CN105929819A - Method for controlling electronic equipment, and electronic equipment - Google Patents
Method for controlling electronic equipment, and electronic equipment Download PDFInfo
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- CN105929819A CN105929819A CN201610239532.XA CN201610239532A CN105929819A CN 105929819 A CN105929819 A CN 105929819A CN 201610239532 A CN201610239532 A CN 201610239532A CN 105929819 A CN105929819 A CN 105929819A
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- Prior art keywords
- state
- electronic equipment
- light
- speckle
- door
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
Abstract
The invention provides a method for controlling electronic equipment, and the electronic equipment. The method is used in the electronic equipment, and the electronic equipment comprises a camera device and a light emission device. The method comprises the steps: determining whether there is an object in a view range of the camera device or not through the camera device, wherein the object has a first state and a second state different from the first state; obtaining a plurality of light spots projected by the light emission device on the object in a movement process through the camera device when there is the object in the view range; carrying out calculation according to the plurality of light spots, and determining the current state information of the object from the first and second states.
Description
The present invention is Application No. 201210047566.0, filing date on February 27th, 2012, invention name
It is referred to as a kind of method controlling electronic equipment and the divisional application of electronic equipment.
Technical field
The present invention relates to Based Intelligent Control and Computer Applied Technology field, particularly relate to a kind of control electronic equipment
Method and electronic equipment.
Background technology
Along with the fast development of intelligent mobile machine, user has increasing need for intelligent mobile machine.But,
During practice, although depicting the position of some objects on navigation map, e.g. there is bascule
Object, common such as doorframe, but the inventors discovered that, not indicating this door on navigation map is
That open or close, even and if mark at the beginning, but being because door is bascule, so
The most all may be finally closed or open, when door is finally closed, if intelligent mobile machine was according further to former
If navigation map goes navigation, it is likely that cause hitting by mistake.
Summary of the invention
The present invention provides a kind of method controlling electronic equipment and electronic equipment, of the prior art in order to solve
Do not know present in navigation procedure that the state of object causes the problem by mistake hit.
One aspect of the present invention provides a kind of method controlling electronic equipment, applies in an electronic equipment, institute
Stating electronic equipment and include a camera head and a light launcher, described method includes: by described shooting
Device, determine described camera head the most whether with the presence of object, described object has the first shape
State and second state different from described first state；Described have object within sweep of the eye in the presence of, one
Motor process obtains described light launcher projection on the object multiple by described camera head
Light speckle；Calculating process is carried out, from described first state and described second state according to the plurality of hot spot point
The middle status information determining that described object is presently in.
Preferably, described method also includes, according to described status information, producing corresponding control instruction.
Preferably, described method also includes, according to described status information, producing corresponding control instruction, particularly as follows:
When described status information represents that described object is in described first state, produce the first control instruction, described
First control instruction is used for indicating described electronic equipment by described object.
Preferably, when described status information represents that described object is in described second state, produce with described
The second control instruction that first control instruction is different, described second control instruction is used for indicating described electronic equipment
Described object is made to be in described first state.
Preferably, described object is door, and described first state is the state that described door is closed, described second shape
State is the state that described door opens, and described carries out calculating process according to the plurality of hot spot point, from described first
State and described second state determine the status information that described object is presently in, specifically includes: according to institute
State the time order and function of multiple smooth spot formation, calculate in the plurality of smooth speckle each smooth speckle successively to described
Distance between electronic equipment；When in the plurality of smooth speckle one of them light speckle to described electronic equipment it
Between distance and the previous smooth speckle of described smooth speckle be more than to the difference of the distance between described electronic equipment
During equal to a predetermined value, determining that described door is currently at the state that open, wherein, described predetermined value is for being used for
Judge in the plurality of smooth speckle, whether each smooth speckle produces sudden change to the distance between described electronic equipment
Marginal value.
Preferably, described object is door, and described first state is the state that described door is closed, described second shape
State is the state that described door opens, and described carries out calculating process according to the plurality of hot spot point, from described first
State and described second state determine the status information that described object is presently in, specifically includes: by described
Multiple smooth speckles connect into a line successively；When described line has the different slope of at least two, determine described
Door is currently at the state that open.
Preferably, described motor process is particularly as follows: described electronic equipment is rotating in place, and takes the photograph described in drive
As device rotates together with described light launcher；Or described electronic equipment moves according to straight line,
And drive described light launcher to move together with described camera head.
