CN106683101A - Pavement detection method and hand-held electronic device - Google Patents
Pavement detection method and hand-held electronic device Download PDFInfo
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- CN106683101A CN106683101A CN201611254797.3A CN201611254797A CN106683101A CN 106683101 A CN106683101 A CN 106683101A CN 201611254797 A CN201611254797 A CN 201611254797A CN 106683101 A CN106683101 A CN 106683101A
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- depth
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
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- General Physics & Mathematics (AREA)
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Abstract
A pavement detection method used for a hand-held electronic device is provided. The hand-held electronic device comprises a first depth camera and a second depth camera. The pavement detection method comprises the following steps: adjusting the shooting direction of the first depth camera according to an inclination angle of the hand-held electronic device, obtaining a vertical distance through a first depth image captured by the first depth camera, and calculating a reference distance on the basis of the vertical distance and the inclination angle; obtaining a pavement distance through a second depth image captured by the second depth camera; determining whether an absolute value of a first difference between the reference distance and the pavement distance is greater than or equal to a distance threshold value; and giving an alarm if the absolute value of the first difference is greater than or equal to the distance threshold value.
Description
Technical field
The invention relates to a kind of detection method and portable electric device, and in particular to one kind for hand-held
The pavement detection method and portable electric device of formula electronic installation.
Background technology
With the popularization of portable electric device, user can process thing by portable electric device at any time.But
It is, when user haves no alternative but use portable electric device when walking, easily to ignore the situation of road surface ahead, such as before ignoring
Square road surface is raised or sunken, in turn results in user's imprudence and steps on raised or sunken road surface and injured.Therefore, when using
When person uses portable electric device when walking, if can instant alerts user's road surface ahead situation, user can be avoided not
Carefully step on raised or sunken road surface and injured.
The content of the invention
The present invention is related to a kind of pavement detection method and portable electric device for portable electric device, can root
The situation of road surface ahead is judged according to depth image, and is given a warning and is notified user.
According to an aspect of the invention, it is proposed that a kind of pavement detection method for portable electric device.Hand-held electricity
Sub-device includes one first depth video camera and one second depth video camera.Pavement detection method is comprised the following steps.According to hand
The angle of inclination for holding formula electronic installation adjusts the shooting direction of the first depth video camera, and is picked by the first depth video camera
The one first depth image for taking obtains a vertical range, and calculates a reference distance according to vertical range and angle of inclination.Pass through
The one second depth image that second depth video camera is captured obtains a road surface distance.Judge the one of reference distance and road surface distance
Whether the absolute value of the first difference is more than or equal to a range gate threshold value.When the absolute value of the first difference is more than or equal to range gate
Threshold value, then send a warning.
According to another aspect of the invention, it is proposed that a kind of portable electric device.Portable electric device includes a gyro
Instrument, one first depth video camera, one second depth video camera and a processor.Gyroscope is used to sense an angle of inclination.First
Depth video camera is arranged at the bottom of portable electric device, is used to capture one first depth image.Second depth video camera sets
The back side of the portable electric device is put, is used to capture one second depth image.Processor is used to according to angle of inclination adjustment the
The shooting direction of one depth video camera, saturating first depth image obtains a vertical range, according to vertical range and angle of inclination
A reference distance is calculated, a road surface distance is obtained by the second depth image.And processor judge reference distance and road surface away from
From one first difference absolute value whether be more than or equal to a range gate threshold value, when the absolute value of the first difference is more than or equal to
Range gate threshold value, then send a warning.
More preferably understand to have to above-mentioned and other aspect of the invention, preferred embodiment cited below particularly, and coordinate institute
Accompanying drawings, are described in detail below：
Brief description of the drawings
Fig. 1 illustrates the flow chart of the pavement detection method for portable electric device of the invention.
Fig. 2 illustrates the block diagram of portable electric device according to an embodiment of the invention.
Fig. 3 A illustrate the schematic diagram at the rear of the portable electric device of one embodiment of the invention.
Fig. 3 B illustrate the schematic diagram of the side of the portable electric device of one embodiment of the invention.
Fig. 3 C illustrate the schematic diagram of the lower section of the portable electric device of one embodiment of the invention.
Fig. 4 illustrates the shooting direction that processor adjusts the first depth video camera according to the angle of inclination of portable electric device
Schematic diagram.
Fig. 5 illustrates the schematic diagram of the first depth image.
Fig. 6 illustrates the schematic diagram that processor calculates a reference distance according to vertical range and angle of inclination.
