CN103292802A - Method for controlling electronic equipment and electronic equipment - Google Patents
Method for controlling electronic equipment and electronic equipment Download PDFInfo
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- CN103292802A CN103292802A CN2012100475660A CN201210047566A CN103292802A CN 103292802 A CN103292802 A CN 103292802A CN 2012100475660 A CN2012100475660 A CN 2012100475660A CN 201210047566 A CN201210047566 A CN 201210047566A CN 103292802 A CN103292802 A CN 103292802A
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- electronic equipment
- state
- hot spot
- camera head
- door
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
Abstract
The invention provides a method for controlling electronic equipment and the electronic equipment. The method is applied to the electronic equipment; the electronic equipment comprises a photographing device and a light emission device; and the method comprises the following steps of: determining whether an object exists in a view field range of the photographing device through the photographing device, wherein the object has a first state and a second state different from the first state; acquiring multiple light spots projected by the light emission device on the object through the photographing device in a motion process when the object exists in the view field range; and performing computational processing according to the multiple light spots, and determining the current state information of the object from the first state and the second state.
Description
Technical field
The present invention relates to Based Intelligent Control and Computer Applied Technology field, relate in particular to a kind of method and electronic equipment of controlling electronic equipment.
Background technology
Along with the fast development of intelligent mobile apparatus, the user more and more needs intelligent mobile apparatus.Yet, when practice, though the position of having drawn some objects on the navigation map, it for example is the object with bascule, common as doorframe, but the inventor finds, what do not indicate on navigation map that this is out still is what close, even mark at the beginning, but because door is bascule, thus all may be shut or be opened at any time, when door is shut, if the intelligence mobile apparatus also went navigation according to former navigation map, cause mistake to be hit probably.
Summary of the invention
The invention provides a kind of method and electronic equipment of controlling electronic equipment, the problem that causes mistake to be hit in order to solve the state of not knowing object that exists in the navigation procedure of the prior art.
One aspect of the present invention provides a kind of method of controlling electronic equipment, be applied in the electronic equipment, described electronic equipment comprises a camera head and a light launcher, described method comprises: by described camera head, the object that whether has within sweep of the eye of determining described camera head exists, and described object has first state and second state different with described first state; Described when having object to exist within sweep of the eye, in a motion process, obtain described light launcher by described camera head and be incident upon a plurality of hot spot points on the described object; Carry out computing according to described a plurality of hot spot points, from described first state and described second state, determine described object present located status information.
Preferably, described method also comprises according to described status information, produces corresponding steering order.
Preferably, described method also comprises according to described status information, produces corresponding steering order, is specially: when described status information represents that described object is in described first state, produce first steering order, described first steering order is used to indicate described electronic equipment by described object.
Preferably, when described status information represents that described object is in described second state, produce second steering order different with described first steering order, described second steering order is used to indicate described electronic equipment makes described object be in described first state.
Preferably, described object is door, described first state is described door closing state, described second state is the state that described door is being opened, describedly carry out computing according to described a plurality of hot spot points, from described first state and described second state, determine described object present located status information, specifically comprise: according to the time order and function of described a plurality of hot spot points formation, calculate each hot spot in described a plurality of hot spot point successively and put distance between the described electronic equipment; The difference that the previous hot spot of putting distance between the described electronic equipment and described hot spot point when one of them hot spot in described a plurality of hot spot points is put the distance between the described electronic equipment is during more than or equal to a predetermined value, determine the current state of opening that is in of described door, wherein, described predetermined value judges for being used for whether the distance that described each hot spot of a plurality of hot spot point is put between the described electronic equipment produces the critical value of sudden change.
Preferably, described object is door, described first state is described door closing state, described second state is the state that described door is being opened, describedly carry out computing according to described a plurality of hot spot points, from described first state and described second state, determine described object present located status information, specifically comprise: described a plurality of hot spot points are linked to be a line successively; When described line has at least two different slopes, determine the current state of opening that is in of described door.
Preferably, described motion process is specially: described electronic equipment rotates in the original place, and drives described camera head and described light launcher rotates together; Perhaps described electronic equipment moves according to straight line, and it is mobile together to drive described light launcher and described camera head.
Preferably, when described electronic equipment during according to a predetermined path movement, if determine described object on map, determine that then the described object of whether having within sweep of the eye of described camera head exists.