Preferably, when described electronic equipment moves according to a predetermined path, if it is determined that described object exists
On map, it is determined that described camera head the most whether with the presence of described object.
Another aspect of the present invention provides a kind of electronic equipment, including: camera head, it is used for determining described shooting
Device the most whether with the presence of object, described object have the first state and with described first state
The second different states；Light launcher, for throw light, be arranged in parallel with described camera head,
Described light launcher and described camera head are positioned at the same side of described electronic equipment, described camera head
It is more than the described light launcher height relative to described supporting surface relative to the height of a supporting surface；Wherein,
Described have object within sweep of the eye in the presence of, obtain described by described camera head in a motor process
The multiple smooth speckle that the described light of light launcher projection is formed on the object；Processing unit, uses
In carrying out calculating process according to the plurality of hot spot point, determine from described first state and described second state
The status information that described object is presently in.
Preferably, described electronic equipment also includes: control unit, for representing described when described status information
When object is in described first state, control described electronic equipment by described object；Or when described state
Information represents when described object is in described second state, controls described electronic equipment and described object is in
Described first state.
Preferably, described object is door, and described first state is the state that described door is closed, described second shape
State is the state that described door opens, described processing unit specifically for: according to the plurality of smooth spot formation
Time order and function, calculates each smooth speckle in the plurality of smooth speckle successively to the distance between described electronic equipment；
When in the plurality of smooth speckle one of them light speckle to the distance between described electronic equipment and described smooth speckle
Previous smooth speckle to the difference of the distance between described electronic equipment more than or equal to a predetermined value time, determine
Described door is currently at the state that open, and wherein, described predetermined value is for being used for judging in the plurality of smooth speckle
Whether each smooth speckle produces the marginal value of sudden change to the distance between described electronic equipment.
Preferably, described object is door, and described first state is the state that described door is closed, described second shape
State is the state that described door opens, described processing unit specifically for: the plurality of smooth speckle is linked to be successively
Article one, line；When described line has the different slope of at least two, determine that described door is currently at the shape that open
State.
Preferably, described electronic equipment also includes mobile device so that described electronic equipment is rotating in place,
And drive described camera head to rotate together with described light launcher；Or make described electronic equipment according to
Straight line moves, and drives described light launcher to move together with described camera head.
The present invention has the beneficial effect that:
The most whether one embodiment of the invention uses camera head to determine with the presence of object, if having
Words, just obtain light launcher by camera head in a motor process and project on the object multiple
Light speckle, then calculating processes these light speckles, i.e. can determine that the state of object, the most such as this object are door,
State just has off and on two kinds, and this technical scheme, before electronic equipment is ready to pass through object, first detects object
State whether allow electronic equipment directly to pass through, so avoid when navigating according to navigation map produce
Hit by mistake.
Further, one embodiment of the invention use camera head and light launcher combine range finding
Mode judges whether door closes, so calculating simple, operation is also simple, and cost-effective.
Further, in one embodiment of the invention when the state of object does not allow electronic equipment to pass through, also refer to
Show that electronic equipment makes this object be in and can pass through state, such as, door is opened, it is possible to make electronics
Equipment can preferably carry out navigator fix.
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 that in one embodiment of the invention, earnest body exists really；
Fig. 4 a-Fig. 4 c is the schematic diagram of the scanning object in one embodiment of the invention；
Fig. 5 a-Fig. 5 b is the schematic diagram processing light speckle in one embodiment of the invention；
Fig. 6 is the schematic diagram of the measurement distance in one embodiment of the invention；
Fig. 7 is the schematic diagram of the measurement distance in one embodiment of the invention；
Fig. 8 is the method flow diagram controlling electronic equipment in one embodiment of the invention.
Detailed description of the invention
One embodiment of the invention provides a kind of electronic equipment, and refer to Fig. 1, Fig. 1 is the electronics in the present embodiment
The functional block diagram of equipment.
Please also refer to Fig. 1 and Fig. 2, this electronic equipment 10 includes: light launcher 101, is used for throwing
Penetrate light, camera head 102, and processing unit 103.
In the present embodiment, light launcher 101 is positioned at the same of electronic equipment 10 with camera head 102
Side, such as, be all located at right side；Camera head 102 be arranged in parallel with light launcher 101, i.e. images dress
Put the parallel center line of 102 and the light ray parallel of light launcher 101 projection；Camera head 102 is relative
In the height of supporting surface more than light launcher 101 relative to the height of supporting surface, i.e. as in figure 2 it is shown,
Camera head 102 is positioned at the top of light launcher 101.Further, it is positioned at support when electronic equipment 10
Time on face, light launcher 101 can be parallel with supporting surface, i.e. the light of light launcher 101 projection
Parallel with supporting surface；Camera head 102 is parallel with supporting surface, i.e. the parallel center line of camera head 102 with
Supporting surface is parallel.
