CN103455038A - Electronic equipment and method for adjusting direction - Google Patents
Electronic equipment and method for adjusting direction Download PDFInfo
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- CN103455038A CN103455038A CN2012101804241A CN201210180424A CN103455038A CN 103455038 A CN103455038 A CN 103455038A CN 2012101804241 A CN2012101804241 A CN 2012101804241A CN 201210180424 A CN201210180424 A CN 201210180424A CN 103455038 A CN103455038 A CN 103455038A
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Abstract
The invention provides electronic equipment and a method for adjusting a direction. The electronic equipment comprises a main body, a moving device and a drive device, wherein the moving device is arranged at the bottom end of the main body, the direction of the moving device is consistent with that of the main body, the front of the main body faces the first direction, and the drive device is arranged on the main body and used for driving the moving device so that the moving device can drive the main body to move. The electronic equipment further comprises a positioning device, an angle displacement sensor and a processor, wherein the positioning device is arranged on the main body, can rotate relative to the main body and can position a target object; the angle displacement sensor is arranged between the main body and the positioning device and used for detecting an angle parameter between the positioning device and the direction of the front of the main body when the positioning device positions the target object; and the processor is used for adjusting the direction of the front of the main body from the first direction to the direction facing the target object at least based on the angle parameter.
Description
Technical field
The present invention relates to field of computer technology, relate in particular to a kind of method of electronic equipment and adjustment direction.
Background technology
Fast development along with airmanship, the monocular vision navigation is the developing direction of the independent navigation of electronic equipment, and to complete navigation, wherein an important ring is that mobile device will be known own current orientation, need to know where the current direction of oneself is, then control system just can be assigned correct movement directive, otherwise control system does not know that this is to oneself assigning what kind of motion command, destination Shi south for example, and electronic equipment oneself current towards being in the east, but it thinks that it is towards south, so just assign the order of advancing towards south, but like this in fact electronic equipment is advanced towards east.
In order to solve the problems of the technologies described above, in prior art, the general electronic compass that adopts is located, yet, the inventor finds in realizing process of the present invention, utilize electronic compass to locate and be easy to be subject to the magnetic interference in indoor this reinforced concrete structure, thereby make to determine that orientation can be affected, locate inaccurate.
Summary of the invention
The invention provides a kind of method of electronic equipment and adjustment direction, in order to solve the electronic compass location that utilizes existed in prior art, easily be disturbed, locate inaccurate technical matters.
One aspect of the present invention provides a kind of electronic equipment, comprise main body, mobile device and drive unit, described mobile device is arranged at the bottom of described main body, and the direction of described mobile device and the direction of described main body are consistent, and the place ahead direction of described main body is towards first direction; Described drive unit is arranged on described main body, and described drive unit, for driving described mobile device, makes described mobile device drive described main body and moves; Described electronic equipment also comprises: locating device, be arranged on described main body, and can rotate with respect to described main body, and can navigate to an object; Angular displacement sensor, be arranged between described main body and described locating device, for detection of when described locating device navigates to described object, and the angle parameter between the place ahead direction of described locating device and described main body; Processor, at least being adjusted into direction towards described object by the place ahead direction of described main body from described first direction based on described angle parameter.
Preferably, described processor is concrete also for the corresponding initial angle value of the place ahead direction based on described angle parameter and described main body, and the place ahead direction of described main body is adjusted into to the direction towards described object from described first direction.
Preferably, described angular displacement sensor and described main body synchronous rotary.
Preferably, described angular displacement sensor is not with described main body synchronous rotary, described electronic equipment also comprises a record cell, be connected in described angular displacement sensor, described record cell is for the angle value of the place ahead direction of recording described main body corresponding described angular displacement sensor when the direction of described object and as described initial angle value.
Preferably, described electronic equipment also comprises a distance detection device, for calculating the distance between described electronic equipment and described object.
