CN113642355A - Movable electronic device and operation method thereof - Google Patents
Movable electronic device and operation method thereof Download PDFInfo
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- CN113642355A CN113642355A CN202010344176.4A CN202010344176A CN113642355A CN 113642355 A CN113642355 A CN 113642355A CN 202010344176 A CN202010344176 A CN 202010344176A CN 113642355 A CN113642355 A CN 113642355A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000011017 operating method Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 239000012141 concentrate Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
Abstract
The invention provides a movable electronic device and an operation method thereof. The movable electronic device comprises a first image capturer, a second image capturer, a processor and a light source generator. The first image capturing device is used for capturing an image of a moving object and generating position information according to the image. The second image capturing device is used for capturing images of the object according to the position information and generating flight time sensing information. The processor is used for generating a control signal according to the position information and calculating depth information related to the object according to the flight time sensing information. The light source generator generates a light beam to the object according to the control signal.
Description
Technical Field
The present invention relates to an electronic device, and more particularly, to a portable electronic device and an operating method thereof.
Background
With the development of science and technology, it has become an important trend in many industries to enhance work efficiency by assisting professional human resources to perform tasks through Unmanned Aerial Vehicles (UAVs).
Since the unmanned aerial vehicle needs to avoid colliding with other obstacles during flying, the distance to the obstacle is usually detected by performing a ranging operation on the obstacle through a built-in sensor.
However, in the conventional ranging technology of the drone, there are problems that the detection distance is insufficient and the accuracy of detecting the obstacle is not accurate. Therefore, how to effectively increase the detection distance of the drone and improve the accuracy of detecting the obstacle will be the subject of the related technical personnel in the field.
Disclosure of Invention
The invention provides a movable electronic device and an operation method thereof, which can enable a light emitter to face the direction corresponding to a moving object through the rotation of a rotary platform and project the object by a light beam with a narrow view field, thereby improving the detection distance of the movable electronic device and the accuracy of calculating the depth information of the object.
The movable electronic device comprises a first image capturer, a second image capturer, a processor and a light source generator. The first image capturing device is used for capturing an image of a moving object and generating position information according to the image. The second image capturing device receives the position information for capturing an image of the object according to the position information and generating a sensing information of the flight time. The processor is coupled to the first image capturer and the second image capturer, and is used for generating a control signal according to the position information and calculating depth information related to the object according to the flight time sensing information. The light source generator is coupled to the processor and generates a light beam to the object according to the control signal.
The operation method of the movable electronic device comprises the following steps: providing a first image capturer to capture an image of a moving object and generating position information according to the image; providing a second image capturing device to capture an object according to the position information and generate sensing information of flight time; providing a processor to generate a control signal according to the position information and to calculate depth information related to the object according to the time-of-flight sensing information; and providing a light source generator to generate a light beam to the object according to the control signal.
Based on the above, the light source generator of the mobile electronic device according to the embodiments of the invention can rotate the rotating platform to a specified position or angle according to the position information provided by the first image capturing device, and enable the light emitter to face a specified direction so as to generate a light beam with a narrow field of view for the moving object. Therefore, the movable electronic device can effectively improve the detection distance and the detection speed of the detected object, and effectively increase the accuracy of the processor for calculating the depth information related to the object
Drawings
Fig. 1 is a circuit block diagram of a mobile electronic device according to an embodiment of the invention.
Fig. 2A to 2C are schematic diagrams illustrating the light emitter generating different types of light beams in different rotation directions of the rotating platform shown in fig. 1 according to an embodiment of the invention.
Fig. 3 is a flowchart of an operation method of a portable electronic device according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to exemplary embodiments of the invention, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numbers will be used throughout the drawings and the description to refer to the same or like parts.
Fig. 1 is a circuit block diagram of a mobile electronic device according to an embodiment of the invention. Referring to fig. 1, the portable electronic device 100 includes a first image capturing device 110, a second image capturing device 120, a light source generator 130, and a processor 140. The movable electronic device 100 of the present embodiment may be, for example, an unmanned aerial vehicle (but is not limited thereto). Moreover, when the mobile electronic device 100 performs a traveling operation, the mobile electronic device 100 can detect the moving object to calculate a distance to the object, and thereby obtain depth information related to the object.