When electronic equipment 10, such as intelligent mobile machine, when an indoor environment walking, passes through camera head
102, determine at camera head 102 the most whether with the presence of object, equally, this object is positioned at this
On supporting surface, and having bascule or this object can be passed through by this electronic equipment 10, this object can have
First state and the second state, the first state is different from the second state, such as one door, has off and on two kinds
State.When determine camera head 102 be found to have this object within sweep of the eye in the presence of, this electronic equipment
10 scan this object, light launcher 101 on this motion limit, object front by light launcher 101
The light sent forms a series of smooth speckle on the object, and then camera head 102 is by these a series of hot spots
Point is recorded.Owing to hot spot point is clearly distinguishable from other images, therefore it is easy to obtain in the image obtained
Obtain this light speckle position in the picture, beneficially computer and image carried out simplification process, accelerate to calculate speed,
Wherein, light launcher 101 e.g. laser aid, because laser beam compares concentration, so being formed
The effectiveness comparison of light speckle is good, certainly, in practice, it would however also be possible to employ other light launcher,
As long as light speckle can be formed on object.In another embodiment, it is also possible to be electronic equipment 10
Move according to the predefined paths on the navigation map being stored in a memorizer, when finding there is this object on this path
Time, then go to determine camera head 102 the most whether with the presence of this object, so, just can avoid
It is necessary to determine whether this object in real time, economizes on resources, improve navigator fix efficiency.
A series of hot spot points that processing unit 103 obtains according to camera head 102 carry out calculating process, then
I.e. can determine that according to result the status information that this object is presently in, i.e. this object are in the first state
Or second state.
It is better understood upon the present invention for the ease of those skilled in the art, carries out lifting concrete example below
Describing in detail, wherein electronic equipment 10 is as a example by intelligent mobile machine, and camera head 102 is with monocular cam
As a example by, because monocular cam low cost, and simple to operate, in other embodiments, it would however also be possible to employ
Other camera head, such as binocular camera, bimirror photographic head, and object is as a example by door.
When the door of existence within sweep of the eye of camera head 102, as it is shown on figure 3, camera head 102 shoots
Image 1021 on occur in that door 301, door 301 are embedded in wall, reference 302 represents that wall immediately props up
The wall edge in support face, now illustrates the door of existence within sweep of the eye 301 at camera head 102.
In order to detect whether door 301 closes, electronic equipment 10 rotates according to a direction in original place, thus electric
Subset also includes a mobile device, and light launcher 101 and camera head 102 are fixed on electronics
On equipment 10 motionless, such as electronic equipment 10 is according to being rotated clockwise, then light launcher
101 will from left to right carry out single pass, as shown in fig. 4 a, the light that light launcher 101 sends
The lower limb of wall edge 302 and door 301 defines a series of smooth speckle 304, and camera head 102
Recording this series of hot spot points 304 according to the predetermined sampling period, the sampling period can be according in practice
Situation sets itself, but more accurate in order to detect, it is preferred that record more light speckle as far as possible.
In another embodiment, refer to Fig. 4 b, electronic equipment 10 can along parallel with wall edge 302 or
There is the rectilinear movement of certain angle, as long as not bumping against wall, moving the most from left to right.Regardless of side
The light speckle that formula is formed, the time order and function that processing unit 103 is formed according to these a series of hot spot points 304, depend on
In these a series of hot spot points 304 of secondary calculating, each smooth speckle is to the distance between electronic equipment 10, when this is
Previous to the distance between electronic equipment 10 and this light speckle of one of them light speckle in row light speckle 304
Light speckle to the difference of the distance between electronic equipment more than or equal to a predetermined value time, determine that door 301 is currently located
In the state that open, wherein, predetermined value is for being used for judging that in these a series of hot spot points 304, each smooth speckle arrives
Whether the distance between electronic equipment 10 produces the marginal value of sudden change.It addition, in the present embodiment, light speckle
304 is from left to right successively to be formed, in other embodiments, if electronic equipment 10 is to rotate counterclockwise,
So time order and function of light speckle 304 is exactly from right to left.
