Projector apparatus with distance image acquisition device and projection method

• US 10,663,593 B2
• Filed: 03/19/2018
• Issued: 05/26/2020
• Est. Priority Date: 09/29/2015
• Status: Active Grant

• Current Assignee: Fujifilm Corporation (Fujifilm Holdings Corporation)
• Original Assignee: Fujifilm Corporation (Fujifilm Holdings Corporation)
• Inventors: Kitagawa, Junya, Kawai, Tomoyuki, Shinkai, Yasuhiro, Masuda, Tomonori, Furuta, Yoshinori
• Primary Examiner(s): Alsomiri, Isam A
• Assistant Examiner(s): Askarian, Amir J
• Application Number:
  US15/925,087
• Publication Number:
  US 20180224553A1
• Time in Patent Office: 799 Days
• Field of Search: None
• CPC Class Codes: G01S 17/50 Systems of measurement based on relative movement of target
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/894 3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
• CPC Class Codes: G01S 7/4863 Detector arrays, e.g. charge-transfer gates
• CPC Class Codes: G03B 21/006 using LCD's
• CPC Class Codes: G03B 21/14 Details
• CPC Class Codes: G03B 21/142 Adjusting of projection optics
• CPC Class Codes: G03B 21/2053 Intensity control of illuminating light controlled by video signal processing H04N5/74 or H04N9/31
• CPC Class Codes: G03B 21/53 Means for automatic focusing, e.g. to compensate thermal effects
• CPC Class Codes: H04N 9/317 Convergence or focusing systems electronic adjustment of convergence H04N9/3185; convergence or focusing arrangements for cathode ray tubes H04N9/28; means for automatic focusing of projectors not peculiar to the presence of an electronic spatial light modulator G03B21/53
• CPC Class Codes: H04N 9/3185 Geometric adjustment, e.g. keystone or convergence optical or mechanical adjustment of convergence H04N9/317; using scanning means H04N3/22; optical or mechanical adjustments of projectors not peculiar to the presence of an electronic spatial light modulator G03B21/14
• CPC Class Codes: H04N 9/3194 including sensor feedback

Abstract

In an aspect of the invention, a projector apparatus (20) with a distance image acquisition device includes a projection image generation unit (28), a difference value acquisition unit (101) that acquires a difference value between distance information of a first distance image acquired at a first timing and distance information of a second distance image acquired at a second timing, a determination unit (103) that determines whether the body to be projected is at a standstill on the basis of the difference value acquired by the difference value acquisition unit (101), a projection instruction unit (105) that outputs a command to project an image generated by the projection image generation unit (28) to the body to be projected, and a projection control unit (107) that controls a projection operation of the projector apparatus (20) on the basis of the projection command output from the projection instruction unit (105).

Claims

1. A projector apparatus with a distance image acquisition device comprising:

a projector device including a display optical element that displays a projection image and a projection light source and a projection lens that project the projection image displayed on the display optical element to a body to be projected; and

a distance image acquisition device including a distance image sensor in which a plurality of light receiving elements are two-dimensionally arranged, a measurement light source, a focus lens that focuses measurement light which is emitted from the measurement light source and is reflected from the body to be projected on the distance image sensor, and a distance image generation unit that acquires, from the distance image sensor, distance information corresponding to a time of flight of the measurement light which is emitted from the measurement light source, is reflected from the body to be projected, and is incident on the distance image sensor and generates a distance image on the basis of the acquired distance information,

wherein the projector device includes;

a projection image generation unit that detects a shape of the body to be projected, on the basis of the distance image acquired by the distance image acquisition device, and generates the projection image corresponding to the detected shape;

a difference value acquisition unit that acquires a difference value between distance information of a first distance image which is acquired by the distance image acquisition device at a first timing and distance information of a second distance image which is acquired by the distance image acquisition device at a second timing;

a determination unit that determines whether the body to be projected is at a standstill on the basis of the difference value acquired by the difference value acquisition unit;

a projection instruction unit that outputs a command to project an image generated by the projection image generation unit to the body to be projected, on the basis of a determination result of the determination unit; and

a projection control unit that controls a projection operation of the projector device on the basis of the projection command output from the projection instruction unit,

wherein the difference value acquisition unit acquires a difference value between an average value of the distance information of the first distance image and an average value of the distance information of the second distance image, and

in a case in which the difference value is equal to or less than a first threshold value, the determination unit determines that the body to be projected is at a standstill.

2. The projector apparatus with a distance image acquisition device according to claim 1,

wherein the difference value acquisition unit acquires a maximum difference value between the distance information of the first distance image and the distance information of the second distance image, and

in a case in which the maximum difference value is equal to or less than a second threshold value, the determination unit determines that the body to be projected is at a standstill.

3. The projector apparatus with a distance image acquisition device according to claim 1, further comprising:

a difference image generation unit that generates a difference image on the basis of the difference value acquired by the difference value acquisition unit.

4. The projector apparatus with a distance image acquisition device according to claim 3,

wherein the difference image generation unit acquires an average difference value of a plurality of frames of the difference images, and

in a case in which the average difference value of the plurality of frames of the difference images is equal to or less than a third threshold value, the determination unit determines that the body to be projected is at a standstill.

