CN103455038B - A kind of electronic equipment and the method for adjustment direction - Google Patents
A kind of electronic equipment and the method for adjustment direction Download PDFInfo
- Publication number
- CN103455038B CN103455038B CN201210180424.1A CN201210180424A CN103455038B CN 103455038 B CN103455038 B CN 103455038B CN 201210180424 A CN201210180424 A CN 201210180424A CN 103455038 B CN103455038 B CN 103455038B
- Authority
- CN
- China
- Prior art keywords
- main body
- electronic equipment
- distance
- parameter
- positioner
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention provides a kind of method of electronic equipment and adjustment direction.This electronic equipment includes: main body, mobile device and driving means, and mobile device is arranged at the bottom of main body, and the direction of mobile device keeps consistent with the direction of main body, and the forward direction of main body is towards first direction；Driving means is arranged in main body, and driving means is used for driving mobile device so that mobile device drives main body to move；Electronic equipment also includes: positioner, is arranged in main body, it is possible to relative to body rotation, and can navigate to an object；Angular displacement sensor, is arranged between main body and positioner, for detection angle parameter when positioner navigates to object, between positioner and the forward direction of main body；Processor, for being adjusted to direction towards object by the forward direction of main body from first direction at least based on angle parameter.
Description
Technical field
The present invention relates to field of computer technology, a kind of method particularly relating to electronic equipment and adjustment direction.
Background technology
Along with the fast development of airmanship, monocular vision navigation is the development side of the independent navigation of electronic equipment
To, and to complete navigation, a most important ring be mobile device it is to be understood that oneself current orientation, i.e. need
It is to be understood that where the current direction of oneself is, then control system just can assign correct movement directive, no
Then control system does not knows that this is in south to oneself assigning what kind of motion command, such as destination, and electric
Subset oneself current towards being in the east, but it thinks that it is directed towards south, so just assigning court
The order advanced to south, but the most actually electronic equipment is towards advancing in the east.
In order to solve above-mentioned technical problem, in prior art, general employing electronic compass positions, but, this
Inventor finds during realizing the present invention, utilize electronic compass position be highly susceptible to indoor this
Magnetic disturbance in reinforced concrete structure, so that determining that orientation can be affected, positions inaccurate.
Summary of the invention
The present invention provides a kind of method of electronic equipment and adjustment direction, in order to solve present in prior art
Electronic compass location is utilized easily to be disturbed, position inaccurate technical problem.
One aspect of the present invention provides a kind of electronic equipment, including main body, mobile device and driving means, institute
State mobile device and be arranged at the front side of the bottom of described main body, the direction of described mobile device and described main body
To keeping consistent, the forward direction of described main body is towards first direction；Described driving means is arranged at described master
On body, described driving means is used for driving described mobile device so that described mobile device drives described main body
Mobile；Described electronic equipment also includes: positioner, is arranged in described main body, it is possible to relative to described
Body rotation, and an object can be navigated to；Angular displacement sensor, is arranged at described main body fixed with described
Position device between, for detection when described positioner navigates to described object, described positioner and
Angle parameter between the forward direction of described main body；Processor, being used for will at least based on described angle parameter
The forward direction of described main body is adjusted to the direction towards described object from described first direction.
Preferably, described processor is specifically additionally operable to based on described angle parameter and the forward direction of described main body
A corresponding initial angle angle value, is adjusted to the forward direction of described main body towards institute from described first direction
State the direction of object.
Preferably, described angular displacement sensor and described main body synchronous rotary.
Preferably, described angular displacement sensor is not with described main body synchronous rotary, and described electronic equipment also includes
One record unit, is connected to described angular displacement sensor, and described record unit is before recording described main body
Fang Fangxiang is towards the angle value of described angular displacement sensor corresponding during the direction of described object conduct
Described initial angle angle value.
Preferably, described electronic equipment also includes a distance detection device, be used for calculating described electronic equipment with
Distance between described object.
Preferably, when described positioner is photographic head, described distance detection device also includes: light is sent out
Emitter, for projection one light, described light emitters and described positioner are positioned at described electronic equipment
The same side, and described positioner be arranged in parallel with described light emitters, described positioner is relative to one
The height of supporting surface is more than the described light emitters height relative to described supporting surface, wherein, when described electricity
When subset is positioned on described supporting surface, described light emitters is parallel with described supporting surface, described location dress
Put parallel with described supporting surface；Memorizer, for storage one scaled distance and a distance algorithm, described calibration
The light path in the limit, the visual field that distance is described positioner and the intersection point of described supporting surface are to described positioner
The vertical center line being perpendicular to described supporting surface between distance；Analyzer, is used for analyzing described location dress
Putting an image of acquisition, described image includes stopping the described object and described light that described light is propagated
The hot spot formed on described object, wherein said object is positioned on described supporting surface, and obtains first
Parameter and the second parameter, wherein, described first parameter is imaging the putting down to described positioner of described hot spot
Row is in the distance of the parallel center line of described supporting surface, and described second parameter is that the imaging of described intersection point is to described
The distance of parallel center line；Computing unit, is connected to described memorizer and described analyzer, according to described
One parameter, described scaled distance and described second parameter, calculate described electronic equipment according to described distance algorithm
And the distance between described object.