Next it is discussed in detail how processing unit 103 calculates each smooth speckle in these a series of hot spot points 304
Distance between electronic equipment 10, has following but is not limited to two kinds of calculations:
The first, use the mode of relative distance to calculate, refer to Fig. 5 a, it is assumed that the pixel of image 1021 is divided
Resolution is 640 × 480, then the coordinate in the upper left corner of image 1021 is set to (0,0), and the coordinate of top right-hand side sets
For (640,0), the coordinate in the lower left corner is (0,480), and the coordinate in the lower right corner is (640,480), image
The central point E of 1021 just centered by point, coordinate is (320,240).In Figure 5, for convenience of explanation,
Only have selected light speckle A, light speckle B and the light speckle C in these a series of hot spot points 304, according to successively
Sequentially, first recording light speckle A, then be light speckle B, it is finally light speckle C, such as at camera head 102
In the image 1021 photographed, the coordinate of light speckle A is (320,400), then light speckle A distance water
The distance of the E point on flat centrage is 400-240=160.For light speckle B, its coordinate be (400,
400), then light speckle B is 400-240=160 from the distance of horizontal center line.For light punctuate C, its
Coordinate is (420,400), then light speckle C is 400-240=160 from the distance of horizontal center line.Warp
Crossing calculating to understand, light speckle A and light speckle B and light speckle C is identical from the distance of parallel center line,
Of course it is possible to use the distance of a series of smooth speckles 304 to parallel center line is all calculated by identical algorithm
Come, find that each smooth speckle is identical to the distance of parallel center line because from parallel center line more close to,
Away from representing that the electronic equipment 10 object from light speckle place is more, present range is the same, thus the most permissible
Judge that door is to close.
Refer to Fig. 5 b again, the situation of light speckle A is identical with Fig. 5 a, it is assumed that the coordinate of light speckle B
For (420,300), then light speckle B is 300-240=60 from the distance of parallel center line.Assume hot spot
The coordinate of some C is (440,260), then light speckle C is 260-240=20 from the distance of parallel center line.
It follows that the difference of light speckle A and light speckle B is 100, the difference of light speckle B and light speckle C is
40, such as predetermined value is 30, so the difference of light speckle A and light speckle B is 100 more than predetermined value, and institute
May determine that light speckle is undergone mutation to the distance of electronic equipment 10, i.e. represent that the state of door 301 is open
, because only that when door standard-sized sheet, camera head 102 can recorded formation on the article inside door
Light speckle, so this light speckle can be far longer than on doorframe to the distance of electronic equipment 10, i.e. wall edge 302
The light speckle of upper formation is to the distance of electronic equipment 10.Even if door 301 is half-open state, at half-open door
The light speckle formed on 301 sets to electronics to the distance of electronic equipment 10 also greater than the light speckle formed on doorframe
The distance of standby 10, so thus may determine that, the state of door 301 is open mode.Wherein, predetermined value
For representing whether light speckle produces the marginal value of sudden change to the distance between electronic equipment, this predetermined value needs
Go to arrange according to practical situation, the pixel resolution of such as camera head, actual environment etc..
In another embodiment, although calculating is also relative distance, but not as in previous embodiment
Calculate pixel, but on image display, be such as scaled on the display of camera head 102, or
Person directly measures with other ruler, and the length and width of such as display are 4 inches and 3 inches respectively, then
According to the coordinate figure of the light speckle in image, it is converted into the size of reality, as a example by the light speckle A in Fig. 5 a,
The distance of light speckle A distance center point E is set to x, then 3/480=x/160 can draw x=1 inch.This reality
Execute other parts in example identical with previous embodiment, so not repeating them here.
The second, calculates the actual distance value between electronic equipment 10 and a series of smooth speckle 304, such as, exists
When as shown in fig. 4 a, i.e. electronic equipment 10 turns clockwise in original place, light launcher 101
The a series of smooth speckle 304 that scanning is formed, in this case, between light speckle 304 to electronic equipment 10
Actual range such as can represent with band arrow straight line between electronic equipment 10 and light speckle 304 in Fig. 4 a,
Be can be seen that by Fig. 4 a, from left to right, the distance between light speckle 304 to electronic equipment 10 reduced before this,
Increase the most again, as a example by one of them light speckle A, illustrate how that calculating light speckle A sets to electronics below
Actual range between standby 10.