Preferably, when described locating device is camera, described distance detection device also comprises: light emitters, for projecting a light, described light emitters and described locating device are positioned at the same side of described electronic equipment, and described locating device and described light emitters be arranged in parallel, described locating device is greater than the height of described light emitters with respect to described supporting surface with respect to the height of a supporting surface, wherein, when described electronic equipment is positioned on described supporting surface, described light emitters is parallel with described supporting surface, described locating device is parallel with described supporting surface, storer, for storing a scaled distance and a distance algorithm, the light path in the limit, the visual field that described scaled distance is described locating device and the intersection point of described supporting surface to described locating device perpendicular to the distance between the vertical center line of described supporting surface, analyzer, the image obtained for analyzing described locating device, described image comprises the hot spot that the described object that stops described light transmition and described light form on described object, wherein said object is positioned on described supporting surface, and obtain the first parameter and the second parameter, wherein, the imaging that described the first parameter is described hot spot is to the distance of the parallel center line that is parallel to described supporting surface of described locating device, and the imaging that described the second parameter is described intersection point is to the distance of described parallel center line, computing unit, be connected in described storer and described analyzer, according to described the first parameter, described scaled distance and described the second parameter, according to described distance algorithm, calculates the distance between described electronic equipment and described object.
Preferably, described locating device is monocular cam.
The present invention provides a kind of method of adjusting direction on the other hand, apply in an electronic equipment, described electronic equipment comprises main body, mobile device and drive unit, described mobile device is arranged at the bottom of described main body, the direction of described mobile device and the direction of described main body are consistent, and the place ahead direction of described main body is towards first direction; Described drive unit is arranged on described main body, and described drive unit, for driving described mobile device, makes described mobile device drive described main body and moves; Described electronic equipment also comprises a location device, be arranged on described main body, can rotate with respect to described main body, described method comprises: S1: when described locating device, when described main body is rotated and navigate to an object, obtain the angle parameter between the place ahead direction of described locating device and described main body; S2: at least based on described angle parameter, the place ahead direction of described main body is adjusted into to the direction towards described object from described first direction.
Preferably, step S2 is specially: the corresponding initial angle value of the place ahead direction based on described angle parameter and described main body is adjusted into the direction towards described object by the place ahead direction of described main body from described first direction.
Preferably, when described main body is adjusted into after the direction of described object from described current direction, described method also comprises: described drive unit drives described mobile device, makes described mobile device drive described main body and moves to described object; Repeated execution of steps S1 is to step S2.
Preferably, when described angular displacement sensor during not with described main body synchronous rotary, described, described main body is adjusted into after the direction of described object from described current direction, described method also comprises: the angle value of the place ahead direction that records described main body corresponding described angular displacement sensor when the direction of described object as described initial angle value.
Preferably, when described locating device is camera, described electronic equipment also comprises a light emitters and a storer, described light emitters and described camera are positioned at the same side of described electronic equipment, described light emitters and described camera be arranged in parallel, described camera is greater than the height of described light emitters with respect to described supporting surface with respect to the height of a supporting surface, described memory stores has distance algorithm and a scaled distance, wherein, when described electronic equipment is positioned on described supporting surface, the light path in the limit, the visual field that described scaled distance is described camera and the intersection point of described supporting surface to described camera perpendicular to the distance between the vertical center line of described supporting surface, and described light emitters is parallel with described supporting surface, described camera is parallel with described supporting surface, described method also comprises: by described light emitters, project a light, obtain an image by described camera, described image comprises the hot spot that the described object that stops described light transmition and described light form on described object, and wherein said object is positioned on described supporting surface, analyze described image, obtain the first parameter and the second parameter, wherein, the imaging that described the first parameter is described hot spot is to the distance of the parallel center line that is parallel to described supporting surface of described camera, and the imaging that described the second parameter is described intersection point is to the distance of described parallel center line, obtain described scaled distance and described distance algorithm from described storer, and, according to described the first parameter, described the second parameter and described scaled distance, according to described distance algorithm, determine the distance between described electronic equipment and described object.