Preferably, described positioner is monocular cam.
Another aspect of the present invention provides a kind of method of adjustment direction, applies in an electronic equipment, described electronics
Equipment includes that main body, mobile device and driving means, described mobile device are arranged at the bottom of described main body,
The direction of described mobile device keeps consistent with the forward direction of described main body, the forward direction court of described main body
To first direction；Described driving means is arranged in described main body, and described driving means is used for driving described shifting
Dynamic device so that described mobile device drives described main body to move；Described electronic equipment also includes a location dress
Putting, be arranged in described main body, it is possible to relative to described body rotation, described method includes: S1: work as institute
State positioner along described body rotation and when navigating to an object, obtain described positioner and described master
Angle parameter between the forward direction of body；S2: at least based on described angle parameter by the front of described main body
Direction is adjusted to the direction towards described object from described first direction.
Preferably, step S2 is particularly as follows: forward direction based on described angle parameter and described main body institute is right
The initial angle angle value answered, is adjusted to the forward direction of described main body towards described mesh from described first direction
The direction of mark thing.
Preferably, when described main body is adjusted to from described current direction towards described object direction it
After, described method also includes: described driving means drives described mobile device so that described mobile device band
Dynamic described main body moves to described object；Repeated execution of steps S1 is to step S2.
Preferably, when described angular displacement sensor is not with described main body synchronous rotary, described by described master
Body is adjusted to after the direction of described object from described current direction, and described method also includes: record
The forward direction of described main body is towards described angular displacement sensor corresponding during the direction of described object
Angle value as described initial angle angle value.
Preferably, when described positioner is photographic head, described electronic equipment also includes a light emitters
With a memorizer, described light emitters and described photographic head are positioned at the same side of described electronic equipment, described
Light emitters be arranged in parallel with described photographic head, and described photographic head is more than institute relative to the height of a supporting surface
Stating the light emitters height relative to described supporting surface, described memorizer storage has distance algorithm and a calibration
Distance, wherein, when described electronic equipment is positioned on described supporting surface, described scaled distance is described shooting
The intersection point of light path and the described supporting surface in the limit, the visual field of head is perpendicular to described supporting surface to described photographic head
Vertical center line between distance, and described light emitters is parallel with described supporting surface, described photographic head
Parallel with described supporting surface；Described method also includes: project a light by described light emitters；Pass through
Described photographic head obtains an image, and described image includes stopping described object and the institute that described light is propagated
Stating the hot spot that light is formed on described object, wherein said object is positioned on described supporting surface；Analyze
Described image, it is thus achieved that the first parameter and the second parameter；Wherein, described first parameter is the imaging of described hot spot
To the distance of the parallel center line being parallel to described supporting surface of described photographic head, described second parameter is described
The distance of the imaging of intersection point extremely described parallel center line；Described scaled distance and described is obtained from described memorizer
Distance algorithm；And according to described first parameter, described second parameter and described scaled distance, according to described
Distance algorithm, determines the distance between described electronic equipment and described object.
The one or more technical schemes provided in the embodiment of the present invention, at least have the following technical effect that or excellent
Point:
One embodiment of the invention uses positioner location object, then arranges angular displacement sensor detection fixed
Position device angle parameter when navigating to object, between positioner and the forward direction of main body, so that it may
Based on this angle parameter, the forward direction of main body is adjusted to towards described object from current direction
Direction, so at this moment electronic equipment just can assign the order of movement, electronic equipment just can be towards object
Correct movement.Therefore, the program is not affected by GEOMAGNETIC CHANGE, registration, and simple in construction,
Low cost.
Further, in one embodiment of the invention, positioner uses monocular cam, because monocular cam exists
The most originally the element having had in monocular vision navigation system, as long as so this programme increases an angular displacement
Sensor and concerned control command can realize, so easily realizing, and the cost of monocular cam is lower.
Further, in one embodiment of the invention, positioner is photographic head, and then can also utilize photographic head
With other auxiliary device calculate the distance between electronic equipment and object, it is possible to it is fixed preferably to carry out
Position, navigation.
Further, in one embodiment of the invention at electronic equipment during object moves, Ke Yiyi
Directly utilize preceding solution to position, determine whether the forward direction of oneself is directed towards object, go forward side by side
Row adjusts in real time, it is possible to be accurately positioned in real time.
