量。
在一些实施例中，可以根据第一横滚角度偏移量和第二横滚角度偏移量，确定横滚角度偏移量。示例性地，横滚角度偏移量等于第一横滚角度偏移量和第二横滚角度偏移量的加权平均值。在一些实施例中，可以根据第一俯仰角度偏移量和第二俯仰角度偏移量，确定俯仰角度偏移量。示例性地，俯仰角度偏移量等于第一俯仰角度偏移量和第二俯仰角度偏移量的加权平均值。在一些实施例中，可以根据第一偏航角度偏移量和第二偏航角度偏移量，确定偏航角度偏移量。示例性地，偏航角度偏移量等于第一偏航角度偏移量和第二偏航角度偏移量的加权平均值。
上述投影图像的校正方法的有益效果和上述一些实施例所述的激光投影设备的有益效果相同，此处不再赘述。

Claims (19)

  1. 一种激光投影设备，包括：
    光源组件，被配置为提供照明光束；
    光机，被配置为利用图像信号对所述照明光束进行调制，以获得投影光束；
    镜头，被配置为将所述投影光束投射成像；和
    电路系统架构，被配置为控制所述光源和所述光机运行；其中，所述电路系统架构包括：
    主控电路，耦接至图像采集接口和显示控制电路，且被配置为通过所述图像采集接口获取拍摄图像；并基于校正标识在所述拍摄图像中的位置，得到第一校正数据；向所述显示控制电路发送校正参数；所述校正参数包括所述第一校正数据；所述拍摄图像为第一投影图像投射至投影屏幕上时拍摄的图像；所述第一投影图像包括所述校正标识；和
    所述显示控制电路，被配置为接收所述校正参数，基于所述校正参数对待投影图像进行校正处理，并向所述光机传输校正处理后的所述待投影图像的图像信号，以使所述光机利用校正处理后的所述待投影图像的图像信号对所述照明光束进行调制，以获得投影光束。
  2. 根据权利要求1所述的激光投影设备，其中，
    所述主控电路，还被配置为响应于开机指令，通过所述图像采集接口发送拍摄指令；向所述显示控制电路发送控制指令、所述第一投影图像和第二投影图像；所述第一投影图像还包括开机画面，所述第二投影图像包括开机画面且不包括所述校正标识；
    所述显示控制电路，还被配置为：响应于所述控制指令，将所述第一投影图像与所述第二投影图像投射至所述投影屏幕上。
  3. 根据权利要求1或2所述的激光投影设备，其中，
    所述校正标识为一个或多个，多个所述校正标识在所述第一投影图像中的位置不同。
  4. 根据权利要求1至3中任一项所述的激光投影设备，其中，
    所述主控电路还被配置为：基于所述拍摄图像，确定所述第一投影图像的投影区域是否超出所述投影屏幕的边框；若所述第一投影图像的投影区域超出所述投影屏幕的边框，则基于所述校正标识在所述拍摄图像中的位置，得到所述第一校正数据。
  5. 根据权利要求4所述的激光投影设备，其中，
    所述主控电路被配置为：在所述拍摄图像中确定所述投影屏幕的边框的轮廓，以及所述第一投影图像的投影区域的轮廓；
    若检测出所述第一投影图像的投影区域的轮廓所围成的区域至少部分位于所述投影屏幕的区域外，则确定所述拍摄图像中的所述第一投影图像的投影区域超出所述投影屏幕的边框。
  6. 根据权利要求4所述的激光投影设备，其中，
    所述主控电路被配置为：
    基于所述拍摄图像，确定所述校正标识在所述拍摄图像中的位置；
    基于所述校正标识在所述拍摄图像中的位置和所述校正标识在目标图像中的位置，确定是否存在偏移量；所述目标图像为所述第一投影图像的投影区域与所述投影屏幕的范围匹配时的所述拍摄图像；
    若存在所述偏移量，则确定所述拍摄图像中的所述第一投影图像的投影区域超出所述投影屏幕的边框。
  7. 根据权利要求4至6中任一项所述的激光投影设备，其中，所述主控电路被配置为：
    若确定所述拍摄图像中的所述第一投影图像的投影区域超出投影屏幕的边框，根据偏移量确定所述第一校正数据。
  8. 根据权利要求1至7中任一项所述的激光投影设备，其中，
    所述电路系统架构还包括：
    姿态检测传感器，耦接至所述主控电路，被配置为获取所述激光投影设备的姿态数据， 所述姿态数据包括初始姿态数据和实际姿态数据；所述初始姿态数据用于反映所述激光投影设备的初始姿态；所述实际姿态数据用于反映所述激光投影设备的当前姿态；
    所述主控电路还被配置为：