The one or more technical schemes that provide in the embodiment of the present invention at least have following technique effect or advantage:
One embodiment of the invention adopts locating device localizing objects thing, then angular displacement sensor detection and location device is set when navigating to object, angle parameter between the place ahead direction of locating device and main body, just can be based on this angle parameter, the place ahead direction of main body is adjusted into to the direction towards described object from current direction, so at this moment electronic equipment just can be assigned mobile order, electronic equipment just can the correct movement of head for target thing.Therefore, this scheme is not subject to the impact of GEOMAGNETIC CHANGE, registration, and also simple in structure, cost is low.
Further, in one embodiment of the invention, locating device adopts monocular cam, because monocular cam is exactly the element originally had in monocular vision navigation system, so this programme is as long as angular displacement sensor of increase and relevant control order can realize, so easily realize, and the cost of monocular cam is lower.
Further, in one embodiment of the invention, locating device is camera, and then can also utilize camera and other servicing units to calculate the distance between electronic equipment and object, so can better position, navigate.
Further again, in the process moved to object at electronic equipment in one embodiment of the invention, can utilize the aforementioned techniques scheme to position always, determine whether the place ahead direction of oneself is the head for target thing, and adjust in real time, so can accurately locate in real time.
The accompanying drawing explanation
The functional block diagram that Fig. 1 is the electronic equipment in one embodiment of the invention;
The Organization Chart that Fig. 2 is the electronic equipment in one embodiment of the invention;
The schematic diagram that Fig. 3 is the adjustment direction in one embodiment of the invention;
Fig. 4 is the schematic diagram after the adjustment direction in one embodiment of the invention;
The functional block diagram that Fig. 5 is the electronic equipment in another embodiment of the present invention;
The position that Fig. 6 is the measuring distance in another embodiment of the present invention arranges figure;
Fig. 7 be the present invention another execute the intention of the measuring distance in example;
Fig. 8 is the measurement image schematic diagram in another embodiment of the present invention;
The method flow diagram that Fig. 9 is the adjustment direction in one embodiment of the invention;
The method flow diagram that Figure 10 is the measuring distance in another embodiment of the present invention.
Embodiment
The embodiment of the present invention provides a kind of image processing method and electronic equipment, solves the electronic compass location that utilizes existed in prior art and easily is disturbed, locates inaccurate technical matters.
Technical scheme in the embodiment of the present invention is for solving above-mentioned technical matters, and general thought is as follows:
At first adopt locating device localizing objects thing, then angular displacement sensor detection and location device is set when navigating to object, angle parameter between the place ahead direction of locating device and main body, just can be based on this angle parameter, the place ahead direction of main body is adjusted into to the direction towards described object from current direction, so at this moment electronic equipment just can be assigned mobile order, electronic equipment just can the correct movement of head for target thing.Therefore, this scheme is not subject to the impact of GEOMAGNETIC CHANGE, registration, and also simple in structure, cost is low.
In order better to understand technique scheme, below in conjunction with Figure of description and concrete embodiment, technique scheme is described in detail.
One embodiment of the invention provides a kind of electronic equipment, please also refer to Fig. 1 and Fig. 2, the functional block diagram that Fig. 1 is the electronic equipment in the present embodiment, the structural representation that Fig. 2 is the electronic equipment in the present embodiment.
As depicted in figs. 1 and 2, this electronic equipment comprises: main body 101, mobile device 102 and drive unit 103, mobile device 102 is arranged at the bottom of main body 101, and the direction of the direction of mobile device 102 and main body 101 is consistent, and the place ahead direction of main body 101 is towards first direction; Drive unit 103 is arranged on main body 101, and drive unit 103, for driving mobile device 102, makes mobile device 102 drive main body 101 and moves.