5. The projector apparatus with a distance image acquisition device according to claim 3,

wherein the difference image generation unit acquires a maximum difference value of a plurality of frames of the difference images, and

in a case in which the maximum difference value of the plurality of frames of the difference images is equal to or less than a fourth threshold value, the determination unit determines that the body to be projected is at a standstill.

6. The projector apparatus with a distance image acquisition device according to claim 3,

wherein the difference image generation unit acquires a difference value of each region of the difference image, and

the determination unit determines whether the body to be projected is at a standstill on the basis of a size of the region in which the difference value is equal to or less than a fifth threshold value in the difference image.

7. The projector apparatus with a distance image acquisition device according to claim 3,

wherein the difference image generation unit acquires a difference value of each region of the difference images in a plurality of frames, and

the determination unit determines whether the body to be projected is at a standstill on the basis of a size of a region in which the difference value is equal to or less than a sixth threshold value in the difference images in the plurality of frames.

8. The projector apparatus with a distance image acquisition device according to claim 3,

wherein the difference image generation unit acquires a value obtained by multiplying a weighting coefficient which is set according to a region of the difference image by the difference value, and

in a case in which the value obtained by multiplying the weighting coefficient by the difference value is equal to or less than a seventh threshold value, the determination unit determines that the body to be projected is at a standstill.

9. The projector apparatus with a distance image acquisition device according to claim 1, further comprising:

a projection stop instruction unit that outputs a stop command to stop the projection of the image generated by the projection image generation unit to the body to be projected, on the basis of the determination result of the determination unit,

wherein the projection control unit controls the projection operation of the projector apparatus on the basis of the projection stop command from the projection stop instruction unit.

10. A projector apparatus with a distance image acquisition device comprising:

a projector device including a display optical element that displays a projection image and a projection light source and a projection lens that project the projection image displayed on the display optical element to a body to be projected; and

a distance image acquisition device including a distance image sensor in which a plurality of light receiving elements are two-dimensionally arranged, a measurement light source, a focus lens that focuses measurement light which is emitted from the measurement light source and is reflected from the body to be projected on the distance image sensor, and a distance image generation unit that acquires, from the distance image sensor, distance information corresponding to a time of flight of the measurement light which is emitted from the measurement light source, is reflected from the body to be projected, and is incident on the distance image sensor and generates a distance image on the basis of the acquired distance information,

wherein the projector device includes;

a projection image generation unit that detects a shape of the body to be projected, on the basis of the distance image acquired by the distance image acquisition device, and generates the projection image corresponding to the detected shape;

a difference value acquisition unit that acquires a difference value between distance information of a first distance image which is acquired by the distance image acquisition device at a first timing and distance information of a second distance image which is acquired by the distance image acquisition device at a second timing;

a determination unit that determines whether the body to be projected is at a standstill on the basis of the difference value acquired by the difference value acquisition unit;

a projection instruction unit that outputs a command to project an image generated by the projection image generation unit to the body to be projected, on the basis of a determination result of the determination unit; and

a projection control unit that controls a projection operation of the projector device on the basis of the projection command output from the projection instruction unit,

wherein the difference value acquisition unit acquires a maximum difference value between the distance information of the first distance image and the distance information of the second distance image, and

in a case in which the maximum difference value is equal to or less than a second threshold value, the determination unit determines that the body to be projected is at a standstill.

11. The projector apparatus with a distance image acquisition device according to claim 10, further comprising:

a difference image generation unit that generates a difference image on the basis of the difference value acquired by the difference value acquisition unit.

12. The projector apparatus with a distance image acquisition device according to claim 11,

wherein the difference image generation unit acquires an average difference value of a plurality of frames of the difference images, and

in a case in which the average difference value of the plurality of frames of the difference images is equal to or less than a third threshold value, the determination unit determines that the body to be projected is at a standstill.

13. The projector apparatus with a distance image acquisition device according to claim 11,

wherein the difference image generation unit acquires a maximum difference value of a plurality of frames of the difference images, and

in a case in which the maximum difference value of the plurality of frames of the difference images is equal to or less than a fourth threshold value, the determination unit determines that the body to be projected is at a standstill.

14. The projector apparatus with a distance image acquisition device according to claim 11,

wherein the difference image generation unit acquires a difference value of each region of the difference image, and

the determination unit determines whether the body to be projected is at a standstill on the basis of a size of the region in which the difference value is equal to or less than a fifth threshold value in the difference image.

15. The projector apparatus with a distance image acquisition device according to claim 11,

wherein the difference image generation unit acquires a difference value of each region of the difference images in a plurality of frames, and

the determination unit determines whether the body to be projected is at a standstill on the basis of a size of a region in which the difference value is equal to or less than a sixth threshold value in the difference images in the plurality of frames.

16. The projector apparatus with a distance image acquisition device according to claim 11,

wherein the difference image generation unit acquires a value obtained by multiplying a weighting coefficient which is set according to a region of the difference image by the difference value, and

in a case in which the value obtained by multiplying the weighting coefficient by the difference value is equal to or less than a seventh threshold value, the determination unit determines that the body to be projected is at a standstill.

17. The projector apparatus with a distance image acquisition device according to claim 10, further comprising:

a projection stop instruction unit that outputs a stop command to stop the projection of the image generated by the projection image generation unit to the body to be projected, on the basis of the determination result of the determination unit,

wherein the projection control unit controls the projection operation of the projector apparatus on the basis of the projection stop command from the projection stop instruction unit.