Accompanying drawing explanation
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 schematic diagram of 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；
Fig. 5 is the functional block diagram of the electronic equipment in another embodiment of the present invention；
Fig. 6 is that the position of the measurement distance in another embodiment of the present invention arranges figure；
Fig. 7 be the present invention another execute the intention of the measurement distance in example；
Fig. 8 is the measurement image schematic diagram in another embodiment of the present invention；
Fig. 9 is the method flow diagram of the adjustment direction in one embodiment of the invention；
Figure 10 is the method flow diagram of the measurement distance in another embodiment of the present invention.
Detailed description of the invention
The embodiment of the present invention provides a kind of image processing method and electronic equipment, solves present in prior art
Electronic compass location is utilized easily to be disturbed, position inaccurate technical problem.
Technical scheme in the embodiment of the present invention is to solve above-mentioned technical problem, and general thought is as follows:
Position object initially with positioner, then angular displacement sensor detection and location device is set fixed
When position is to object, the angle parameter between positioner and the forward direction of main body, it is possible to based on this angle
Degree parameter, is adjusted to the direction towards described object by the forward direction of main body from current direction, so
At this moment electronic equipment just can assign the order of movement, and electronic equipment just can be towards the correct shifting of object
Dynamic.Therefore, the program is not affected by GEOMAGNETIC CHANGE, registration, and simple in construction, low cost.
In order to be better understood from technique scheme, below in conjunction with Figure of description and concrete embodiment party
Technique scheme is described in detail by formula.
One embodiment of the invention provides a kind of electronic equipment, and please also refer to Fig. 1 and Fig. 2, Fig. 1 is this reality
Executing the functional block diagram of electronic equipment in example, Fig. 2 is the structural representation of the electronic equipment in the present embodiment.
As depicted in figs. 1 and 2, this electronic equipment includes: main body 101, mobile device 102 and driving dress
Putting 103, mobile device 102 is arranged at the bottom of main body 101, the direction of mobile device 102 and main body 101
Direction keep consistent, the forward direction of main body 101 is towards first direction；Driving means 103 is arranged at master
On body 101, driving means 103 is used for driving mobile device 102 so that mobile device 102 drives main body
101 move.
Further, this electronic equipment also includes: positioner 104, is arranged in main body 101, it is possible to phase
Main body 101 is rotated, and an object can be navigated to；Angular displacement sensor 105, is arranged at main body
Between 101 and positioner 104, for detection when positioner 104 navigates to object, location dress
Put the angle parameter between 104 and the forward direction of main body 101；Processor 106, at least based on angle
The forward direction of main body 101 is adjusted to the direction towards object from first direction by degree parameter.
Wherein, forward direction is the positive direction of mobile device 102, is also the positive direction of main body 101, only
Having forward direction consistent with object direction, electronic equipment could be moved to object in the shortest distance.
Positioner 104 can be specifically a monocular cam, is arranged on a The Cloud Terrace, and this The Cloud Terrace is permissible
Rotate two dimensions, be around respectively normal direction perpendicular to the ground, i.e. electronic equipment central shaft and around
The normal direction of vertical paper, positioner 104 is fixed on the support shaft of The Cloud Terrace and rotates.
And angular displacement sensor 105 is specifically as follows code-disc, motor or servomotor.
Processor 106 can be arranged in main body 101, it is also possible to is arranged in positioner 104.
Hereinafter will be described in detail the process of this electronic equipment adjustment direction, wherein, positioner 104 is with monocular
As a example by photographic head, angular displacement sensor 105 is as a example by the sensor that can directly obtain angle index, at other
In embodiment, the angle displacement of the position fixing process of the positioner of other embodiments and other embodiments passes
The position fixing process of sensor is similar process.
Refer to Fig. 3, Fig. 3 is this electronic equipment top view and location schematic diagram, the front side of main body 101
Being currently in first direction 201 to A, positioner 104, by shooting image, gets object 20,
At this moment angular displacement sensor 105 can get between forward direction A of positioner 104 and main body 101
Angle parameter, the angle parameter α of acquisition can be directly the angle index number representing positioner 104
Parameter, in the present embodiment, at this moment e.g. 80 scales, so need not be concerned about that forward direction A is corresponding
Angle index is how many, as long as forward direction A moves to the position of 80 scales of angular displacement sensor 105
Put.
The method can not spend and judge will to move counterclockwise during forward direction A or move clockwise, but
Move to the place corresponding with a certain scale on angular displacement sensor 105 go.The most easy to use, location speed
Degree is fast.
Further, processor 106 is specifically additionally operable to based on this angle parameter and forward direction A of main body 101
A corresponding initial angle angle value, by forward direction A of main body 101 from first direction 201 be adjusted to towards
The direction of object 20.
Specifically, please continue to refer to shown in Fig. 3, forward direction A of main body 101 is currently in first party
To 201, at this moment, in an initial angle angle value of forward direction A corresponding angles displacement transducer 105, such as
0 scale for angular displacement sensor 105.This initial angle angle value is storable in a record unit.