    确定所述实际姿态数据与初始姿态数据是否匹配；
    当所述实际姿态数据与初始姿态数据不匹配时，基于所述姿态数据获取所述激光投影设备从初始姿态切换到当前姿态的横滚角度偏移量、俯仰角度偏移量和偏航角度偏移量；所述横滚角度偏移量为所述激光投影设备以第一坐标轴为转轴相对于初始姿态所偏转的角度，所述第一坐标轴为处于所述初始姿态的激光投影设备在水平面内的投影方向；所述俯仰角度偏移量为所述激光投影设备以第二坐标轴为转轴相对于所述初始姿态所偏转的角度，所述第二坐标轴为在水平面内与所述第一坐标轴垂直的方向；所述偏航角度偏移量为所述激光投影设备以第三坐标轴为转轴相对于所述初始姿态所偏转的角度，所述第三坐标轴为竖直方向；
    根据所述横滚角度偏移量、所述俯仰角度偏移量和所述偏航角度偏移量，得到第二校正数据；所述校正参数还包括所述第二校正数据。
  9. 根据权利要求8所述的激光投影设备，其中，
    所述姿态检测传感器包括加速度传感器和地磁传感器，所述实际姿态数据包括所述加速度传感器检测到的实际加速度数据和所述地磁传感器检测到的实际地磁数据，所述初始姿态数据包括所述加速度传感器检测到的初始加速度数据和所述地磁传感器检测到的初始地磁数据；
    所述主控电路被配置为：
    根据所述实际加速度数据和所述初始加速度数据，确定第一横滚角度偏移量和第一俯仰角度偏移量；
    根据所述实际地磁数据和所述初始地磁数据，确定第一所述偏航角度偏移量。
  10. 根据权利要求8所述的激光投影设备，其中，
    所述姿态检测传感器包括加速度传感器、地磁传感器和陀螺传感器，所述实际姿态数据包括所述加速度传感器检测到的实际加速度数据、所述地磁传感器检测到的实际地磁数据以及所述陀螺传感器检查到的实际角速度数据，所述初始姿态数据包括所述加速度传感器检测到的初始加速度数据和所述地磁传感器检测到的初始地磁数据；
    所述主控电路被配置为：
    根据所述实际加速度数据和所述初始加速度数据，确定第一横滚角度偏移量和第一俯仰角度偏移量；
    根据所述实际地磁数据和所述初始地磁数据，确定第一偏航角度偏移量；
    根据所述实际角速度数据，确定第二横滚角度偏移量、第二俯仰角度偏移量和第二偏航角度偏移量；
    根据所述第一横滚角度偏移量和所述第二横滚角度偏移量，确定所述横滚角度偏移量；
    根据所述第一俯仰角度偏移量和所述第二俯仰角度偏移量，确定所述俯仰角度偏移量；
    根据所述第一偏航角度偏移量和所述第二偏航角度偏移量，确定所述偏航角度偏移量。
  11. 根据权利要求10所述的激光投影设备，其中，
    所述横滚角度偏移量等于所述第一横滚角度偏移量和所述第二横滚角度偏移量的加权平均值；
    所述俯仰角度偏移量等于所述第一俯仰角度偏移量和所述第二俯仰角度偏移量的加权平均值；
    所述偏航角度偏移量等于所述第一偏航角度偏移量和所述第二偏航角度偏移量的加权平均值。
  12. 一种投影图像的校正方法，应用于激光投影设备，所述校正方法包括：
    在所述激光投影设备的开机过程中，将第一投影图像投射至所述投影屏幕上，所述第一投影图像包括校正标识；
    获取拍摄图像，所述拍摄图像为所述第一投影图像投射至投影屏幕上时拍摄的图像；
    基于所述拍摄图像，确定所述第一投影图像的投影区域是否超出所述投影屏幕的边框；
    若确定所述第一投影图像的投影区域超出所述投影屏幕的边框，基于所述校正标识在所述拍摄图像中的位置和所述校正标识在目标图像中的位置，确定是否存在偏移量；所述目标图像为所述第一投影图像的投影区域与所述投影屏幕的范围匹配时的所述拍摄图像；
    若存在所述偏移量，根据所述偏移量确定第一校正数据，基于校正参数对待投影的图像进行校正，所述校正参数包括所述第一校正数据。
  13. 根据权利要求12所述的校正方法，还包括：
    响应于开机指令，通过所述图像采集接口发送拍摄指令；向显示控制电路发送控制指令、所述第一投影图像和第二投影图像；所述第一投影图像还包括开机画面，所述第二投影图像包括开机画面且不包括所述校正标识；
    响应于所述控制指令，将所述第一投影图像与所述第二投影图像投射至所述投影屏幕上；
    响应于所述拍摄指令，对镜头在投影屏幕上投射的第一投影图像进行拍摄。
  14. 根据权利要求12或13所述的校正方法，其中，