In this embodiment, the first image capturing device 110 is configured to detect a moving object OBJ, capture an image of the object OBJ, and obtain position information LI related to the object OBJ according to the image. Wherein the position information LI may have coordinate information related to the object OBJ and a size of the object OBJ.
On the other hand, under some design requirements (in some embodiments), the first image capturing device 110 may be coupled to the second image capturing device 120, and the first image capturing device 110 may provide the position information LI to the second image capturing device 120 through a wired transmission manner, so that the second image capturing device 120 may perform an image capturing operation (e.g., taking a picture) on the object OBJ according to the position information LI to obtain the time-of-flight sensing information TOFSI. In other embodiments, the first image capturing device 110 may provide the position information LI to the second image capturing device 120 through a wireless transmission manner, so that the second image capturing device 120 may capture the object OBJ according to the position information LI to obtain the time-of-flight sensing information TOFSI.
The processor 140 is coupled to the first image capturer 110 and the second image capturer 120. The processor 140 may receive the position information LI generated by the first image capturing device 110 and generate a corresponding control signal CS according to the position information LI. In addition, the processor 140 may also receive the time-of-flight sensing information TOFSI generated by the second image capturing device 120, and calculate the depth information DEI related to the object OBJ according to the time-of-flight sensing information TOFSI.
The light source generator 130 is coupled to the processor 140. The light source generator 130 can generate different types of light beams BM for the object OBJ according to the control signal CS. In the present embodiment, the light source generator 130 may include a light emitter 131 and a rotating platform 132. Wherein, the rotating platform 132 is coupled to the processor 140 to receive the control signal CS, and the optical transmitter 131 can be disposed on the rotating platform 132.
In this embodiment, processor 140 can control rotary platform 132 to rotate periodically by control signal CS and enable light emitter 131 to face the direction indicated by position information LI to generate light beam BM for object OBJ.
It should be noted that, in the present embodiment, the relative positions of the first image capturing device 110 and the second image capturing device 120 may be fixed, and the first image capturing device 110 and the second image capturing device 120 may face the same direction to scan and capture the object OBJ. That is, the distance between the first image capturing device 110 and the second image capturing device 120 of the present embodiment is fixed.
In the present embodiment, the first image capturing device 110 may be, for example, a Color Sensor (Color Sensor), and the second image capturing device may be, for example, a Time of Flight Sensor (Time of Flight Sensor), but the invention is not limited thereto.
In addition, the Light emitter 131 of the present embodiment may be, for example, a Vertical Cavity Surface Emitting Laser (VCSEL), a Laser Diode (Laser Diode), or a Light Emitting Diode (Light Emitting Diode), but the invention is not limited thereto.
In detail, when the portable electronic device 100 is operating in a standby mode (for example, the portable electronic device 100 is not already in a traveling mode), the portable electronic device 100 may first scan a current frame through the first image capturing device 110. Moreover, the processor 140 may perform a calibration operation on the first image capturing device 110 and the second image capturing device 120 in advance.
For example, before the first image capturing device 110 captures an image of the moving object OBJ, the mobile electronic device 100 may capture a predetermined calibration image (e.g., a checkerboard image) by the first image capturing device 110 and the second image capturing device 120 in advance, and the processor 140 may correspond the origin position of the image captured by the first image capturing device 110 to the origin position of the image captured by the second image capturing device 120 according to the capturing results of the first image capturing device 110 and the second image capturing device 120, so as to calibrate the relationship of coordinate transformation between the first image capturing device 110 and the second image capturing device 120.
It is noted that the calibration method of the first image capturing device 110 and the second image capturing device 120 can be determined according to design requirements. Those skilled in the art can also apply the known techniques for image correction to cameras, and the present invention is not limited to the above-mentioned correction methods.