Positioner 104, by shooting image, gets object 20, at this moment angular displacement sensor 105
The angle parameter between forward direction A of positioner 104 and main body 101 can be got, in this enforcement
In example, being a direct number of degrees α, in other embodiments, angle parameter can embody by other forms.
In this example, such as α is positive 80 degree, because angle parameter needs to reflect the direction of angle,
The most positive 80 degree mean that the positioner 104 clockwise direction in forward direction A, and negative 80
Degree means that the positioner 104 counter clockwise direction in forward direction A.Because it is aforementioned it has been assumed that forward direction
Initial angle angle value corresponding to A is 0 degree, then at this moment processor 106 just can be based on α and initial angle
Value determines that the angle value corresponding to positioner 104 is 80 degree, then be accomplished by moving forward direction A
To the place corresponding to 80 degree of scales of angular displacement sensor 105 so that forward direction A of main body 101
Towards the direction of object 20, the electronic equipment after moving refer to shown in Fig. 4.
Further, in such scheme, angular displacement sensor 105 is can not to rotate together with main body 101
, so the record unit of electronic equipment can record forward direction A of main body 101 towards described object
20 direction time corresponding angular displacement sensor 105 angle value and as initial angle angle value, such as, upper
State in example, when forward direction A of main body 101 moves to the direction towards object 20, corresponding angle
Angle value on displacement transducer 105 is positive 80 degree, then record unit is just updated to initial angle by 80 degree
Angle value, and be stored in record unit, use for processor 106.Such as at upper position fixing process once
In, angle when positioner 104 navigates to an object, between positioner 104 and forward direction A
Parameter alpha is positive 60 degree, then processor 105 just can calculate the angle value corresponding to positioner 104
It is 140 scales, then 140 degree of scale institutes that forward direction A just moves to angular displacement sensor 105 are right
The place answered.
Therefore, if angular displacement sensor 105 is designed to can with the structure of main body 101 synchronous rotary time,
Just can need not go to record new initial angle angle value, as long as the first time initial angle angle value being stored in note every time
Record unit in because no matter how adjust forward direction A towards, corresponding to forward direction A
Initial angle angle value is the most constant.
In another embodiment, electronic equipment also includes a distance detection device, for before adjustment direction
Or after adjustment direction, calculate the distance between electronic equipment and object, and the method for adjustment direction can be in order to
By the various modes introduced in above-described embodiment.
Distance detection device e.g. laser ranging system, or depth camera range unit, or
Sound ranging device, a kind of distance detection device including photographic head described below, and this photographic head is permissible
As positioner 104.
As it is shown in figure 5, this distance detection device includes: light emitters 501, for projection one light；
Photographic head 504；Analyzer 503；Memorizer 502 and computing unit 505.
Please also refer to the range finding location drawing that Fig. 6, Fig. 6 are electronic equipment, light emitters 501 and shooting
504 the same sides being positioned at electronic equipment, such as, be all located at right side, and towards object 20；Photographic head
504 be arranged in parallel with light emitters 501, i.e. the parallel center line of photographic head 504 and light emitters 501
The light ray parallel of projection；Photographic head 504 relative to supporting surface height more than light emitters 501 relative to
The height of supporting surface, the most as shown in Figure 6, photographic head 504 is positioned at the top of light emitters 501, shooting
504 is H with the distance of light emitters 501；It addition, when electronic equipment is positioned on supporting surface, light
Line emitter 501 is parallel with supporting surface, i.e. the light of light emitters 501 projection is parallel with supporting surface；Take the photograph
Picture 504 is parallel with supporting surface, i.e. the parallel center line of photographic head 504 is parallel with supporting surface.
When electronic equipment is positioned on supporting surface, and photographic head 504 is positioned at above light emitters 501 at H, and
Along parallel center line carry out parallel shooting time, photographic head 504 has a maximum coverage border, the i.e. visual field
Limit, as shown in Figure 6, the light path in limit, the visual field has an intersection point with supporting surface, and this intersection point is to photographic head 504
Vertical center line between scaled distance Lm that distance is photographic head 504, wherein, vertical center line hang down
Straight in supporting surface.This scaled distance Lm is for measuring good in advance and being stored in memorizer 502.Measure calibration
Distance Lm such as can use and put scale or station meter on the support surface, as long as seeing the light path in limit, the visual field
The scale that can photograph, i.e. may know that the value of scaled distance Lm, and certainly, those skilled in the art are all right
Making according to actual needs to measure scaled distance Lm in other ways, the present invention is not restricted.