Further, this electronic equipment also comprises: locating device 104, be arranged on main body 101, and can rotate with respect to main body 101, and can navigate to an object; Angular displacement sensor 105, be arranged between main body 101 and locating device 104, for detection of when locating device 104 navigates to object, and the angle parameter between the place ahead direction of locating device 104 and main body 101; Processor 106, at least being adjusted into the direction of head for target thing based on angle parameter by the place ahead direction of main body 101 from first direction.
Wherein, the place ahead direction is the positive dirction of mobile device 102, is also the positive dirction of main body 101, only has the place ahead direction and goal object space to unanimously, and electronic equipment could be moved to object in the shortest distance.
Locating device 104 can be specifically a monocular cam, be arranged on a The Cloud Terrace, this The Cloud Terrace can rotate two dimensions, respectively around the vertical ground normal direction, be the central shaft of electronic equipment and normal direction around vertical paper, locating device 104 is fixed on the back shaft rotation of The Cloud Terrace.
And angular displacement sensor 105 is specifically as follows code-disc, stepper motor or servomotor.
Processor 106 can be arranged on main body 101, also can be arranged in locating device 104.
Below will introduce in detail this electronic equipment and adjust the process of direction, wherein, locating device 104 be take monocular cam as example, it is example that angular displacement sensor 105 be take the sensor that can directly obtain angle index, in other embodiments, the position fixing process of the angle displacement sensor of the position fixing process of the locating device of other embodiments and other embodiments is similar process.
Please refer to Fig. 3, Fig. 3 is this electronic equipment vertical view and location schematic diagram, the place ahead direction A of main body 101 is at present in first direction 201, locating device 104 passes through photographic images, get object 20, at this moment angular displacement sensor 105 can get the angle parameter between the place ahead direction A of locating device 104 and main body 101, the angle parameter α obtained can directly mean the parameter of the angle index number of locating device 104, in the present embodiment, for example 80 scales, so at this moment need not be concerned about the place ahead angle index corresponding to direction A is how many, as long as the place ahead direction A is moved to the position of 80 scales of angular displacement sensor 105.
Mobile or mobile clockwise counterclockwise when the method can not spend judgement by the place ahead direction A, but move to the place corresponding with a certain scale on angular displacement sensor 105, go.Therefore easy to use, locating speed is fast.
Further, processor 106 is concrete also for the corresponding initial angle value of the place ahead direction A based on this angle parameter and main body 101, and the place ahead direction A of main body 101 is adjusted into to the direction of head for target thing 20 from first direction 201.
Specifically, shown in Fig. 3, the place ahead direction A of main body 101, at present in first direction 201, at this moment, on an initial angle value of the place ahead direction A corresponding angles displacement transducer 105, is for example 0 scale of angular displacement sensor 105.This initial angle value can be stored in a record cell.
Locating device 104 passes through photographic images, get object 20, at this moment angular displacement sensor 105 can get the angle parameter between the place ahead direction A of locating device 104 and main body 101, in the present embodiment, be a direct number of degrees α, in other embodiments, angle parameter can embody by other forms.
In this example, for example α is 80 positive degree, because angle parameter need to reflect the direction of angle, for example 80 positive degree just mean locating device 104 clockwise direction of direction A forwardly, and 80 negative degree just mean locating device 104 counter clockwise direction of direction A forwardly.Supposed that because aforementioned direction A corresponding initial angle value in the place ahead is 0 degree, so at this moment, processor 106 just can determine that the corresponding angle value of locating device 104 is 80 degree based on α and initial angle value, so just the place ahead direction A need to be moved to the 80 degree corresponding places of scale of angular displacement sensor 105, make the direction of the place ahead direction A head for target thing 20 of main body 101, the electronic equipment after moving please refer to shown in Fig. 4.