Then, when the portable electronic device 100 is operating in the working mode (for example, the portable electronic device 100 starts to move in a certain direction), the portable electronic device 100 can first scan the area in the frame according to the ambient light through the first image capturing device 110. In the scanning process, when the first image capturing device 110 captures the image of the object OBJ at a first time point, the first image capturing device 110 determines that the object OBJ is located at a first coordinate position at the first time point according to the image. When the first image capturing device 110 captures the image of the object OBJ at a second time point after the first time point, the first image capturing device 110 determines that the object OBJ is located at a second coordinate position at the second time point according to the image.
Then, the first image capturing device 110 may further determine whether the object OBJ is a moving object OBJ by subtracting the first coordinate position from the second coordinate position. For example, when the first image capturing device 110 subtracts the second coordinate position from the first coordinate position to obtain a difference value, it indicates that the coordinate position of the object OBJ is changed. At this time, the first image capturer 110 may determine that the object OBJ is a moving object OBJ, obtain the position information LI related to the object OBJ according to the captured image, and provide the position information LI to the second image capturer 120 and the processor 140.
In contrast, when the first image capturing device 110 subtracts the second coordinate position from the first coordinate position and does not obtain the difference, it indicates that the coordinate position of the object OBJ has not changed. At this time, the first image capturing device 110 may determine that the object OBJ is not a moving object OBJ and continuously perform the scanning.
The way of detecting the object OBJ by the first image capturing device 110 can be determined according to design requirements. Those skilled in the art can also implement the technique for detecting the object OBJ (e.g., Mask _ RCNN), and the invention is not limited to the above detection method.
It is worth mentioning that in the light source generator 130 of the present embodiment, the rotating platform 132 may have one or two actuators (e.g., motors). After the first image capturing device 110 captures the image of the moving object OBJ, the light source generator 130 rotates the rotating platform 132 through the actuators according to the control signal CS, so that the light emitter 131 can generate different types of light beams BM for the object OBJ in the direction indicated by the position information LI according to the direction of rotation of the rotating platform 132.
Referring to fig. 1 and fig. 2A to 2C, fig. 2A to 2C are schematic diagrams illustrating that the light emitter generates different types of light beams in different rotation directions of the rotating platform shown in fig. 1 according to an embodiment of the present invention. For example, in the application scenario shown in fig. 2A, when rotary platform 132 is rotated along the y-axis by the actuator according to control signal CS, light emitter 131 can be oriented in the direction indicated by position information LI according to the direction of rotation of rotary platform 132 to generate a vertical line type light beam BM1 for object OBJ.
On the other hand, in the application scenario shown in fig. 2B, when rotary platform 132 is rotated along the x-axis by one of the actuators according to control signal CS and simultaneously rotated along the y-axis by the other of the actuators, light emitter 131 may be oriented in the direction indicated by position information LI according to the direction of rotation of rotary platform 132 to generate single-point light beam BM2 for object OBJ.
Furthermore, in the application scenario shown in fig. 2C, when rotary platform 132 is rotated along the x-axis by the actuator according to control signal CS, light emitter 131 can be oriented in the direction indicated by position information LI according to the direction of rotation of rotary platform 132 to generate horizontal linear light beam BM3 for object OBJ. Wherein the x-axis, the y-axis and the z-axis are three-dimensional spaces.
That is, in the present embodiment, the light source generator 130 can rotate the rotating platform 132 to a specified position or angle according to the position information LI and the control signal CS, and enable the light emitter 131 to face a specified direction to generate a light beam (i.e., the light beam BM1, BM2 or BM3) with a narrow Field Of View (FOV) for the moving object OBJ. Moreover, the light emitter 131 of the present embodiment can concentrate the light projected onto the object OBJ by generating a narrow-field light beam, and maintain the range and area originally projected onto the object OBJ by the rotation of the rotary platform 132. In this way, the portable electronic device 100 of the present embodiment can effectively increase the detection distance and the detection speed of the object OBJ.