The present invention provides a kind of electronic equipment on the other hand, comprising: camera head, be used for determining that the object that whether has within sweep of the eye of described camera head exists, and described object has first state and second state different with described first state; Light launcher, be used for throw light, be arranged in parallel with described camera head, described light launcher and described camera head are positioned at the same side of described electronic equipment, described camera head with respect to the height of a supporting surface greater than the height of described light launcher with respect to described supporting surface; Wherein, described when having object to exist within sweep of the eye, in a motion process, obtain a plurality of hot spot points that the described light of described light launcher projection forms at described object by described camera head; Processing unit is used for carrying out computing according to described a plurality of hot spot points, determines described object present located status information from described first state and described second state.
Preferably, described electronic equipment also comprises: control module is used for controlling described electronic equipment and passing through described object when described status information represents that described object is in described first state; Perhaps when described status information represents that described object is in described second state, control described electronic equipment and make described object be in described first state.
Preferably, described object is door, described first state is described door closing state, described second state is the state that described door is being opened, described processing unit specifically is used for: according to the time order and function that described a plurality of hot spot points form, calculate each hot spot in described a plurality of hot spot point successively and put distance between the described electronic equipment; The difference that the previous hot spot of putting distance between the described electronic equipment and described hot spot point when one of them hot spot in described a plurality of hot spot points is put the distance between the described electronic equipment is during more than or equal to a predetermined value, determine the current state of opening that is in of described door, wherein, described predetermined value judges for being used for whether the distance that described each hot spot of a plurality of hot spot point is put between the described electronic equipment produces the critical value of sudden change.
Preferably, described object is door, and described first state is described door closing state, and described second state is the state that described door is being opened, and described processing unit specifically is used for: described a plurality of hot spot points are linked to be a line successively; When described line has at least two different slopes, determine the current state of opening that is in of described door.
Preferably, described electronic equipment also comprises mobile device, makes described electronic equipment rotate in the original place, and drives described camera head and described light launcher rotates together; Or make described electronic equipment move according to straight line, and it is mobile together to drive described light launcher and described camera head.
Beneficial effect of the present invention is as follows:
Whether one embodiment of the invention adopts camera head to determine to have within sweep of the eye object to exist, if any, just in a motion process, obtain light launcher by camera head and be incident upon a plurality of hot spot points on this object, these hot spot points of computing then, can determine the state of object, namely for example this object is door, state just about and close two kinds, this technical scheme is prepared by before the object at electronic equipment, whether the state of elder generation's inspected object allows electronic equipment directly to pass through, so the mistake of having avoided producing when navigating according to navigation map is hit.
Further, whether the mode that adopts camera head and light launcher to combine range finding in one embodiment of the invention comes decision gate to close, thus calculate simple, operate also simple, and saving cost.
Further, when the state of object does not allow electronic equipment to pass through, also indicate electronic equipment to make this object be in and to pass through state in one embodiment of the invention, for example, door is opened, so can be so that electronic equipment can better carry out navigator fix.
Description of drawings
Fig. 1 is the functional block diagram of the electronic equipment in one embodiment of the invention;
Fig. 2 is the Organization Chart of the electronic equipment in one embodiment of the invention;
Fig. 3 is the synoptic diagram that exists of earnest body really in one embodiment of the invention;
Fig. 4 a-Fig. 4 c is the synoptic diagram of the scanning object in one embodiment of the invention;
Fig. 5 a-Fig. 5 b is the synoptic diagram of the processing hot spot point in one embodiment of the invention;
Fig. 6 is the synoptic diagram of the measuring distance in one embodiment of the invention;
Fig. 7 is the schematic diagram of the measuring distance in one embodiment of the invention;
Fig. 8 is the method flow diagram of the control electronic equipment in one embodiment of the invention.
Embodiment
One embodiment of the invention provides a kind of electronic equipment, please refer to Fig. 1, and Fig. 1 is the functional block diagram of the electronic equipment in the present embodiment.
Please in the lump with reference to figure 1 and Fig. 2, this electronic equipment 10 comprises: light launcher 101 is used for throw light, camera head 102, and processing unit 103.
In the present embodiment, light launcher 101 and camera head 102 are positioned at the same side of electronic equipment 10, for example all are positioned at the right side; Camera head 102 be arranged in parallel with light launcher 101, and namely the parallel center line of camera head 102 is parallel with the light of light launcher 101 projections; Greater than the height of light launcher 101 with respect to supporting surface, namely as shown in Figure 2, camera head 102 is positioned at the top of light launcher 101 to camera head 102 with respect to the height of supporting surface.Further, when electronic equipment 10 was positioned on the supporting surface, light launcher 101 can be parallel with supporting surface, i.e. the light of light launcher 101 projections is parallel with supporting surface; Camera head 102 is parallel with supporting surface, and namely the parallel center line of camera head 102 is parallel with supporting surface.