Further, in such scheme, angular displacement sensor 105 can together not rotate with main body 101, so angle value of the place ahead direction A that the record cell of electronic equipment can record main body 101 corresponding angular displacement sensor 105 when the direction of described object 20 as the initial angle value, for example, in above-mentioned example, when the place ahead direction A of main body 101 moves to the direction of head for target thing 20, angle value on corresponding angular displacement sensor 105 is positive 80 degree, record cell just is updated to the initial angle value by 80 degree so, and be stored in record cell, for processor 106, use.For example, in upper position fixing process once, when locating device 104 navigates to an object, angle parameter α between locating device 104 and the place ahead direction A is positive 60 degree, just can to calculate the corresponding angle value of locating device 104 be 140 scales to processor 105 so, so just the place ahead direction A moved to the 140 degree corresponding places of scale of angular displacement sensor 105.
Therefore, if angular displacement sensor 105 is designed to can be with the structure of main body 101 synchronous rotaries the time, just can not need all to go to record new initial angle value at every turn, as long as for the first time the initial angle value is deposited in record cell, because no matter how adjust the place ahead direction A towards, direction A corresponding initial angle value in the place ahead is constant all the time.
In another embodiment, electronic equipment also comprises a distance detection device, and for the distance between calculating electronic equipment and object before adjusting direction or after the adjustment direction, and the method for adjustment direction can be utilized the variety of way of introducing in above-described embodiment.
Distance detection device is for example laser ranging system, or degree of depth camera distance measuring equipment, or the sound ranging device, below will introduce a kind of distance detection device that comprises camera, and this camera can be used as locating device 104.
As shown in Figure 5, this distance detection device comprises: light emitters 501, for projecting a light; Camera 504; Analyzer 503; Storer 502 and computing unit 505.
Please in the lump with reference to figure 6, the range finding location drawing that Fig. 6 is electronic equipment, light emitters 501 and camera 504 are positioned at the same side of electronic equipment, for example all are positioned at right side, and head for target thing 20; Camera 504 be arranged in parallel with light emitters 501, i.e. the light ray parallel of the parallel center line of camera 504 and light emitters 501 projections; Camera 504 is greater than the height of light emitters 501 with respect to supporting surface with respect to the height of supporting surface, and as shown in Figure 6, camera 504 is positioned at the top of light emitters 501, and camera 504 is H with the distance of light emitters 501; In addition, when electronic equipment is positioned on supporting surface, light emitters 501 is parallel with supporting surface, i.e. the light of light emitters 501 projections is parallel with supporting surface; Camera 504 is parallel with supporting surface, and the parallel center line of camera 504 is parallel with supporting surface.
When electronic equipment is positioned on supporting surface, camera 504 is positioned at light emitters 501 H places, top, and while along parallel center line, carrying out parallel shooting, camera 504 has limit, the ，Ji visual field, a maximum coverage border, as shown in Figure 6, the light path in limit, the visual field and supporting surface have an intersection point, this intersection point is the scaled distance Lm of camera 504 to the distance between the vertical center line of camera 504, and wherein, vertical center line is perpendicular to supporting surface.This scaled distance Lm is for measuring and get well and be stored in storer 502 in advance.Measurement scaled distance Lm for example can adopt and put scale or station meter on supporting surface, as long as see the scale that the light path in limit, the visual field can photograph, can 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.
Next please also refer to Fig. 6 and Fig. 7, when needs measure between electronic equipment and object 2020 apart from the time, light emitters 501 throw lights are to object 20, and form hot spot on object 20, then camera 504 obtains images 5041, and image 5041 comprises the hot spot that the object 20 that stops light transmition and light form on object 20.Because this hot spot obviously is different from other images, therefore in the image obtained, be easy to obtain the position of this hot spot in image, be beneficial to computing machine image is simplified to processing, accelerate computing velocity.
As shown in Figure 7 and Figure 8, the imaging height of hot spot on image 5041 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 5041 to the distance of parallel center line is Y, analyzer 503 obtains the first parameter X and the second parameter Y by analysis image 5041, analyzer 503 can directly be arranged at camera 504 inside, in another embodiment, analyzer 503 also can be positioned at the outside of camera 504, camera by image 5041 being exported in analyzer 503 in case analyzer 503 analyzed.