Next please also refer to Fig. 6 and Fig. 7, when needing to measure between electronic equipment and object 2020
During distance, light emitters 501 throw light is to object 20, and forms hot spot on object 20,
Then photographic head 504 obtains an image 5041, and image 5041 includes stopping the object 20 that light is propagated
And the hot spot that light is formed on object 20.Owing to this hot spot is clearly distinguishable from other images, therefore
In the image obtained, it is readily available this hot spot position in the picture, beneficially computer image is carried out letter
Change processes, and accelerates to calculate speed.
Analyzer 503, analyzes image 5041, and obtains the first parameter and the second parameter, wherein, and the first ginseng
Number is the imaging distance to the centrage according to one's conscience being parallel to supporting surface of photographic head of hot spot, and the second parameter is for handing over
The imaging of point is to the distance of parallel center line.
As shown in Figure 7 and Figure 8, hot spot image height on image 5041 is to the distance of parallel center line
For X, and during the light path in limit, the visual field is the most parallel with the intersection point of supporting surface image height on image 5041
The distance of heart line is Y, and analyzer 503 obtains the first parameter X and the second parameter by analyzing image 5041
Y, it is internal that analyzer 503 can be directly arranged at photographic head 504, in another embodiment, analyzer 503
Can also be positioned at the outside of photographic head 504, photographic head is by deriving image 5041 to analyzer 503
So that analyzer 503 is analyzed.
If the camera lens of photographic head 504 is close to pinhole imaging system, so by the principle of pinhole imaging system, can obtain
Following two equation, refer to Fig. 3, and wherein L represents the distance between electronic equipment and object 20, P
For the central point of image 5041 to the distance between the central point of photographic head 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 calculation
Method formula is stored in memorizer 502, and equally, it is internal that memorizer 502 may be located at photographic head 504, also
May be located at the outside of photographic head 504, the present invention is not restricted.
Computing unit 505, is connected to memorizer 502 and analyzer 503, analyzes when analyzer 503 and obtains
When the first parameter X and the second parameter Y, computing unit obtain in memorizer 502 distance algorithm formula and
Scaled distance Lm, then according to the first parameter X, scaled distance and the second parameter Y, according to distance algorithm
Formula calculates distance L between electronic equipment and object 20.Equally, computing unit 505 may be located at
Photographic head 504 is internal, so directly displaying out the value of distance L in photographic head, it is also possible to be positioned at photographic head
The outside of 504, the value of distance L may be displayed on a display of electronic equipment, and the present invention is not restricted.
Therefore, the measuring method of the present embodiment is simple, measures equipment simple, it is only necessary to measure two parameters,
And algorithm is simple, so the speed measuring distance is fast, power consumption is little, is beneficial to calculate in real time and navigation, then
Photographic head 504 is additionally operable to auxiliary and adjusts electronic equipment forward direction, thus simple in construction, low cost, can be more
Good carrying out positions and navigates.
Various embodiments above can be used in conjunction with one another, and those skilled in the art can select to implement according to actual needs
Combination between example.
Another embodiment of the present invention also provides for a kind of method of adjustment direction, applies at electronic equipment as the aforementioned
In, refer to Fig. 9, the method includes:
Step S1: when positioner is along body rotation and when navigating to an object, obtain positioner and master
Angle parameter between the forward direction of body；
Step S2: the forward direction of main body is adjusted to towards target from first direction at least based on angle parameter
The direction of thing.
Further, step S2 particularly as follows: corresponding to forward direction based on angle parameter and main body one at the beginning of
Beginning angle value, is adjusted to the direction towards object by the forward direction of main body from first direction.
It addition, when being adjusted to main body after the direction of object from current direction, driving means drives
Mobile device so that mobile device drives main body to move to object；And repeated execution of steps S1 is to step
S2.Because mobile device, such as wheel may be skidded and sideslip due to ground, use the method, just may be used
To carry out real-time positioning and navigation, it is ensured that forward direction is unanimously towards the direction of object, with the shortest movement
Distance arrives described object.
In one embodiment, when angular displacement sensor is not with main body synchronous rotary, by main body from working as front
To being adjusted to after the direction of object, when also recording the forward direction of main body towards the direction of object
The angle value of corresponding angular displacement sensor as initial angle angle value, detailed description of the invention, before refer to
State the embodiment in electronic equipment embodiment.
In foregoing embodiments, the electronic equipment in adjustable direction is described in detail, and this reality
Execute what the method electronic equipment based on previous embodiment of adjustment direction in example realized, so by aforementioned right
The detailed description of electronic equipment, those skilled in the art can be apparent from how implementing the tune in the present embodiment
Perfect square to method, succinct for description, do not repeat them here.