When electronic equipment 10, intelligent mobile apparatus for example is when an indoor environment is walked, by camera head 102, determine to exist at the object that whether has within sweep of the eye of camera head 102, equally, this object is positioned on this supporting surface, and has bascule or this object can be passed through by this electronic equipment 10, this object can have first state and second state, first state is different from second state, door for example, about and close two states.When determining when the discovery within sweep of the eye of camera head 102 has this object to exist, this electronic equipment 10 scans these objects on this motion limit, object front by light launcher 101, the light that light launcher 101 sends forms a series of hot spot points at this object, and camera head 102 is noted these a series of hot spot points then.Because hot spot point obviously is different from other images, therefore in the image that obtains, be easy to obtain this position of hot spot point in image, be beneficial to computing machine image is simplified processing, accelerate computing velocity, wherein, light launcher 101 for example is laser aid, because laser beam is more concentrated, so it is relatively good to form the effect of hot spot point, certainly, in practice, also can adopt other light launcher, as long as can form hot spot point at object.In another embodiment, also can be that electronic equipment 10 moves according to the predefined paths on the navigation map that is stored in the storer, when on finding this path, this object being arranged, this object that whether has within sweep of the eye that goes again to determine camera head 102 exists, so, just can avoid to have determined whether in real time that this object exists, economize on resources, improve navigator fix efficient.
For the ease of the clearer understanding the present invention of those skilled in the art, below will lift concrete example is elaborated, wherein electronic equipment 10 is example with intelligent mobile apparatus, and camera head 102 is example with the monocular cam, because the monocular cam cost is low, and it is simple to operate, in other embodiments, also can adopt other camera head, for example the binocular camera shooting head, the bimirror camera, and object is example with the door.
When the door of existence within sweep of the eye of camera head 102, as shown in Figure 3, door 301 occurred on the image 1021 that camera head 102 is taken, door 301 is embedded in the wall, Reference numeral 302 expression walls are right after the wall edge of supporting surface, and explanation this moment is at the door of existence within sweep of the eye 301 of camera head 102.
For whether detecting gate 301 closes, electronic equipment 10 rotates according to a direction in the original place, so electronic equipment also comprises a mobile device, and light launcher 101 and camera head 102 are fixed on the electronic equipment 10 motionless, for example electronic equipment 10 is to rotate according to clockwise direction, light launcher 101 will from left to right carry out single pass so, shown in Fig. 4 a, the light that light launcher 101 sends at the wall edge 302 and door 301 lower limb formed a series of hot spot point 304, and camera head 102 is noted this a series of hot spot points 304 according to the predetermined sampling period, sampling period can set up on their own according to the situation in the practice, but more accurate in order more to detect, preferably record more hot spot point as much as possible.In another embodiment, please refer to Fig. 4 b, electronic equipment 10 can be along moving with wall edge 302 straight lines parallel or that certain angle is arranged, only otherwise bumping against wall get final product, for example moves from left to right.No matter the hot spot point which kind of mode forms, the time order and function that processing unit 103 forms according to these a series of hot spot points 304, calculate each hot spot in these a series of hot spot points 304 successively and put distance between the electronic equipment 10, the difference that the previous hot spot of putting distance between the electronic equipment 10 and this hot spot point when one of them hot spot in these a series of hot spot points 304 is put the distance between the electronic equipment is during more than or equal to a predetermined value, determine the door 301 current states of opening that are in, wherein, predetermined value judges for being used for whether the distance that these a series of hot spot point 304 each hot spots are put between the electronic equipment 10 produces the critical value of sudden change.In addition, in the present embodiment, hot spot point 304 is from left to right successively to form, and in other embodiments, if electronic equipment 10 is to be rotated counterclockwise, the time order and function of hot spot point 304 is exactly from right to left so.