If the camera lens of camera 504 approaches pinhole imaging system, so by the principle of pinhole imaging system, can obtain following two equatioies, please refer to Fig. 3, wherein L represents the distance between electronic equipment and object 20, and the central point that P is image 5041 is to the distance between the central point of camera 504:
X/P=H/L （1）
Y/P=H/Lm （2）
Abbreviation equation (1) and (2), can obtain the computing formula of distance L: L=Lm*Y/X.This algorithmic formula is stored in storer 502, and same, storer 502 can be positioned at camera 504 inside, also can be positioned at the outside of camera 504, and the present invention is not restricted.
Therefore, the measuring method of the present embodiment is simple, and measuring equipment is simple, only needs to measure two parameters, and algorithm is simple, so the speed of measuring distance is fast, power consumption is little, is beneficial to real-time calculating and navigation, then camera 504 is also for auxiliary electronic equipment the place ahead direction of adjusting, so simple in structure, cost is low, can better position and navigate.
Above each embodiment use of can interosculating, those skilled in the art can select the combination between embodiment according to actual needs.
Another embodiment of the present invention also provides a kind of method of adjusting direction, is applied in as the aforementioned in electronic equipment, please refer to Fig. 9, and the method comprises:
Step S1: when locating device, when main body is rotated and navigate to an object, obtain the angle parameter between the place ahead direction of locating device and main body;
Step S2: at least based on angle parameter, the place ahead direction of main body is adjusted into to the direction of head for target thing from first direction.
Further, step S2 is specially: the corresponding initial angle value of the place ahead direction based on angle parameter and main body is adjusted into the direction of head for target thing by the place ahead direction of main body from first direction.
In addition, when by main body after current direction is adjusted into the direction of head for target thing, drive unit drives mobile device, makes mobile device drive main body and moves to object; And repeated execution of steps S1 is to step S2.Because mobile device, for example wheel may skid and sideslip due to ground, adopts the method, just can locate in real time and navigate, and guarantees the direction of the consistent head for target thing of the place ahead direction, with the shortest displacement, arrives described object.
In one embodiment, when angular displacement sensor during not with the main body synchronous rotary, by main body after current direction is adjusted into the direction of head for target thing, the angle value of corresponding angular displacement sensor as the initial angle value while also recording the direction of the place ahead direction head for target thing of main body, embodiment, please refer to the embodiment in the aforementioned electronic apparatus embodiments.
In aforementioned each embodiment, electronic equipment to the capable of regulating direction is described in detail, and the electronic equipment of the method for the adjustment direction in the present embodiment based on previous embodiment realized, so by the aforementioned detailed description to electronic equipment, those skilled in the art can clearly understand the method for the adjustment direction of how implementing in the present embodiment, succinct for instructions, do not repeat them here.
In another embodiment, after adjusting direction or before, can also measure the distance between electronic equipment and object, to carry out better location navigation, the electronic equipment that comprise distance-measuring device of the method for this measuring distance based in previous embodiment realized, please refer to Figure 10, the method comprises:
Step 601: by light emitters, project a light;
Step 602: obtain an image by camera, image comprises the hot spot that the object that stops light transmition and light form on object, and wherein object is positioned on supporting surface;
Step 603: analysis image obtains the first parameter and the second parameter; Wherein, the imaging that the first parameter is hot spot is to the distance of the parallel center line that is parallel to supporting surface of camera, and the imaging that the second parameter is intersection point is to the distance of parallel center line;
Step 604: from storer, obtain scaled distance and distance algorithm; And
Step 605: according to the first parameter, the second parameter and scaled distance, according to distance algorithm, determine the distance between electronic equipment and object.