On the other hand, after the first image capturing device 110 captures the image of the object OBJ, the second image capturing device 120 can be directed to the direction indicated by the position information LI according to the position information LI to calculate the distance between the object OBJ and the second image capturing device 120 by sending the electromagnetic wave signal IR to the object OBJ and by receiving the reflected electromagnetic wave signal RIR reflected by the object OBJ. The electromagnetic wave signal may be a signal of invisible light (for example, infrared ray, but the present invention is not limited thereto).
For example, in the present embodiment, when the second image capturing device 120 is to perform an image capturing operation, the second image capturing device 120 may send the electromagnetic wave signal IR. After the electromagnetic wave signal IR touches the object OBJ, the generated reflected electromagnetic wave signal RIR is received by the second image capturing device 120.
Then, the second image capturing device 120 calculates the flight times of the electromagnetic wave signal IR and the reflected electromagnetic wave signal RIR according to the time difference between the time point of the transmission of the electromagnetic wave signal IR and the time point of the reception of the reflected electromagnetic wave signal RIR, and accordingly calculates the distance between the object OBJ and the second image capturing device 120, so as to correspondingly generate the flight time sensing information TOFSI to the processor 140. Accordingly, the processor 140 can further calculate the depth information DEI related to the object OBJ based on the time-of-flight sensing information TOFSI.
Incidentally, since the light emitter 131 of the present embodiment can generate a light beam with a narrow field of view for the moving object OBJ, the second image capturing device 120 can capture a relatively clear image when capturing the moving object OBJ. Thus, in the case where light emitter 131 generates a light beam having a narrow field of view for an object OBJ in motion, the accuracy with which processor 140 calculates depth information DEI relating to object OBJ can be effectively increased.
Fig. 3 is a flowchart of an operation method of a portable electronic device according to an embodiment of the invention. Referring to fig. 1 and fig. 3, in step S310, a first image capturing device is provided to capture an image of a moving object and generate position information according to the image. In step S320, a second image capturing device is provided to capture an image of the object according to the position information and generate a time-of-flight sensing information.
In step S330, a processor is provided to generate a control signal according to the position information and calculate depth information related to the object according to the time-of-flight sensing information. In step S340, a light source generator is provided to generate a light beam for the object according to the control signal.
The details of the steps in this embodiment are elaborated in the above embodiments, and are not repeated herein.
In summary, the light source generator of the mobile electronic device according to the embodiments of the invention can rotate the rotating platform to a specified position or angle according to the position information provided by the first image capturing device, and enable the light emitter to face a specified direction, so as to generate a light beam with a narrow field of view for the moving object. Therefore, the movable electronic device can effectively improve the detection distance and the detection speed of the detected object, and effectively increase the accuracy of the processor for calculating the depth information related to the object.
Claims (18)
1. A portable electronic device, comprising:
the first image capturer is used for capturing an image of a moving object and generating position information according to the image;
the second image capturing device receives the position information and is used for capturing images of the object according to the position information and generating flight time sensing information;
a processor, coupled to the first image capturer and the second image capturer, for generating a control signal according to the position information and calculating depth information related to the object according to the time-of-flight sensing information; and
and the light source generator is coupled to the processor and generates a light beam for the object according to the control signal.
2. The portable electronic device of claim 1, wherein the light source generator further comprises:
a rotating platform coupled to the processor to be controlled by the control signal; and
a light emitter disposed on the rotating platform,
the processor controls the rotating platform to rotate periodically through the control signal, and enables the light emitter to face the direction indicated by the position information so as to generate the light beam on the object.
3. The mobile electronic device of claim 2, wherein the rotating platform causes the light emitter to generate a linear beam or a single-point beam of light on the object according to the control signal.
4. The portable electronic device according to claim 2, wherein the light emitter is a vertical cavity surface emitting laser.
5. The mobile electronic device of claim 1, wherein the first image capturing device and the second image capturing device are fixed relative to each other and face the same direction for capturing the image of the object.