Next introduce processing unit 103 in detail and how to calculate each hot spot in these a series of hot spot points 304 and put distance between the electronic equipment 10, have following but be not limited to two kinds of account forms:
First kind, adopt the mode of relative distance to calculate, please refer to Fig. 5 a, the pixel resolution of supposing image 1021 is 640 * 480, and the coordinate in the upper left corner of image 1021 is made as (0,0) so, the coordinate of top right-hand side is made as (640,0), and the coordinate in the lower left corner is (0,480), the coordinate in the lower right corner is (640,480), the central point E of image 1021 just centered by point, coordinate is (320,240).In Fig. 5, for convenience of description, only selected hot spot point A, hot spot point B and hot spot point C in these a series of hot spot points 304, according to sequencing, first recording light spot A, be hot spot point B again, be hot spot point C at last, for example in the image 1021 that camera head 102 photographs, the coordinate of hot spot point A is (320,400), the hot spot point A distance of ordering apart from the E on the horizontal center line is 400-240=160 so.For hot spot point B, its coordinate is (400,400), and the distance of the dried up flat center line of hot spot point B is 400-240=160 so.For cursor point C, its coordinate is (420,400), and the distance of the dried up flat center line of hot spot point C is 400-240=160 so.Through calculating as can be known, hot spot point A and hot spot point B and hot spot point C are identical from the distance of parallel center line, certainly, can utilize identical algorithm that a series of hot spot points 304 are all calculated to the distance of parallel center line, find that it is identical that each hot spot is put the distance of parallel center line because from parallel center line more close to, expression electronic equipment 10 from the object at hot spot point place more away from, present range is the same, so can close by decision gate thus.
Please refer to Fig. 5 b again, identical among the situation of hot spot point A and Fig. 5 a supposes that the coordinate of hot spot point B is (420,300), and hot spot point C is 300-240=60 from the distance of parallel center line so.The coordinate of supposing hot spot point C is (440,260), and hot spot point C is 260-240=20 from the distance of parallel center line so.Hence one can see that, the difference of hot spot point A and hot spot point B is 100, the difference of hot spot point B and hot spot point C is 40, for example predetermined value is 30, so the difference of hot spot point A and hot spot point B is 100 greater than predetermined value, so can judge hot spot puts the distance of electronic equipment 10 and undergos mutation, namely the state of expression door 301 is being opened, because have only when the door standard-sized sheet, camera head 102 can be recorded to the hot spot point that the article in the door the inside form, so this hot spot is put the distance of electronic equipment 10 and can be far longer than on the doorframe, namely the hot spot that forms on the wall edge 302 is put the distance of electronic equipment 10.Even door 301 is half-open states, the hot spots that form at half-open door 301 are put the hot spot that the distance of electronic equipment 10 also forms greater than doorframe and are put the distance of electronic equipment 10, so can judge thus, the state of door 301 is open mode.Wherein, predetermined value is used for the distance that the expression hot spot puts between the electronic equipment and whether produces the critical value of sudden change, and this predetermined value need go to arrange according to actual conditions, the pixel resolution of camera head for example, actual environment etc.
In another embodiment, though what calculate also is relative distance, but be not the calculating pixel among the embodiment as described above, but on image display, for example engrave scale on the display of camera head 102, perhaps directly measure with other ruler, for example the length and width of display are respectively 4 inches and 3 inches, then according to the coordinate figure of the hot spot point in the image, being converted into actual size, is example with the hot spot point A among Fig. 5 a, and the distance of hot spot point A distance center point E is made as x, then 3/480=x/160 can draw the x=1 inch.Other parts in the present embodiment are identical with previous embodiment, so do not repeat them here.
Second kind, actual distance value between calculating electronic equipment 10 and a series of hot spot point 304, for example under the situation shown in Fig. 4 a, be that electronic equipment 10 turns clockwise in the original place, a series of hot spot points 304 that light launcher 101 scannings form, in this case, hot spot point 304 to the actual range between the electronic equipment 10 for example among available Fig. 4 a the band arrow straight line between electronic equipment 10 and the hot spot point 304 represent, can be found out by Fig. 4 a, from left to right, hot spot point 304 reduced before this to the distance between the electronic equipment 10, and then increase, be that example illustrates how to calculate hot spot point A to the actual range between the electronic equipment 10 with one of them hot spot point A below.