In aforementioned each embodiment, but the electronic equipment to measuring distance is described in detail, and the electronic equipment of the method for the measuring distance in the present embodiment based on previous embodiment realized, so by the aforementioned detailed description to electronic equipment, those skilled in the art can clearly understand method how to implement the measuring distance in the present embodiment, succinct for instructions, do not repeat them here.
The one or more technical schemes that provide in the embodiment of the present invention at least have following technique effect or advantage:
One embodiment of the invention adopts locating device localizing objects thing, then angular displacement sensor detection and location device is set when navigating to object, angle parameter between the place ahead direction of locating device and main body, just can be based on this angle parameter, the place ahead direction of main body is adjusted into to the direction towards described object from current direction, so at this moment electronic equipment just can be assigned mobile order, electronic equipment just can the correct movement of head for target thing.Therefore, this scheme is not subject to the impact of GEOMAGNETIC CHANGE, registration, and also simple in structure, cost is low.
Further, in one embodiment of the invention, locating device adopts monocular cam, because monocular cam is exactly the element originally had in monocular vision navigation system, so this programme is as long as angular displacement sensor of increase and relevant control order can realize, so easily realize, and the cost of monocular cam is lower.
Further, in one embodiment of the invention, locating device is camera, and then can also utilize camera and other servicing units to calculate the distance between electronic equipment and object, so can better position, navigate.
Further again, in the process moved to object at electronic equipment in one embodiment of the invention, can utilize the aforementioned techniques scheme to position always, determine whether the place ahead direction of oneself is the head for target thing, and adjust in real time, so can accurately locate in real time.
Obviously, those skilled in the art can carry out various changes and modification and not break away from the spirit and scope of the present invention the present invention.Like this, if within of the present invention these are revised and modification belongs to the scope of the claims in the present invention and equivalent technologies thereof, the present invention also is intended to comprise these changes and modification interior.
Claims (12)
1. an electronic equipment, comprise main body, mobile device and drive unit, and described mobile device is arranged at the bottom of described main body, and the direction of described mobile device and the direction of described main body are consistent, and the place ahead direction of described main body is towards first direction; Described drive unit is arranged on described main body, and described drive unit, for driving described mobile device, makes described mobile device drive described main body and moves; It is characterized in that, described electronic equipment also comprises:
Locating device, be arranged on described main body, can rotate with respect to described main body, and can navigate to an object;
Angular displacement sensor, be arranged between described main body and described locating device, for detection of when described locating device navigates to described object, and the angle parameter between the place ahead direction of described locating device and described main body;
Processor, at least being adjusted into direction towards described object by the place ahead direction of described main body from described first direction based on described angle parameter.
2. electronic equipment as claimed in claim 1, it is characterized in that, described processor is concrete also for the corresponding initial angle value of the place ahead direction based on described angle parameter and described main body, and the place ahead direction of described main body is adjusted into to the direction towards described object from described first direction.
3. electronic equipment as claimed in claim 2, is characterized in that, described angular displacement sensor and described main body synchronous rotary.
4. electronic equipment as claimed in claim 2, it is characterized in that, described angular displacement sensor is not with described main body synchronous rotary, described electronic equipment also comprises a record cell, be connected in described angular displacement sensor, described record cell is for the angle value of the place ahead direction of recording described main body corresponding described angular displacement sensor when the direction of described object and as described initial angle value.
5. electronic equipment as claimed in claim 1, is characterized in that, described electronic equipment also comprises a distance detection device, for calculating the distance between described electronic equipment and described object.