Fig. 7 illustrates the schematic diagram of the second depth image.
Fig. 8 A illustrate the raised schematic diagram of road surface ahead.
Fig. 8 B illustrate the schematic diagram of road surface ahead depression.
Fig. 9 illustrates the flow chart of the pavement detection method for portable electric device of another embodiment of the present invention.
Figure 10 illustrates the schematic diagram of the 3rd depth image.
Figure 11 illustrates the 3rd depth Image Segmentation into the schematic diagram of multiple first subregions.
Figure 12 illustrates the schematic diagram in the interesting region of the selection first from multiple first subregions.
【Symbol description】
S102、S104、S106、S108、S902、S904、S906、S908、S910、S912：Process step
200：Portable electric device
202：Gyroscope
204：First depth video camera
206：Second depth video camera
208：Processor
500：First depth image
700：Second depth image
501、701：Interesting region
1000：3rd depth image
1001：First interesting region
r1：The back side
bt：Bottom
D1、D2、D1’：Shooting direction
H1、F1：Length
G1：Distance
G2：Vertical range
R1：Reference distance
S1：Road surface distance
B1~b9：First subregion
θ：Angle of inclination
Specific embodiment
Refer to Fig. 1 and Fig. 2, Fig. 1 illustrate the stream of the pavement detection method for portable electric device 200 of the invention
Cheng Tu.Fig. 2 illustrates the block diagram of portable electric device according to an embodiment of the invention 200.Portable electric device 200 is wrapped
Include gyroscope 202, the first depth video camera 204, the second depth video camera 206 and processor 208.Gyroscope 202, the first depth
The depth video camera 206 of video camera 204 and second is coupled to processor 208.Gyroscope 202 can sense portable electric device 200
Angle of inclination.First depth video camera 204 and the second depth video camera 206 can shoot a place to produce the depth in the place
Image.Processor 208 can receive the depth image that the first depth video camera 204 and the second depth video camera 206 are exported, and root
Pavement detection is performed according to depth image.
Referring to Fig. 3 A~3C.Fig. 3 A illustrate the rear of the portable electric device 200 of one embodiment of the invention
Schematic diagram.Fig. 3 B illustrate the schematic diagram of the side of the portable electric device 200 of one embodiment of the invention.Fig. 3 C illustrate the present invention
The schematic diagram of the lower section of the portable electric device 200 of one embodiment.First depth video camera 204 is arranged at hand-held electronic dress
200 bottom bt is put, one first depth image is captured with shooting direction D1.Second depth video camera 206 is arranged at hand-held electricity
The back side r1 of sub-device 200, one second depth image is captured with shooting direction D2.
In step S102, processor 208 adjusts the first depth and takes the photograph according to an angle of inclination of portable electric device 200
The shooting direction D1 of shadow machine 204, and the first depth image captured by the first depth video camera 204 obtain one it is vertical away from
From, and a reference distance is calculated according to vertical range and angle of inclination.Fig. 4 is refer to, Fig. 4 illustrates processor 208 according to hand-held
The tilt angle theta of formula electronic installation 200 adjusts the schematic diagram of the shooting direction D1 of the first depth video camera 204.When gyroscope 202
When sensing the tilt angle theta of portable electric device 200, the first depth video camera 204 of control of processor 208 is rotated backward and inclined
Rake angle θ, so that the shooting direction D1 of the first depth video camera 204 is adjusted to shooting direction D1 ' perpendicular to the ground.Then,
First depth video camera 204 captures the first depth image, and processor 208 obtains the first depth video camera by the first depth image
204 with the vertical range on ground.Fig. 5 is refer to, Fig. 5 illustrates the schematic diagram of the first depth image 500.Processor 208 is by the
Interesting region (region of interest, ROI) 501 in one depth image 500 obtains vertical range.In an embodiment
In, region 501 of being interested in is the middle section in the first depth image 500.Specifically, 208 pairs of interesting regions of processor
The depth value of all pixels in 501 does and averagely obtains average depth value, and average depth value is converted into vertical range.Wherein
Average depth value is converted into vertical range by processor 208 by a reduction formula.Reduction formula corresponding with physical length can
Obtained by experimental data, not described here any more.