In another embodiment, after or before adjustment direction, it is also possible to measure electronic equipment and target
Distance between thing, to carry out more preferable location navigation, the method for this measurement distance is based in previous embodiment
Include distance-measuring device electronic equipment realize, refer to Figure 10, the method includes:
Step 601: project a light by light emitters；
Step 602: obtain an image by photographic head, image include stop light propagate object and
The hot spot that light is formed on object, wherein object is positioned on supporting surface；
Step 603: analyze image, it is thus achieved that the first parameter and the second parameter；Wherein, the first parameter is hot spot
Imaging to the distance of the parallel center line being parallel to supporting surface of photographic head, the second parameter is the imaging of intersection point
Distance to parallel center line；
Step 604: obtain scaled distance and distance algorithm from memorizer；And
Step 605: according to the first parameter, the second parameter and scaled distance, according to distance algorithm, determine electricity
Distance between subset and object.
In foregoing embodiments, the electronic equipment that can measure distance is described in detail, and this reality
Execute what the method electronic equipment based on previous embodiment of measurement distance in example realized, so by aforementioned right
The detailed description of electronic equipment, those skilled in the art can be apparent from how implementing the survey in the present embodiment
Span from method, succinct for description, do not repeat them here.
The one or more technical schemes provided in the embodiment of the present invention, at least have the following technical effect that or excellent
Point:
One embodiment of the invention uses positioner location object, then arranges angular displacement sensor detection fixed
Position device angle parameter when navigating to object, between positioner and the forward direction of main body, so that it may
Based on this angle parameter, the forward direction of main body is adjusted to towards described object from current direction
Direction, so at this moment electronic equipment just can assign the order of movement, electronic equipment just can be towards object
Correct movement.Therefore, the program is not affected by GEOMAGNETIC CHANGE, registration, and simple in construction,
Low cost.
Further, in one embodiment of the invention, positioner uses monocular cam, because monocular cam exists
The most originally the element having had in monocular vision navigation system, as long as so this programme increases an angular displacement
Sensor and concerned control command can realize, so easily realizing, and the cost of monocular cam is lower.
Further, in one embodiment of the invention, positioner is photographic head, and then can also utilize photographic head
With other auxiliary device calculate the distance between electronic equipment and object, it is possible to it is fixed preferably to carry out
Position, navigation.
Further, in one embodiment of the invention at electronic equipment during object moves, Ke Yiyi
Directly utilize preceding solution to position, determine whether the forward direction of oneself is directed towards object, go forward side by side
Row adjusts in real time, it is possible to be accurately positioned in real time.
Obviously, those skilled in the art can carry out various change and modification without deviating from this to the present invention
Bright spirit and scope.So, if the present invention these amendment and modification belong to the claims in the present invention and
Within the scope of its equivalent technologies, then the present invention is also intended to comprise these change and modification.
Claims (9)
1. an electronic equipment, including main body, mobile device and driving means, described mobile device is arranged
In the bottom of described main body, the forward direction of described mobile device keeps one with the forward direction of described main body
Causing, the forward direction of described main body is towards first direction；Described driving means is arranged in described main body,
Described driving means is used for driving described mobile device so that described mobile device drives described main body to move
Dynamic；It is characterized in that, described electronic equipment also includes:
Positioner, is arranged in described main body, it is possible to relative to described body rotation, and can position
To an object；
Angular displacement sensor, is arranged between described main body and described positioner, for detection when described
When positioner navigates to described object, between the forward direction of described positioner and described main body
Angle parameter；
Processor, at least based on described angle parameter by the forward direction of described main body from described first
Direction is adjusted to the direction towards described object；
Distance detection device, for calculating the distance between described electronic equipment and described object；
Wherein, when described positioner is photographic head, described distance detection device also includes:
Light emitters, for projection one light, described light emitters and described positioner are positioned at institute
State the same side of electronic equipment, and described positioner be arranged in parallel with described light emitters, described fixed
Position device is more than the described light emitters height relative to described supporting surface relative to the height of a supporting surface
Degree, wherein, when described electronic equipment is positioned on described supporting surface, described light emitters and described
Support face is parallel, and described positioner is parallel with described supporting surface；
Memorizer, for storage one scaled distance and a distance algorithm, described scaled distance is described location
The light path in limit, the visual field of device is perpendicular to described with the intersection point of described supporting surface to described positioner
Distance between the vertical center line in support face；
Analyzer, for analyzing the image that described positioner obtains, described image includes that stop is described
The hot spot that the described object of light propagation and described light are formed on described object, wherein said
Object is positioned on described supporting surface, and obtains the first parameter and the second parameter, wherein, and described first ginseng
Number for described hot spot imagings to described positioners the parallel center line being parallel to described supporting surface away from
From, described second parameter is the imaging distance to described parallel center line of described intersection point；
Computing unit, is connected to described memorizer and described analyzer, according to described first parameter, described
Scaled distance and described second parameter, calculate described electronic equipment and described target according to described distance algorithm
Distance between thing；Wherein, described distance algorithm be L=Lm*Y/X, L be that described electronic equipment is with described
Distance between object, Lm is described scaled distance, and X is described first parameter, and Y is described second
Parameter.