Please refer to Fig. 6 and Fig. 7, camera head 102 is H with the distance of light launcher 101, when camera head 102 carries out parallel shooting along parallel center line, camera head 102 has a maximum coverage border, be limit, the visual field, the light path in limit, the visual field and supporting surface have an intersection point, and this intersection point to the distance between the vertical center line of camera head 102 is the scaled distance Lm of camera head 102, wherein, vertical center line is perpendicular to supporting surface.This scaled distance Lm is for measuring good in advance and being stored in the storer, and this storer can be arranged in the electronic equipment 10.Measurement scaled distance Lm for example can also adopt at supporting surface and put scale or station meter, as long as see the scale that the light path in limit, the visual field can photograph, namely know the value of scaled distance Lm, certainly, those skilled in the art can also use other modes to measure scaled distance Lm according to actual needs, and the present invention is not restricted.
As shown in Figure 7, the imaging height of hot spot point A on image 1021 to the distance of parallel center line is X, and the imaging height of the intersection point of the light path in limit, the visual field and supporting surface on image 1021 to the distance of parallel center line is Y, analytic unit obtains first parameter X and the second parameter Y by analysis image 1021, analytic unit can directly be arranged at camera head 102 inside, in another embodiment, analytic unit also can be positioned at the outside of camera head 102, camera head 102 by image 1021 being exported in the analytic unit in case analytic unit analyze.
If the camera lens of camera head 102 is near pinhole imaging system, so by the principle of pinhole imaging system, can obtain following two equatioies, please refer to Fig. 7, wherein L represents the distance between electronic equipment 10 and the hot spot point A, P be the central point E of image 1021 to the distance between the central point of camera head 102:
X/P＝H/L (1)
Y/P＝H/Lm (2)
Abbreviation formula (1) and (2) can obtain the computing formula of distance L: L=Lm*Y/X.This algorithmic formula is stored in the storer 1, and same, storer can be positioned at camera head 102 inside, also can be positioned at the outside of camera head 102, and the present invention is not restricted.
Computing unit, be connected in storer and analytic unit, when the analytic unit analysis obtains first parameter X and the second parameter Y, computing unit obtains distance algorithm formula and scaled distance Lm in storer, then according to first parameter X, scaled distance and the second parameter Y, according to the distance L between distance algorithm formula calculating electronic equipment 10 and the hot spot point A.Equally, computing unit can be positioned at camera head 102 inside, so directly demonstrate the value of distance L in camera head, also can be positioned at the outside of camera head 102, and the value of distance L may be displayed on the display of electronic equipment 10, and the present invention is not restricted.
In other embodiments, those skilled in the art can also adopt other to calculate the mode of actual range, for example adopt ultrasonic sensor to detect, and ultrasound emission and receiving trap for example are installed, by the phase differential that contrast transmits and receives, the distance between calculating electronic equipment and the barrier.
Please continue the 4a with reference to figure, for example, calculating hot spot point A by the way is 30cm to the actual range between the electronic equipment 10, same algorithm, can calculate hot spot point B is 28cm to the actual range between the electronic equipment 10, can calculate all hot spots successively and put actual range between the electronic equipment 10, can find then, the difference that each hot spot is put between the actual range between the electronic equipment 10 in a series of hot spot points 304 is smaller, do not exceed predetermined value, illustrate that hot spot point 304 do not undergo mutation to the distance between the electronic equipment 10, so can close by decision gate.Wherein, the implication of this predetermined value is identical with the implication of aforementioned predetermined value.
And for the situation of Fig. 4 b, suppose that the mobile route of electronic equipment 10 is parallel with wall edge 302, so, the hot spot point 304 that calculates all equates to the distance between the electronic equipment, so also can judge to go out and close.
Next please refer to the situation of Fig. 4 c, is a series of hot spot points 304 that electronic equipment 10 arrives at the original place rotation sweep, is that with difference among Fig. 4 a door 301 among Fig. 4 c is half-open.Then according to above-mentioned account form, calculating electronic equipment 10 is 30cm to the actual range between the hot spot point A, for example hot spot point A is positioned on the doorframe, hot spot point B is 60cm to the actual range between the electronic equipment 10, and hot spot point C is 160cm to the distance between the electronic equipment 10, hence one can see that, the difference of hot spot point A to the actual range between the electronic equipment 10 and hot spot point B to the actual range between the electronic equipment 10 is 30cm, and the difference of hot spot point C to the actual range between the electronic equipment 10 and hot spot point B to the actual range between the electronic equipment 10 is 100cm, for example predetermined value is 40cm, so when calculating hot spot point B, can't whether open by decision gate 301, and when calculating hot spot point C, just but decision gate is opened, because difference 100cm, illustrates the distance that hot spot is put between the electronic equipment 10 greater than predetermined value 40cm and undergos mutation.