Refer to Fig. 6 and Fig. 7, camera head 102 is H with the distance of light launcher 101, works as shooting
Device 102 along parallel center line carry out parallel shooting time, camera head 102 has a maximum coverage limit
Boundary, i.e. limit, the visual field, the light path in limit, the visual field has an intersection point with supporting surface, and this intersection point is to camera head 102
Vertical center line between scaled distance Lm that distance is camera head 102, wherein, vertical center line hang down
Straight in supporting surface.This scaled distance Lm is for measuring good in advance and being stored in a memorizer, and this memorizer is permissible
It is arranged in electronic equipment 10.Measurement scaled distance Lm such as can also use puts scale on the support surface
Or station meter, as long as seeing the scale that the light path in limit, the visual field can photograph, i.e. may know that the value of scaled distance Lm,
Certainly, those skilled in the art can also make to measure in other ways scaled distance Lm according to actual needs, this
Invention is not restricted.
Then camera head 102 obtains an image 1021, image 1021 include stop light propagate article with
And the light speckle A that light is formed on article.The analytic unit of electronic equipment 10 analyzes image 1021, and obtains
Obtaining the first parameter and the second parameter, wherein, the first parameter is that the imaging of light speckle A is to camera head 102
The distance of parallel center line, the second parameter is the imaging distance to parallel center line of intersection point.
As it is shown in fig. 7, the image height that light speckle A is on image 1021 to the distance of parallel center line is X,
And the image height that the intersection point of light path and the supporting surface in limit, the visual field is on image 1021 to parallel center line away from
From for Y, analytic unit obtains the first parameter X and the second parameter Y, analytic unit by analyzing image 1021
Can be directly arranged at camera head 102 internal, in another embodiment, analytic unit can also be positioned at shooting
The outside of device 102, camera head 102 by image 1021 is derived to analytic unit to analyze single
Unit is analyzed.
If the camera lens of camera head 102 is close to pinhole imaging system, so by the principle of pinhole imaging system, can obtain
Obtaining following two equation, refer to Fig. 7, wherein L represents the distance between electronic equipment 10 and light speckle A,
P be the central point E of image 1021 to the distance between the central point of camera head 102:
X/P=H/L (1)
Y/P=H/Lm (2)
Abbreviation formula (1) and (2), can obtain the computing formula of distance L: L=Lm*Y/X.This algorithm
Formula is stored in memorizer 1, and equally, it is internal that memorizer may be located at camera head 102, it is also possible to position
In the outside of camera head 102, the present invention is not restricted.
Computing unit, is connected to memorizer and analytic unit, when analytic unit analysis obtain the first parameter X and
During the second parameter Y, computing unit obtains distance algorithm formula and scaled distance Lm, then root in memory
According to the first parameter X, scaled distance and the second parameter Y, calculate electronic equipment 10 He according to distance algorithm formula
Distance L between light speckle A.Equally, it is internal that computing unit may be located at camera head 102, so
Camera head directly displays out the value of distance L, it is also possible to be positioned at the outside of camera head 102, distance L
Value may be displayed on a display of electronic equipment 10, the present invention is not restricted.
In other embodiments, in the way of those skilled in the art can calculate actual range to use other,
Detect for example with ultrasonic sensor, such as, ultrasound emission be installed and receive device, being launched by contrast
With the phase contrast received, calculate the distance between electronic equipment and barrier.
Please continue to refer to Fig. 4 a, such as, light speckle A is calculated by the way between electronic equipment 10
Actual range be 30cm, same algorithm, light speckle B can be calculated to the reality between electronic equipment 10
Border distance is 28cm, can calculate all smooth speckles successively to the actual range between electronic equipment 10, so
It is rear it can be seen that each smooth speckle is between the actual range between electronic equipment 10 in a series of smooth speckles 304
Difference smaller, not departing from predetermined value, illustrate light speckle 304 between electronic equipment 10 away from
From not undergoing mutation, it is possible to judge that door is to close.Wherein, the implication of this predetermined value is with aforementioned
Predetermined value is meant that identical.
And during for Fig. 4 b, it is assumed that the mobile route of electronic equipment 10 is parallel with wall edge 302,
So, the distance between the light speckle 304 calculated to electronic equipment is all equal, so can also
Judging gos out is to close.