Then, refer to Fig. 6, Fig. 6 illustrate processor 208 according to vertical range G2 and tilt angle theta calculate one with reference to away from
From the schematic diagram of R1.Reference distance R1 can be calculated by apart from G1 and tilt angle theta, the R1=G1/sin as shown in following formula
θ.Length F1 is vertical range G2 and the gap apart from G1, that is to say, that G1=G2+F1.Length H1 is the second depth video camera
206 with the distance of the bottom bt of portable electric device 200, length H1 is known length.First, processor 208 is according under
Column sub- computational length F1, F1=H1*sin ((п/2)-θ).Then, according to G1=G2+F1, can obtain following formula G1=G2+
H1*sin((п/2)-θ).Then, it is that can obtain reference distance R1 according to R1=G1/sin θ.Herein, reference distance R1 is assumed that
In the case of ground even, the second depth video camera 206 on shooting direction D2 with the distance on flat ground.
In step S104, processor 208 obtains one by the second depth image that the second depth video camera 206 is captured
Road surface distance.Fig. 7 is refer to, Fig. 7 illustrates the schematic diagram of the second depth image 700.Processor 208 passes through the second depth image
Interesting region 701 in 700 obtains road surface distance.Specifically, all pictures in 208 pairs of interesting regions 701 of processor
The depth value of element does and averagely obtains average depth value, and average depth value is converted into road surface distance.Wherein processor 208 passes through
Average depth value is converted into road surface distance by one reduction formula.Reduction formula corresponding with physical length can be taken by experimental data
, not described here any more.In this step, road surface distance refer to the second depth video camera 206 on shooting direction D2 with ground
The actual range in face.
In step S106, processor 208 judges that reference distance R1 is with the absolute value of one first difference of road surface distance
It is no to be more than or equal to a range gate threshold value.When the absolute value of reference distance R1 and the first difference of road surface distance is more than or equal to one
Range gate threshold value, represents that road surface ahead is uneven, then into step S108；Otherwise, represent that road surface ahead is flat, then terminate stream
Journey.In one embodiment, when the absolute value of the first difference is uneven more than or equal to range gate threshold value, that is, road surface ahead
In the case of, processor 208 judges road surface ahead projection or road surface depression according still further to reference distance R1 and road surface distance.Please
Reference picture 8A and 8B.Fig. 8 A illustrate the raised schematic diagram of road surface ahead.Fig. 8 B illustrate the schematic diagram of road surface ahead depression.Such as Fig. 8 A
Shown, when front bump, then reference distance R1 is more than road surface distance S1.As shown in Figure 8 B, when front road surface depression, then join
Examine and be less than road surface distance S1 apart from R1.Range gate threshold value is an adjustable parameter, can be by formula designer's self-defining.Example
Such as, it is more accurate to judged result, then can reduce range gate threshold value.
Step S108, sends a warning.For example, warning may include that sound, vibrations and picture show one of them, with
Remind user's road surface ahead uneven.In another embodiment, warning may include sound, vibrations and picture show wherein it
One, to remind user's road surface ahead projection or road surface depression.
Consequently, it is possible to when user uses portable electric device when walking, can by disclosed herein road surface
Detection method instant alerts user's road surface ahead situation, can avoid user's imprudence from stepping on raised or sunken road surface and receive
Wound.
Fig. 9 is refer to, Fig. 9 illustrates the pavement detection for portable electric device 200 of another embodiment of the present invention
The flow chart of method.When user not walks in general road, such as user can pass through when upward slope or descending are walked
Pavement detection method disclosed by this case Fig. 9, judges the situation of road surface ahead.
Step S902, the second depth video camera 206 captures one the 3rd depth image, and processor in a very first time
208 by the 3rd depth Image Segmentation into multiple first subregions.Refer to Figure 10 and 11.Figure 10 illustrates the 3rd depth image 1000
Schematic diagram.Figure 11 illustrates the schematic diagram that the 3rd depth image 1000 is divided into multiple first subregion b1~b9.It is deep second
Degree video camera 206 capture the 3rd depth image 1000 after, processor 208 by the 3rd depth image 1000 be divided into nine it is identical
The first subregion b1~b9 of size.It is worth noting that, segmentation the first subregion b1~b9 number and size not with
This is limited.In one embodiment, processor 208 can be according to the first subregion b1~b9 of the speed adjustment segmentation of walking of user
Number and size.