And are situations about opening for door 301, and electronic equipment 10 is along a series of hot spot points 304 that rectilinear motion scanned out parallel or angled with wall edge 302, though the actual range difference of calculating, but judge that the embodiment among principle and Fig. 4 c is similar, so do not repeat them here.
More than introduced by calculating the hot spot point to the distance between the electronic equipment, comprise relative distance and actual range, whether judging distance undergos mutation, and then the state of decision gate, but in other embodiments, also can come the state of decision gate by other means, for example a plurality of hot spot points are linked to be successively a line, judge whether the slope of this line changes, and namely whether has two different slopes at least, get final product the state of decision gate, below will illustrate.
For example, shown in Fig. 5 a, hot spot is put A (320,240), hot spot point B (400,400) and hot spot point C (420,400) connect into a line, because the y coordinate of three hot spot points all is identical, so this line is straight line, so slope does not change, can close by decision gate thus.
And then with reference to figure 5b, hot spot is put A (320,240), hot spot point B (420,300) and hot spot point C (440,260) be linked to be a line, by calculate finding that AB slope over 10 and BC slope over 10 are inequality, namely two different slopes have appearred in a line, can open by decision gate thus.
Further, electronic equipment 10 also comprises control module, and when the result of processing unit 103 processing represented that this object is in first state, for example, the state of Men Weikai was just controlled this electronic equipment 10 and passed through doorframe; Perhaps when processing unit 103 these objects of expression are in second state, for example, door is closed condition, control module is just controlled electronic equipment 10 makes door be in the state of opening, for example electronic equipment 10 oneself is opened door, perhaps on the door signal transceiver is housed, and electronic equipment 10 sends signal for the signal transceiver on the door, door is opened in indication, and electronic equipment 10 is again by this door then.
Therefore, the equipment that uses among the above embodiment is simple, calculates simply, operate also simply, and saving cost is beneficial to timely judgement and navigation.
More than each embodiment use of can interosculating, those skilled in the art can select the combination between the embodiment according to actual needs.
Another embodiment of the present invention also provides a kind of method of controlling electronic equipment, is applied in as the aforementioned in the electronic equipment 10, please refer to Fig. 8, and this method comprises:
Step 601: by camera head, determine that the object that whether has within sweep of the eye of camera head exists, this object has first state and second state different with first state;
Step 602: when having object to exist within sweep of the eye, in a motion process, obtain light launcher by camera head and be incident upon a plurality of hot spot points on the object;
Step 603: carry out computing according to a plurality of hot spot points, from first state and second state, determine object present located status information.
Further, this method produces corresponding steering order also according to status information, wherein, when status information represents that this object is in first state, produces first steering order, and first steering order is used to indicate electronic equipment by this object; When status information represents that this object is in second state, produce second steering order different with first steering order, second steering order is used to indicate electronic equipment makes this object be in first state.
Wherein, motion process in the step 602 for example is that electronic equipment rotates in the original place, and drive camera head and light launcher rotates together, light launcher will from left to right carry out single pass so, the light that light launcher sends at the wall edge 302 and door 301 lower limb formed a series of hot spot point 304, for example shown in Fig. 4 a, camera head is noted these hot spot points then, shown in Fig. 5 a; Perhaps electronic equipment moves according to straight line, and drive light launcher and camera head is mobile together, light launcher will from left to right carry out single pass, the light that light launcher sends at the wall edge 302 and door 301 lower limb formed a series of hot spot point 304, for example shown in Fig. 4 b, equally, camera head can be noted these hot spot points.
And in step 603, carry out computing according to a plurality of hot spot points, it for example is the time order and function that forms according to these a series of hot spot points, calculate successively that each hot spot point wherein calculates the mode of distance aforementioned detailed the introduction to the distance between the electronic equipment in a plurality of hot spot points, please refer to aforementioned description, certainly, in other embodiments, also can adopt other account forms, as long as can calculate the hot spot point to the distance between the electronic equipment; Perhaps described a plurality of hot spot points are linked to be a line successively; The difference that the previous hot spot of putting distance between the electronic equipment and this hot spot point when one of them hot spot in a plurality of hot spot points is put the distance between the electronic equipment is during more than or equal to a predetermined value, determine that object is in first state, for example the door the current state of opening that is in, wherein, predetermined value judges for being used for whether the distance that each hot spot of a plurality of hot spot points is put between the electronic equipment produces the critical value of sudden change; Perhaps when this line has at least two different slopes, determine that object is in first state, for example the current state of opening that is in of door.The very detailed introduction in front of how determining that distance is undergone mutation or slope changes also, so please refer to aforesaid associated description, certainly, in other embodiments, can determine by other means also whether distance undergos mutation or slope changes, and the present invention is not restricted.