Referring next to the situation of Fig. 4 c, it is that electronic equipment 10 is rotating in place a series of light scanned
The door 301 that difference in speckle 304, with Fig. 4 a is in Fig. 4 c partly opens.Then according to upper
Stating calculation, the actual range between calculating to electronic equipment 10 to light speckle A is 30cm, such as light
Speckle A is positioned on doorframe, and the actual range between light speckle B to electronic equipment 10 is 60cm, and hot spot
Point C is 160cm to the distance between electronic equipment 10, it follows that light speckle A is to electronic equipment 10
Between actual range and light speckle B be 30cm to the difference of the actual range between electronic equipment 10, and
Light speckle C to the actual range between electronic equipment 10 and light speckle B to electronic equipment 10 between reality
The difference of distance be 100cm, such as predetermined value be 40cm, so when calculate to light speckle B time can't sentence
Whether disconnected door 301 is opened, and when calculating light speckle C, so that it may judge that door is opened, because poor
Value 100cm, more than predetermined value 40cm, illustrates that light speckle is undergone mutation to the distance between electronic equipment 10.
And be the in the case of of opening for door 301, and electronic equipment 10 is along or one-tenth one parallel with wall edge 302
Determine a series of smooth speckle 304 that the linear motion of angle is scanned out, although the actual range calculated is not
With, but judge that principle is similar with the embodiment in Fig. 4 c, so not repeating them here.
Distance between being described above by calculating light speckle to electronic equipment, including relative distance and reality
Distance, it is judged that whether distance undergos mutation, and then judge the state of door, but in other embodiments, also
The state of door can be judged by other means, such as, multiple smooth speckles are connected into a line successively, it is judged that
Whether the slope of this line changes, the most at least two different slopes, i.e. can determine whether the shape of door
State, below will illustrate.
Such as, as shown in Figure 5 a, by light speckle A (320,240), light speckle B (400,400) and light
Speckle C (420,400) connects into a line, because the y-coordinate of three light speckles is all identical, so
This line is straight line, so slope is not changed in, thus may determine that door is to close.
Then referring again to Fig. 5 b, by light speckle A (320,240), light speckle B (420,300) and hot spot
Point C (440,260) is the most into a line, finds that AB slope over 10 and BC slope over 10 are to differ by calculating
, i.e. one line occurs in that two different slopes, thus may determine that what door was open.
Further, electronic equipment 10 also includes control unit, and the result processed when processing unit 103 represents this
When object is in the first state, such as, the state of Men Weikai, just control this electronic equipment 10 and pass through doorframe；
Or when processing unit 103 represents that this object is in the second state, such as, door is closed mode, control
Unit just controls electronic equipment 10 and makes door be in the state opened, such as electronic equipment 10 oneself to be beaten by door
Open, or equipped with signal transceiver on door, electronic equipment 10 sends signal to the signal transceiver on door, refers to
Showing and opened by door, then electronic equipment 10 is again by this door,
Therefore, the equipment used in above example is simple, calculates simple, and operation is also simple, and saves
Cost, is beneficial to judge in time and navigation.
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 controlling electronic equipment, applies at electronics as the aforementioned
In equipment 10, refer to Fig. 8, the method includes:
Step 601: by camera head, determine camera head the most whether with the presence of object, should
Object has the first state and second state different from the first state；
Step 602: in the presence of having object within sweep of the eye, is obtained by camera head in a motor process
The multiple smooth speckle that light launcher is incident upon on object；
Step 603: carry out calculating process according to multiple hot spot points, determine thing from the first state and the second state
The status information that body is presently in.
Further, the method, always according to status information, produces corresponding control instruction, wherein, works as status information
Representing when this object is in the first state, producing the first control instruction, the first control instruction is used for indicating electronics
Equipment is by this object；When status information represents that this object is in the second state, produce and control to refer to first
Making the second different control instructions, the second control instruction is used for indicating electronic equipment to make this object be in first
State.
Wherein, the e.g. electronic equipment of the motor process in step 602 is rotating in place, and drives shooting dress
Put and rotate together with light launcher, then light launcher will from left to right carry out single pass,
The light that light launcher sends defines a series of light on the lower limb of wall edge 302 and door 301
Speckle 304, such as, shown in Fig. 4 a, then these light speckles are recorded, as shown in Figure 5 a by camera head；
Or electronic equipment moves according to straight line, and light launcher is driven to move together with camera head,
Light launcher will from left to right carry out single pass, and the light that light launcher sends is at wall edge
302 and door 301 lower limb on define a series of smooth speckle 304, such as shown in Fig. 4 b, equally,
These light speckles can be recorded by camera head.