Step S904, processor 208 selects one first interesting region from multiple first subregion b1~b9, and calculates
The one first depth-averaged value and one first depth standards in the first interesting region are poor.Figure 12 is refer to, Figure 12 is illustrated from multiple
The schematic diagram in the interesting region 1001 of selection first in first subregion b1~b9.For example, the selection of processor 208 the 3rd is deep
First subregion b5 and b8 of the central and central lower section in degree image 1000 is used as the first interesting region 1001.It is deep the 3rd
In degree image 1000, the first subregion b5 and b8 corresponds to the road surface immediately ahead of user, therefore, in this step, with first
As a example by subregion b5 and b8 is as the first interesting region 1001.But, the selection in the first interesting region 1001 is not with this
It is limited.Then, processor 208 calculate the depth value of all pixels in the first interesting region 1001 the first depth-averaged value and
First depth standards are poor.
Step S906, the second depth video camera captures one the 4th depth image in one second time, and processor 208 will
4th depth Image Segmentation is into multiple second subregions.In one embodiment, the second time differed with the very first time 0.1 second.But
It is that the second time was not limited thereto with the gap of the very first time.In this step, the partitioning scheme of the 4th depth image and
The partitioning scheme of three depth images 1000 is identical.That is, processor 208 is also identical into nine by the 4th depth Image Segmentation
Second subregion of size.
Step S908, processor 208 selects one second interesting region from multiple second subregions, and calculates second and have
The one second depth-averaged value and one second depth standards in interest region are poor.In this step, the selection in the second interesting region
Mode is identical with the selection mode in the first interesting region 1001.That is, the selection of processor 208 is located at the 4th depth image
Central and central lower section the second subregion as the second interesting region.Then, processor 208 calculates the second interesting area
The second depth-averaged value and the second depth standards of the depth value of all pixels are poor in domain.
Step S910, processor 208 judges that the second depth-averaged value is exhausted with one second difference of the first depth-averaged value
Whether it is more than an average threshold value, or the poor absolute value with one the 3rd difference of the first depth standards difference of the second depth standards to value
Whether a standard deviation threshold value is more than.When the absolute value of the second difference is big more than average threshold value, or the absolute value of the 3rd difference
In standard deviation threshold value, represent that road surface ahead is uneven, then into step S912；Otherwise, represent that road surface ahead is flat, then terminate
Flow.Average threshold value and standard deviation threshold value are an adjustable parameter, can be by formula designer's self-defining.If for example,
Want judged result more accurate, then can reduce average threshold value and standard deviation threshold value.
Step S912, gives a warning.For example, warning may include that sound, vibrations and picture show one of them, to carry
User's road surface ahead of waking up is uneven.
Consequently, it is possible to portable electric device is used when walking in upward slope or descending even with person, also can be by this hair
Bright disclosed pavement detection method judges the situation of road surface ahead, can avoid user that hand is used when walking in upward slope or descending
When holding formula electronic installation, raised or sunken road surface is accidentally stepped on and injured.
In sum, although the present invention is disclosed above with preferred embodiment, so it is not limited to the present invention.This hair
Those of ordinary skill in bright art, without departing from the spirit and scope of the present invention, when can make various changes with
Retouching.Therefore, protection scope of the present invention is worked as and is defined depending on the appended claims person of defining.
Claims (10)
1. a kind of pavement detection method for portable electric device, it is characterised in that the portable electric device includes
First depth video camera and one second depth video camera, the method include：
An angle of inclination according to the portable electric device adjusts the shooting direction of the first depth video camera, and by this
The one first depth image that one depth video camera is captured obtains a vertical range, and according to the vertical range and the angle of inclination
Calculate a reference distance；
The one second depth image captured by the second depth video camera obtains a road surface distance；
Judge the reference distance with the absolute value of one first difference of the road surface distance whether more than or equal to a range gate threshold value；
And
When the absolute value of first difference is more than or equal to the range gate threshold value, then a warning is sent.
2. pavement detection method as claimed in claim 1, it is characterised in that further include：
One the 3rd depth image is captured by the second depth video camera in a very first time；
By the 3rd depth Image Segmentation into multiple first subregions；
The interesting region of selection one first from the multiple first subregion, and calculate the one first of the first interesting region
Depth-averaged value and one first depth standards are poor；
One the 4th depth image is captured by the second depth video camera in one second time；
By the 4th depth Image Segmentation into multiple second subregions；
The interesting region of selection one second from the multiple second subregion, and calculate the one second of the second interesting region
Depth-averaged value and one second depth standards are poor；
Judge whether the second depth-averaged value is average more than one with the absolute value of one second difference of the first depth-averaged value
Whether threshold value, or second depth standards difference is more than a standard with the absolute value of one the 3rd difference of first depth standards difference
Difference threshold value；
When the absolute value of second difference is more than the average threshold value, or the absolute value of the 3rd difference is more than the standard deviation threshold
Value, then send the warning.