Further, electronic equipment can be according to navigation map during according to a predetermined path movement, and finding has this object at this map, door for example, execution in step 601 again, so can avoid electronic equipment constantly will determine whether that this object exists, wasted resource, made that navigation efficient is low.
In aforementioned each embodiment, electronic equipment is described in detail, and the method for the control electronic equipment in the present embodiment realizes based on the electronic equipment of previous embodiment, so by aforementioned detailed description to electronic equipment, those skilled in the art can clearly understand the method for the control electronic equipment of how implementing in the present embodiment, succinct for instructions do not repeat them here.
Whether one embodiment of the invention adopts camera head to determine to have within sweep of the eye object to exist, if any, just in a motion process, obtain light launcher by camera head and be incident upon a plurality of hot spot points on this object, these hot spot points of computing then, can determine the state of object, namely for example this object is door, state just about and close two kinds, this technical scheme is prepared by before the object at electronic equipment, whether the state of elder generation's inspected object allows electronic equipment directly to pass through, so the mistake of having avoided producing when navigating according to navigation map is hit.
Further, adopt the mode of camera head and laser ranging to come decision gate whether to close in one embodiment of the invention, thus calculate simple, operate also simple, and saving cost.
Further, when the state of object does not allow electronic equipment to pass through, also indicate electronic equipment to make this object be in and to pass through state in one embodiment of the invention, for example, door is opened, so can be so that electronic equipment can better carry out navigator fix.
Obviously, those skilled in the art can carry out various changes and modification to the present invention and not break away from the spirit and scope of the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these changes and modification interior.
Claims (13)
1. a method of controlling electronic equipment is applied in the electronic equipment, and described electronic equipment comprises a camera head and a light launcher, it is characterized in that, described method comprises:
By described camera head, determine that the object that whether has within sweep of the eye of described camera head exists, described object has first state and second state different with described first state;
Described when having object to exist within sweep of the eye, in a motion process, obtain described light launcher by described camera head and be incident upon a plurality of hot spot points on the described object;
Carry out computing according to described a plurality of hot spot points, from described first state and described second state, determine described object present located status information.
2. the method for claim 1 is characterized in that, described method also comprises according to described status information, produces corresponding steering order.
3. method as claimed in claim 2, it is characterized in that, described method also comprises according to described status information, produce corresponding steering order, be specially: when described status information represents that described object is in described first state, produce first steering order, described first steering order is used to indicate described electronic equipment by described object.
4. method as claimed in claim 3, it is characterized in that, when described status information represents that described object is in described second state, produce second steering order different with described first steering order, described second steering order is used to indicate described electronic equipment makes described object be in described first state.
5. the method for claim 1, it is characterized in that, described object is door, described first state is described door closing state, described second state is the state that described door is being opened, describedly carry out computing according to described a plurality of hot spot points, from described first state and described second state, determine specifically to comprise described object present located status information:
According to the time order and function that described a plurality of hot spot points form, calculate each hot spot in described a plurality of hot spot point successively and put distance between the described electronic equipment;
The difference that the previous hot spot of putting distance between the described electronic equipment and described hot spot point when one of them hot spot in described a plurality of hot spot points is put the distance between the described electronic equipment is during more than or equal to a predetermined value, determine the current state of opening that is in of described door, wherein, described predetermined value judges for being used for whether the distance that described each hot spot of a plurality of hot spot point is put between the described electronic equipment produces the critical value of sudden change.
6. the method for claim 1, it is characterized in that, described object is door, described first state is described door closing state, described second state is the state that described door is being opened, describedly carry out computing according to described a plurality of hot spot points, from described first state and described second state, determine specifically to comprise described object present located status information:
Described a plurality of hot spot points are linked to be a line successively;
When described line has at least two different slopes, determine the current state of opening that is in of described door.
7. the method for claim 1 is characterized in that, described motion process is specially: described electronic equipment rotates in the original place, and drives described camera head and described light launcher rotates together; Perhaps
Described electronic equipment moves according to straight line, and it is mobile together to drive described light launcher and described camera head.