And in step 603, carry out calculating process according to multiple hot spot points, e.g. according to these a series of light
The time order and function of spot formation, calculate successively each smooth speckle in multiple smooth speckle between electronic equipment away from
From, wherein the mode of computed range was discussed in detail aforementioned, refer to described above, certainly, at it
In his embodiment, it would however also be possible to employ other calculations, if can calculate light speckle to electronic equipment it
Between distance；Or the plurality of smooth speckle is connected into a line successively；When in multiple smooth speckles wherein
Between one light speckle is to the previous smooth speckle of the distance between electronic equipment and this light speckle to electronic equipment
Distance difference more than or equal to a predetermined value time, determine that object is in the first state, such as door and is currently at
The state that open, wherein, predetermined value for be used for judging in multiple smooth speckle each smooth speckle to electronic equipment it
Between distance whether produce the marginal value of sudden change；Or when this line has the different slope of at least two,
Determine that object is in the first state, such as door and is currently at the state that open.How to determine that distance is undergone mutation
Or slope changes the most in the most detailed introduction, retouch so refer to aforesaid being correlated with
State, certainly, in other embodiments, it is also possible to determine by other means distance whether undergo mutation or
Slope changes, and the present invention is not restricted.
Further, when electronic equipment can move according to a predetermined path according to navigation map, find at this
There are this object, such as door on map, then perform step 601, the electronic equipment moment so can be avoided to determine be
No with the presence of this object, waste resource so that navigation efficiency is low.
In foregoing embodiments, electronic equipment is described in detail, and the control in the present embodiment
The method electronic equipment based on previous embodiment of electronic equipment realizes, so by aforementioned to electronic equipment
Detailed description, the control electronics that those skilled in the art can be apparent from how implementing in the present embodiment sets
Standby method, succinct for description, do not repeat them here.
The most whether one embodiment of the invention uses camera head to determine with the presence of object, if having
Words, just obtain light launcher by camera head in a motor process and project on the object multiple
Light speckle, then calculating processes these light speckles, i.e. can determine that the state of object, the most such as this object are door,
State just has off and on two kinds, and this technical scheme, before electronic equipment is ready to pass through object, first detects object
State whether allow electronic equipment directly to pass through, so avoid when navigating according to navigation map produce
Hit by mistake.
Further, one embodiment of the invention uses whether the mode of camera head and laser ranging judges door
Closing, so calculating simple, operation is also simple, and cost-effective.
Further, in one embodiment of the invention when the state of object does not allow electronic equipment to pass through, also refer to
Show that electronic equipment makes this object be in and can pass through state, such as, door is opened, it is possible to make electronics
Equipment can preferably carry out navigator fix.
Claims (13)
1. the method controlling electronic equipment, applies in an electronic equipment, and described electronic equipment includes one
Camera head and a light launcher, it is characterised in that described method includes:
By described camera head, determine described camera head the most whether with the presence of object, institute
State object and there is the first state and second state different from described first state；
Described have object within sweep of the eye in the presence of, obtained by described camera head in a motor process
Described light launcher projection multiple smooth speckle on the object；
Calculating process is carried out, from described first state and described second state really according to the plurality of hot spot point
The status information that fixed described object is presently in, wherein, described status information is specially whether allow described electricity
Subset is by the information of described object.
2. the method for claim 1, it is characterised in that described method also includes according to described state
Information, produces corresponding control instruction.
3. method as claimed in claim 2, it is characterised in that described method also includes according to described state
Information, produces corresponding control instruction, particularly as follows: when described status information represents that described object is in described the
During one state, producing the first control instruction, described first control instruction is used for indicating described electronic equipment to pass through
Described object.
4. method as claimed in claim 3, it is characterised in that when described status information represents described object
When being in described second state, produce second control instruction different from described first control instruction, described
Two control instructions are used for indicating described electronic equipment to make described object be in described first state.
5. the method for claim 1, it is characterised in that described object is door, described first state
The state closed for described door, described second state is the state that described door opens, described according to the plurality of
Hot spot point carries out calculating process, determines the current institute of described object from described first state and described second state
The status information at place, specifically includes:
According to the time order and function of the plurality of smooth spot formation, calculate each light in the plurality of smooth speckle successively
Speckle is to the distance between described electronic equipment；
When in the plurality of smooth speckle one of them light speckle to the distance between described electronic equipment and described light
The previous smooth speckle of speckle to the difference of the distance between described electronic equipment more than or equal to a predetermined value time,
Determining that described door is currently at the state that open, wherein, described predetermined value is for being used for judging the plurality of hot spot
In point, whether each smooth speckle produces the marginal value of sudden change to the distance between described electronic equipment.