    所述基于所述拍摄图像，确定所述第一投影图像的投影区域是否超出所述投影屏幕的边框，包括：
    在所述拍摄图像中确定所述投影屏幕的边框的轮廓，以及所述第一投影图像的投影区域的轮廓；
    若检测出所述第一投影图像的投影区域的轮廓所围成的区域至少部分位于所述投影屏幕的边框的轮廓所围成的区域外，则确定所述拍摄图像中的所述第一投影图像的投影区域超出所述投影屏幕的边框。
  15. 根据权利要求12至14中任一项所述的校正方法，其中，
    所述基于所述拍摄图像，确定所述第一投影图像的投影区域是否超出所述投影屏幕的边框，包括：
    基于所述拍摄图像，确定所述校正标识在所述拍摄图像中的位置；
    基于所述校正标识在所述拍摄图像中的位置和所述校正标识在目标图像中的位置，确定是否存在所述偏移量；
    若存在所述偏移量，则确定所述拍摄图像中的所述第一投影图像的投影区域超出所述投影屏幕的边框。
  16. 根据权利要求12至15中任一项所述的校正方法，还包括：
    获取实际姿态数据；
    在所述实际姿态数据与初始姿态数据不匹配的情况下，根据所述实际姿态数据和所述初始姿态数据，确定所述激光投影设备从初始姿态切换到当前姿态的横滚角度偏移量、俯仰角度偏移量和偏航角度偏移量；其中，所述初始姿态数据为所述激光投影设备处于初始姿态时所述姿态检测传感器所检测到的数据；所述横滚角度偏移量为所述激光投影设备以第一坐标轴为转轴相对于初始姿态所偏转的角度，所述第一坐标轴为处于所述初始姿态的激光投影设备在水平面内的投影方向；所述俯仰角度偏移量为所述激光投影设备以第二坐标轴为转轴相对于所述初始姿态所偏转的角度，所述第二坐标轴为在水平面内与所述第一坐标轴垂直的方向；所述偏航角度偏移量为所述激光投影设备以第三坐标轴为转轴相对于所述初始姿态所偏转的角度，所述第三坐标轴为竖直方向；
    根据所述横滚角度偏移量、所述俯仰角度偏移量和所述偏航角度偏移量，得到第二校正数据；所述校正参数还包括所述第二校正数据。
  17. 根据权利要求16所述的校正方法，其中，
    所述实际姿态数据包括实际加速度数据和实际地磁数据，所述初始姿态数据包括初始 加速度数据和初始地磁数据；所述根据所述实际姿态数据和所述初始姿态数据，确定所述激光投影设备从初始姿态切换到当前姿态的横滚角度偏移量、俯仰角度偏移量和偏航角度偏移量，包括：
    根据所述实际加速度数据和所述初始加速度数据，确定第一横滚角度偏移量和第一俯仰角度偏移量；
    根据所述实际地磁数据和所述初始地磁数据，确定第一偏航角度偏移量。
  18. 根据权利要求16所述的校正方法，其中，
    所述实际姿态数据包括实际加速度数据、实际地磁数据和实际角速度数据，所述初始姿态数据包括初始加速度数据和初始地磁数据；所述根据所述实际姿态数据和所述初始姿态数据，确定所述激光投影设备从初始姿态切换到当前姿态的横滚角度偏移量、俯仰角度偏移量和偏航角度偏移量，包括：
    根据所述实际加速度数据和所述初始加速度数据，确定第一横滚角度偏移量和第一俯仰角度偏移量；
    根据所述实际地磁数据和所述初始地磁数据，确定第一偏航角度偏移量；
    根据所述实际角速度数据，确定第二横滚角度偏移量、第二俯仰角度偏移量和第二偏航角度偏移量；
    根据所述第一横滚角度偏移量和所述第二横滚角度偏移量，确定所述横滚角度偏移量；
    根据所述第一俯仰角度偏移量和所述第二俯仰角度偏移量，确定所述俯仰角度偏移量；
    根据所述第一偏航角度偏移量和所述第二偏航角度偏移量，确定所述偏航角度偏移量。
  19. 根据权利要求18所述的校正方法，其中，
    所述横滚角度偏移量等于所述第一横滚角度偏移量和所述第二横滚角度偏移量的加权平均值；
    所述俯仰角度偏移量等于所述第一俯仰角度偏移量和所述第二俯仰角度偏移量的加权平均值；
    所述偏航角度偏移量等于所述第一偏航角度偏移量和所述第二偏航角度偏移量的加权平均值。
PCT/CN2022/101830 2021-10-29 2022-06-28 激光投影设备及投影图像的校正方法 WO2023071256A1 (zh)

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