3. pavement detection method as claimed in claim 1, it is characterised in that in adjusting first depth according to the angle of inclination
The step of shooting direction of video camera, includes：
The first depth video camera is controlled to rotate backward the angle of inclination, so that the shooting direction of the first depth video camera and ground
Face is vertical.
4. pavement detection method as claimed in claim 1, it is characterised in that when the absolute value of the difference is more than or equal to should be away from
From threshold value, the method is further included：
Judge the reference distance whether more than or equal to the road surface distance；
When the reference distance is more than or equal to the road surface distance, then bump is judged；And
When the reference distance is less than the road surface distance, then road surface depression is judged.
5. pavement detection method as claimed in claim 1, it is characterised in that the vertical range is according in the first depth image
Centerablock average depth value obtained by, and centerablock of the road surface distance in the second depth image is flat
Obtained by equal depth value.
6. a kind of portable electric device, it is characterised in that including：
One gyroscope, is used to sense an angle of inclination；
One first depth video camera, is arranged at the bottom of the portable electric device, is used to capture one first depth image；
One second depth video camera, is arranged at the back side of the portable electric device, is used to capture one second depth image；And
One processor, to adjust the shooting direction of the first depth video camera according to the angle of inclination, by first depth
Image obtains a vertical range, a reference distance is calculated according to the vertical range and the angle of inclination, by the second depth shadow
As obtaining a road surface distance, and judge the reference distance whether be more than with the absolute value of one first difference of the road surface distance or
Equal to a range gate threshold value；
When the absolute value of first difference is more than or equal to the range gate threshold value, then a warning is sent.
7. portable electric device as claimed in claim 6, it is characterised in that the second depth video camera is in a very first time
One the 3rd depth image is captured, and the second depth video camera captures one the 4th depth image in one second time；
The processor is more used to the 3rd depth Image Segmentation into multiple first subregions, from the multiple first subregion
One first interesting region is selected, and calculates the one first depth-averaged value and one first depth standards in the first interesting region
Difference；
By the 4th depth Image Segmentation into multiple second subregions, one second is selected to have emerging from the multiple second subregion
Interesting region, and it is poor to calculate the one second depth-averaged value and one second depth standards in the second interesting region；And
Judge whether the second depth-averaged value is average more than one with the absolute value of one second difference of the first depth-averaged value
Whether threshold value, or second depth standards difference is more than a standard with the absolute value of one the 3rd difference of first depth standards difference
Difference threshold value；
Wherein when the absolute value of second difference is more than the average threshold value, or the absolute value of the 3rd difference is more than the standard deviation
Threshold value, then send the warning.
8. portable electric device as claimed in claim 6, it is characterised in that the processor controls the first depth video camera
The angle of inclination is rotated backward, so that the shooting direction of the first depth video camera is perpendicular to the ground.
9. portable electric device as claimed in claim 6, it is characterised in that when the absolute value of the difference was more than or equal to should
Whether range gate threshold value, the processor is more used to judge the reference distance more than or equal to the road surface distance；
Wherein when the reference distance is more than or equal to the road surface distance, then the processor judges bump；When the reference distance
Less than the road surface distance, then the processor judges road surface depression.
10. portable electric device as claimed in claim 6, it is characterised in that the processor is according to the first depth image
In the mean depth of centerablock be worth to the vertical range, and centerablock in the second depth image is flat
Equal depth is worth to the road surface distance.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611254797.3A CN106683101B (en) | 2016-12-30 | 2016-12-30 | Pavement detection method and handheld electronic device |
| TW106108221A TWI629453B (en) | 2016-12-30 | 2017-03-13 | Method for floor detection and handheld electronic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611254797.3A CN106683101B (en) | 2016-12-30 | 2016-12-30 | Pavement detection method and handheld electronic device |
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| CN106683101A true CN106683101A (en) | 2017-05-17 |
| CN106683101B CN106683101B (en) | 2019-12-31 |
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| CN201611254797.3A Active CN106683101B (en) | 2016-12-30 | 2016-12-30 | Pavement detection method and handheld electronic device |
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| TW (1) | TWI629453B (en) |
Cited By (1)
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| CN109955246A (en) * | 2017-12-26 | 2019-07-02 | 深圳市优必选科技有限公司 | Steep cliff detection method, device, terminal device and computer readable storage medium |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106683101B (en) | 2019-12-31 |
| TW201823679A (en) | 2018-07-01 |
| TWI629453B (en) | 2018-07-11 |
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