6. the method for claim 1, it is characterised in that described object is door, described first state
The state closed for described door, described second state is the state that described door opens, described according to the plurality of
Hot spot point carries out calculating process, determines the current institute of described object from described first state and described second state
The status information at place, specifically includes:
The plurality of smooth speckle is connected into a line successively；
When described line has the different slope of at least two, determine that described door is currently at the state that open.
7. the method for claim 1, it is characterised in that described motor process is particularly as follows: described electricity
Subset is rotating in place, and drives described camera head to rotate together with described light launcher；Or
Described electronic equipment moves according to straight line, and drives described light launcher and described shooting dress
Put and move together.
8. the method for claim 1, it is characterised in that when described electronic equipment is predetermined according to
When path is moved, if it is determined that described object is on map, it is determined that described camera head is within sweep of the eye
Whether with the presence of described object.
9. an electronic equipment, it is characterised in that including:
Camera head, for determine described camera head the most whether with the presence of object, described thing
Body has the first state and second state different from described first state；
Light launcher, for throw light, be arranged in parallel with described camera head, and described light is launched
Device and described camera head are positioned at the same side of described electronic equipment, and described camera head supports relative to one
The height in face is more than the described light launcher height relative to described supporting surface；Wherein, in the described visual field
In the range of have object in the presence of, in a motor process by described camera head obtain described light launch dress
Put the multiple smooth speckle that the described light of projection is formed on the object；
Processing unit, for carrying out calculating process according to the plurality of hot spot point, from described first state and institute
State and the second state determines the status information that described object is presently in.
10. electronic equipment as claimed in claim 9, it is characterised in that described electronic equipment also includes:
Control unit, for when described status information represents that described object is in described first state, controls
Described electronic equipment passes through described object；Or
When described status information represents that described object is in described second state, control described electronic equipment and make
Obtain described object and be in described first state.
11. electronic equipments as claimed in claim 9, it is characterised in that described object is door, described
One state is the state that described door is closed, and described second state is the state that described door opens, described process list
Unit specifically for:
According to the time order and function of the plurality of smooth spot formation, calculate each light in the plurality of smooth speckle successively
Speckle is to the distance between described electronic equipment；
When in the plurality of smooth speckle one of them light speckle to the distance between described electronic equipment and described light
The previous smooth speckle of speckle to the difference of the distance between described electronic equipment more than or equal to a predetermined value time,
Determining that described door is currently at the state that open, wherein, described predetermined value is for being used for judging the plurality of hot spot
In point, whether each smooth speckle produces the marginal value of sudden change to the distance between described electronic equipment.
12. electronic equipments as claimed in claim 9, it is characterised in that described object is door, described
One state is the state that described door is closed, and described second state is the state that described door opens, described process list
Unit specifically for:
The plurality of smooth speckle is connected into a line successively；
When described line has the different slope of at least two, determine that described door is currently at the state that open.
13. electronic equipments as claimed in claim 9, it is characterised in that described electronic equipment also includes moving
Dynamic device so that described electronic equipment is rotating in place, and drive described camera head and described light to launch
Device rotates together；Or described electronic equipment is moved according to straight line, and described light is driven to launch
Device moves together with described camera head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610239532.XA CN105929819B (en) | 2012-02-27 | 2012-02-27 | Method for controlling electronic equipment and electronic equipment |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610239532.XA CN105929819B (en) | 2012-02-27 | 2012-02-27 | Method for controlling electronic equipment and electronic equipment |
| CN201210047566.0A CN103292802B (en) | 2012-02-27 | 2012-02-27 | A kind of method controlling electronic equipment and electronic equipment |
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| CN201210047566.0A Division CN103292802B (en) | 2012-02-27 | 2012-02-27 | A kind of method controlling electronic equipment and electronic equipment |
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| CN105929819A true CN105929819A (en) | 2016-09-07 |
| CN105929819B CN105929819B (en) | 2021-10-22 |
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| CN201610239532.XA Active CN105929819B (en) | 2012-02-27 | 2012-02-27 | Method for controlling electronic equipment and electronic equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109008779A (en) * | 2017-06-12 | 2018-12-18 | 德国福维克控股公司 | Automatically the system that the vehicle to advance in the environment and the door in environment are constituted |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103292802B (en) * | 2012-02-27 | 2016-06-01 | 联想(北京)有限公司 | A kind of method controlling electronic equipment and electronic equipment |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN103292802A (en) | 2013-09-11 |
| CN103292802B (en) | 2016-06-01 |
| CN105929819B (en) | 2021-10-22 |
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