6. The portable electronic device of claim 1, wherein the second image capturing device is further configured to emit an electromagnetic wave signal to the object,
wherein the electromagnetic wave signal is reflected by the object to generate a reflected electromagnetic wave signal, the reflected electromagnetic wave signal is received by the second image capturer and the time-of-flight sensing information is generated by calculating the time-of-flight of the reflected electromagnetic wave signal.
7. The portable electronic device of claim 1, wherein the first image capture device is a color sensor and the second image capture device is a time-of-flight sensor.
8. The mobile electronic device of claim 1, wherein the processor performs calibration on the first image capturer and the second image capturer in advance before the first image capturer captures the image of the moving object.
9. The portable electronic device according to claim 8, wherein the portable electronic device captures calibration patterns through the first image capture device and the second image capture device, and the processor corrects the coordinate transformation relationship between the first image capture device and the second image capture device according to the capture results of the first image capture device and the second image capture device.
10. An operating method of a portable electronic device, comprising:
providing a first image capturer to capture an image of a moving object, and generating position information according to the image;
providing a second image capturing device to capture the image of the object according to the position information and generate flight time sensing information;
providing a processor to generate a control signal based on the position information and to calculate depth information associated with the object based on the time-of-flight sensing information; and
a light source generator is provided to generate a light beam to the object in dependence on the control signal.
11. The method of claim 10, wherein the step of providing the light source generator to generate the light beam to the object in dependence on the control signal comprises:
providing a rotating platform to be controlled by the control signal; and
and controlling the rotating platform to rotate periodically by the processor through the control signal, so that the light emitter arranged on the rotating platform faces the direction indicated by the position information to generate the light beam on the object.
12. The operating method of claim 11, wherein the processor controls the rotating platform to rotate periodically according to the control signal, and the step of directing the light emitter disposed on the rotating platform to the direction indicated by the position information to generate the light beam on the object comprises:
and enabling the light emitter to generate a linear light beam or a single-point light beam on the object by the rotating platform according to the control signal.
13. The method of claim 11, wherein the light emitter is a vertical cavity surface emitting laser.
14. The method as claimed in claim 10, wherein the first image capturing device and the second image capturing device are fixed relative to each other and face the same direction for capturing the image of the object.
15. The method of claim 10, wherein the step of providing the second image grabber for imaging the object based on the position information and generating the time-of-flight sensing information comprises:
transmitting an electromagnetic wave signal to the object by the second image capture device, wherein the electromagnetic wave signal is reflected by the object to generate a reflected electromagnetic wave signal; and
and receiving the reflected electromagnetic wave signal by the second image capturer and generating the flight time sensing information by calculating the flight time of the reflected electromagnetic wave signal.
16. The method of claim 10, wherein the first image capturer is a color sensor and the second image capturer is a time-of-flight sensor.
17. The method of claim 10, wherein the step of providing the first image capturer to capture the image of the moving object and generating the position information based on the image further comprises:
the processor performs a calibration operation on the first image capturing device and the second image capturing device in advance.
18. The method of claim 17, wherein the pre-calibrating the first image capture device and the second image capture device by the processor comprises:
capturing the calibration domain picture by the first image capturing device and the second image capturing device; and
the processor corrects the coordinate transformation relationship between the first image capturer and the second image capturer according to the capturing results of the first image capturer and the second image capturer.
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| CN202010344176.4A CN113642355A (en) | 2020-04-27 | 2020-04-27 | Movable electronic device and operation method thereof |
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| CN202010344176.4A CN113642355A (en) | 2020-04-27 | 2020-04-27 | Movable electronic device and operation method thereof |
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| CN105321159A (en) * | 2014-07-29 | 2016-02-10 | 宏达国际电子股份有限公司 | Hand-held electronic apparatus, image capturing apparatus and method for obtaining depth information |
| US20160070265A1 (en) * | 2014-09-05 | 2016-03-10 | SZ DJI Technology Co., Ltd | Multi-sensor environmental mapping |
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