6. electronic equipment as claimed in claim 5, is characterized in that, when described locating device is camera, described distance detection device also comprises:
Light emitters, for projecting a light, described light emitters and described locating device are positioned at the same side of described electronic equipment, and described locating device and described light emitters be arranged in parallel, described locating device is greater than the height of described light emitters with respect to described supporting surface with respect to the height of a supporting surface, wherein, and when described electronic equipment is positioned on described supporting surface, described light emitters is parallel with described supporting surface, and described locating device is parallel with described supporting surface;
Storer, for storing a scaled distance and a distance algorithm, the light path in the limit, the visual field that described scaled distance is described locating device and the intersection point of described supporting surface to described locating device perpendicular to the distance between the vertical center line of described supporting surface;
Analyzer, the image obtained for analyzing described locating device, described image comprises the hot spot that the described object that stops described light transmition and described light form on described object, wherein said object is positioned on described supporting surface, and obtain the first parameter and the second parameter, wherein, the imaging that described the first parameter is described hot spot is to the distance of the parallel center line that is parallel to described supporting surface of described locating device, and the imaging that described the second parameter is described intersection point is to the distance of described parallel center line;
Computing unit, be connected in described storer and described analyzer, according to described the first parameter, described scaled distance and described the second parameter, according to described distance algorithm, calculates the distance between described electronic equipment and described object.
7. electronic equipment as claimed in claim 1, is characterized in that, described locating device is monocular cam.
8. a method of adjusting direction, be applied in an electronic equipment, described electronic equipment comprises main body, mobile device and drive unit, described mobile device is arranged at the bottom of described main body, the direction of described mobile device and the direction of described main body are consistent, and the place ahead direction of described main body is towards first direction; Described drive unit is arranged on described main body, and described drive unit, for driving described mobile device, makes described mobile device drive described main body and moves; Described electronic equipment also comprises a location device, is arranged on described main body, can rotate with respect to described main body, it is characterized in that, described method comprises:
S1: when described locating device, when described main body is rotated and navigate to an object, obtain the angle parameter between the place ahead direction of described locating device and described main body;
S2: at least based on described angle parameter, the place ahead direction of described main body is adjusted into to the direction towards described object from described first direction.
9. method as claimed in claim 8, is characterized in that, step S2 is specially:
The corresponding initial angle value of the place ahead direction based on described angle parameter and described main body, be adjusted into the direction towards described object by the place ahead direction of described main body from described first direction.
10. method as claimed in claim 8 or 9, is characterized in that, when described main body is adjusted into after the direction of described object from described current direction, described method also comprises:
Described drive unit drives described mobile device, makes described mobile device drive described main body and moves to described object;
Repeated execution of steps S1 is to step S2.
11. method as claimed in claim 8, is characterized in that,, described, described main body is adjusted into after the direction of described object from described current direction during not with described main body synchronous rotary when described angular displacement sensor, described method also comprises:
The angle value of the place ahead direction that records described main body corresponding described angular displacement sensor when the direction of described object as described initial angle value.
12. method as claimed in claim 8, it is characterized in that, when described locating device is camera, described electronic equipment also comprises a light emitters and a storer, described light emitters and described camera are positioned at the same side of described electronic equipment, described light emitters and described camera be arranged in parallel, described camera is greater than the height of described light emitters with respect to described supporting surface with respect to the height of a supporting surface, described memory stores has distance algorithm and a scaled distance, wherein, when described electronic equipment is positioned on described supporting surface, the light path in the limit, the visual field that described scaled distance is described camera and the intersection point of described supporting surface to described camera perpendicular to the distance between the vertical center line of described supporting surface, and described light emitters is parallel with described supporting surface, described camera is parallel with described supporting surface, described method also comprises:
Project a light by described light emitters;
Obtain an image by described camera, described image comprises the hot spot that the described object that stops described light transmition and described light form on described object, and wherein said object is positioned on described supporting surface;
Analyze described image, obtain the first parameter and the second parameter; Wherein, the imaging that described the first parameter is described hot spot is to the distance of the parallel center line that is parallel to described supporting surface of described camera, and the imaging that described the second parameter is described intersection point is to the distance of described parallel center line;
Obtain described scaled distance and described distance algorithm from described storer; And
According to described the first parameter, described the second parameter and described scaled distance, according to described distance algorithm, determine the distance between described electronic equipment and described object.
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