2. electronic equipment as claimed in claim 1, it is characterised in that described processor is specifically additionally operable to
An initial angle angle value corresponding to forward direction based on described angle parameter and described main body, by described master
The forward direction of body is adjusted to the direction towards described object from described first direction.
3. electronic equipment as claimed in claim 2, it is characterised in that described angular displacement sensor and institute
State main body synchronous rotary.
4. electronic equipment as claimed in claim 2, it is characterised in that described angular displacement sensor not with
Described main body synchronous rotary, described electronic equipment also includes a record unit, is connected to described angular displacement and passes
Sensor, when described record unit is for recording the forward direction of described main body towards the direction of described object
The angle value of corresponding described angular displacement sensor as described initial angle angle value.
5. electronic equipment as claimed in claim 1, it is characterised in that described positioner is that monocular is taken the photograph
As head.
6. a method for adjustment direction, is applied in an electronic equipment, and described electronic equipment includes main
Body, mobile device and driving means, described mobile device is arranged at the bottom of described main body, described movement
The forward direction of device and the forward direction of described main body keep consistent, the forward direction of described main body towards
First direction；Described driving means is arranged in described main body, and described driving means is used for driving described shifting
Dynamic device so that described mobile device drives described main body to move；Described electronic equipment also includes a location
Device, is arranged in described main body, it is possible to relative to described body rotation, it is characterised in that described side
Method includes:
S1: when described positioner is along described body rotation and when navigating to an object, and it is described fixed to obtain
Angle parameter between position device and the forward direction of described main body；
S2: the forward direction of described main body is adjusted from described first direction at least based on described angle parameter
For the direction towards described object；
Wherein, when described positioner is photographic head, described electronic equipment also include a light emitters and
One memorizer, described light emitters and described photographic head are positioned at the same side of described electronic equipment, described light
Line emitter be arranged in parallel with described photographic head, and described photographic head is more than described relative to the height of a supporting surface
Light emitters has distance algorithm and certain gauge length relative to the height of described supporting surface, described memorizer storage
From, wherein, when described electronic equipment is positioned on described supporting surface, described scaled distance is described photographic head
The intersection point of light path and described supporting surface in visual field limit to the described supporting surface that is perpendicular to of described photographic head
Distance between vertical center line, and described light emitters is parallel with described supporting surface, described photographic head with
Described supporting surface is parallel；Described method also includes:
A light is projected by described light emitters；
Obtaining an image by described photographic head, described image includes stopping the described target that described light is propagated
The hot spot that thing and described light are formed on described object, wherein said object is positioned at described supporting surface
On；
Analyze described image, it is thus achieved that the first parameter and the second parameter；Wherein, described first parameter is described light
The distance of the imaging of the speckle extremely parallel center line being parallel to described supporting surface of described photographic head, described second ginseng
The distance of the imaging that number is described intersection point extremely described parallel center line；
Described scaled distance and described distance algorithm is obtained from described memorizer；And
According to described first parameter, described second parameter and described scaled distance, according to described distance algorithm,
Determine the distance between described electronic equipment and described object；Wherein, described distance algorithm is
L=Lm*Y/X, L are the distance between described electronic equipment and described object, and Lm is described scaled distance,
X is described first parameter, and Y is described second parameter.
7. method as claimed in claim 6, it is characterised in that step S2 particularly as follows:
An initial angle angle value corresponding to forward direction based on described angle parameter and described main body, by institute
The forward direction stating main body is adjusted to the direction towards described object from described first direction.
Method the most as claimed in claims 6 or 7, it is characterised in that when the front side by described main body
Being adjusted to after the direction of described object to from described first direction, described method also includes:
Described driving means drives described mobile device so that described mobile device drives described main body to institute
State object to move；
Repeated execution of steps S1 is to step S2.