8. the method for claim 1 is characterized in that, when described electronic equipment during according to a predetermined path movement, if determine described object on map, determines that then the described object of whether having within sweep of the eye of described camera head exists.
9. an electronic equipment is characterized in that, comprising:
Camera head is used for determining that the object that whether has within sweep of the eye of described camera head exists, and described object has first state and second state different with described first state;
Light launcher, be used for throw light, be arranged in parallel with described camera head, described light launcher and described camera head are positioned at the same side of described electronic equipment, described camera head with respect to the height of a supporting surface greater than the height of described light launcher with respect to described supporting surface; Wherein, described when having object to exist within sweep of the eye, in a motion process, obtain a plurality of hot spot points that the described light of described light launcher projection forms at described object by described camera head;
Processing unit is used for carrying out computing according to described a plurality of hot spot points, determines described object present located status information from described first state and described second state.
10. electronic equipment as claimed in claim 9 is characterized in that, described electronic equipment also comprises:
Control module is used for controlling described electronic equipment and passing through described object when described status information represents that described object is in described first state; Perhaps
When described status information represents that described object is in described second state, control described electronic equipment and make described object be in described first state.
11. electronic equipment as claimed in claim 9 is characterized in that, described object is door, and described first state is described door closing state, and described second state is the state that described door is being opened, and described processing unit specifically is used for:
According to the time order and function that described a plurality of hot spot points form, calculate each hot spot in described a plurality of hot spot point successively and put distance between the described electronic equipment;
The difference that the previous hot spot of putting distance between the described electronic equipment and described hot spot point when one of them hot spot in described a plurality of hot spot points is put the distance between the described electronic equipment is during more than or equal to a predetermined value, determine the current state of opening that is in of described door, wherein, described predetermined value judges for being used for whether the distance that described each hot spot of a plurality of hot spot point is put between the described electronic equipment produces the critical value of sudden change.
12. electronic equipment as claimed in claim 9 is characterized in that, described object is door, and described first state is described door closing state, and described second state is the state that described door is being opened, and described processing unit specifically is used for:
Described a plurality of hot spot points are linked to be a line successively;
When described line has at least two different slopes, determine the current state of opening that is in of described door.
13. electronic equipment as claimed in claim 9 is characterized in that, described electronic equipment also comprises mobile device, makes described electronic equipment rotate in the original place, and drives described camera head and described light launcher rotates together; Or make described electronic equipment move according to straight line, and it is mobile together to drive described light launcher and described camera head.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210047566.0A CN103292802B (en) | 2012-02-27 | 2012-02-27 | A kind of method controlling electronic equipment and electronic equipment |
| CN201610239532.XA CN105929819B (en) | 2012-02-27 | 2012-02-27 | Method for controlling electronic equipment and electronic equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210047566.0A CN103292802B (en) | 2012-02-27 | 2012-02-27 | A kind of method controlling electronic equipment and electronic equipment |
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| CN201610239532.XA Division CN105929819B (en) | 2012-02-27 | 2012-02-27 | Method for controlling electronic equipment and electronic equipment |
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| CN103292802A true CN103292802A (en) | 2013-09-11 |
| CN103292802B CN103292802B (en) | 2016-06-01 |
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| CN201210047566.0A Active CN103292802B (en) | 2012-02-27 | 2012-02-27 | A kind of method controlling electronic equipment and electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105929819B (en) * | 2012-02-27 | 2021-10-22 | 联想(北京)有限公司 | Method for controlling electronic equipment and electronic equipment |
| DE102017112839A1 (en) * | 2017-06-12 | 2018-12-13 | Vorwerk & Co. Interholding Gmbh | System of a vehicle moving automatically within an environment and a door located in the vicinity |
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| CN105929819B (en) * | 2012-02-27 | 2021-10-22 | 联想(北京)有限公司 | Method for controlling electronic equipment and electronic equipment |
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| US6421114B1 (en) * | 1999-03-30 | 2002-07-16 | Minolta Co., Ltd. | Three-dimensional information measuring apparatus |
| CN101101204A (en) * | 2006-07-05 | 2008-01-09 | 三星电子株式会社 | System and method for detecting moving object using structured light, and mobile robot including system thereof |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN103292802B (en) | 2016-06-01 |
| CN105929819A (en) | 2016-09-07 |
| CN105929819B (en) | 2021-10-22 |
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