9. method as claimed in claim 7, it is characterised in that in the described front side by described main body
Being adjusted to after the direction of described object to from described first direction, described method also includes:
Record the forward direction of described main body towards angle displacement transducer corresponding during the direction of described object
The angle value of device as described initial angle angle value；Described angular displacement sensor does not synchronizes rotation with described main body
Turn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210180424.1A CN103455038B (en) | 2012-06-01 | 2012-06-01 | A kind of electronic equipment and the method for adjustment direction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210180424.1A CN103455038B (en) | 2012-06-01 | 2012-06-01 | A kind of electronic equipment and the method for adjustment direction |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103455038A CN103455038A (en) | 2013-12-18 |
| CN103455038B true CN103455038B (en) | 2016-12-14 |
Family
ID=49737527
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210180424.1A Active CN103455038B (en) | 2012-06-01 | 2012-06-01 | A kind of electronic equipment and the method for adjustment direction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103455038B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103697856B (en) * | 2013-12-26 | 2016-02-03 | 乐视致新电子科技（天津）有限公司 | A kind of method and device utilizing body sense device measuring object height |
| CN104914864B (en) * | 2015-05-22 | 2018-06-08 | 深圳市大疆灵眸科技有限公司 | A kind of mobile device, mobile device control system and control method |
| CN106289075A (en) * | 2016-09-29 | 2017-01-04 | 深圳市迈测科技股份有限公司 | The antidote of geodimeter and system |
| CN108036802A (en) * | 2018-02-08 | 2018-05-15 | 衢州职业技术学院 | A kind of robot odometer correction system of view-based access control model |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5162861A (en) * | 1991-04-01 | 1992-11-10 | Tamburino Louis A | Laser imaging and ranging system using one camera |
| CN102032895A (en) * | 2009-09-30 | 2011-04-27 | 深圳科奥智能设备有限公司 | Electronic device with ranging function, ranging system and ranging method |
| CN201998168U (en) * | 2010-12-29 | 2011-10-05 | 浙江省电力公司 | Visual servo-based accurate tripod head positioning system for movable robot |
| US8165759B2 (en) * | 2008-10-30 | 2012-04-24 | Delta Systems, Inc. | Tilt sensor assembly and method |
| CN102436261A (en) * | 2011-12-05 | 2012-05-02 | 北京航空航天大学 | Butt joint positioning and navigation strategy for robot based on single camera and light-emitting diode (LED) |
-
2012
- 2012-06-01 CN CN201210180424.1A patent/CN103455038B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5162861A (en) * | 1991-04-01 | 1992-11-10 | Tamburino Louis A | Laser imaging and ranging system using one camera |
| US8165759B2 (en) * | 2008-10-30 | 2012-04-24 | Delta Systems, Inc. | Tilt sensor assembly and method |
| CN102032895A (en) * | 2009-09-30 | 2011-04-27 | 深圳科奥智能设备有限公司 | Electronic device with ranging function, ranging system and ranging method |
| CN201998168U (en) * | 2010-12-29 | 2011-10-05 | 浙江省电力公司 | Visual servo-based accurate tripod head positioning system for movable robot |
| CN102436261A (en) * | 2011-12-05 | 2012-05-02 | 北京航空航天大学 | Butt joint positioning and navigation strategy for robot based on single camera and light-emitting diode (LED) |
Non-Patent Citations (2)
| Title |
|---|
| 单目视觉导航智能车系统研究与实现;马尧阶;《中国优秀硕士学位论文全文数据库》;20110315(第3期);第10、18-24、43-45页 * |
| 基于高速球形摄像机的运动目标检测与实时跟踪系统;谢勤岚等;《中南民族大学学报(自然科学版)》;20100630;第29卷(第2期);第80-83、112页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103455038A (en) | 2013-12-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106338245B (en) | A kind of non-contact traverse measurement method of workpiece | |
| CN105716582B (en) | Measurement method, device and the camera field of view angle measuring instrument at camera field of view angle | |
| JP6316568B2 (en) | Surveying system | |
| JP6147037B2 (en) | Construction machine control system | |
| CN109794938A (en) | A kind of robot hole error-compensating apparatus and its method suitable for curved-surface structure | |
| US20200080860A1 (en) | Method and system for creating map based on 3d laser | |
| US20150116691A1 (en) | Indoor surveying apparatus and method | |
| CN105676572A (en) | Projection correction method and device for projector equipped on mobile robot | |
| CN104750115B (en) | A kind of laser active type navigation system of mobile device and air navigation aid | |
| CN105424006A (en) | Unmanned aerial vehicle hovering precision measurement method based on binocular vision | |
| CN101813465B (en) | Monocular vision measuring method of non-contact precision measuring corner | |
| CN103455038B (en) | A kind of electronic equipment and the method for adjustment direction | |
| JP2018013337A (en) | Device and method for guiding and positioning flying object | |
| JP2004163292A (en) | Survey system and electronic storage medium | |
| CN104634246B (en) | Floating type stereo visual measuring system and measuring method for coordinates of object space | |
| CN104990689B (en) | Localization method and device in a kind of optic test | |
| CN106767443A (en) | A kind of new automatic secondary element image detector and measuring method | |
| JP2021515881A (en) | Positioning methods, positioning devices, and computer program products | |
| CN105387856A (en) | Multi-light-spot tracking device and method | |
| JP2012242318A (en) | Position correction data generation device, position rating device, user interface device, position correction data generation method of position correction data generation device, position rating method of position rating device, information processing method of user interface device, position correction data generation program, position rating program and user interface program | |
| JP2011181028A (en) | Three-dimensional model generation device and computer program | |
| CN105321186B (en) | A kind of enclosure space map acquisition method and device based on orthogonal projection | |
| JP2004317237A (en) | Surveying apparatus | |
| CN103185567B (en) | Electronic apparatus and method for measuring distance | |
| JPH08254409A (en) | Three-dimensional shape measuring and analyzing method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |