CN207051738U - A kind of mobile electronic device - Google Patents
A kind of mobile electronic device Download PDFInfo
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- CN207051738U CN207051738U CN201720674632.5U CN201720674632U CN207051738U CN 207051738 U CN207051738 U CN 207051738U CN 201720674632 U CN201720674632 U CN 201720674632U CN 207051738 U CN207051738 U CN 207051738U
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Abstract
Mobile electronic device includes camera, wireless signal transceiver, processor and motion module.The wherein depth distance information of the camera collection image information and the image information；The wireless signal transceiver is communicatively coupled to the camera, the image information and the depth distance information are supplied to the second mobile electronic device, and the selected information and following distance information to target from second mobile electronic device are received, wherein second mobile electronic device selectes the target based on the image information and depth distance information received；The processor is communicatively coupled to the wireless signal transceiver and the camera, and based on the selected information, the following distance information, the image information and the depth distance information, the movable information based on the target is calculated for the mobile electronic device；And the motion module is communicatively coupled to the processor, according to the movable information, the target is followed to be moved.
Description
Technical field
It the utility model is related to electronic device field.Specifically, it the utility model is related to intelligent robot system field.
Background technology
Traditional movable machine people or other electronic equipments use the modes such as tracing sensor, infrared ray or ultrasonic wave
The two-dimensionally or three-dimensionally figure in space where scanning, by autonomous positioning and movement or collision reaction deflecting random walk, simultaneously
Perform other default functions.Mode of operation issues an instruction to realize with user by remote control or base station remote control etc..
Traditional mobile robot or electronic equipment are because drawing and location technology are immature or inaccurate, in the course of work
In can not judge the complicated state in ground and space completely, easily there is the situation for losing position and direction, when ground out-of-flatness,
When thering is step or high low head, ground to have debris etc., robot can it is stuck, lose coordinate, can not recharge.Some types are not due to
Possess stationkeeping ability, can only be by the physical principle of collision reaction come deflecting, or even household articles or robot can be caused certainly
The problems such as body damages even personal injury, interfered to user.Because the level of intelligence of robot is not enough to really judge ground
Face and spatial depiction, cause that track route can be repeated in moving process, detect environment repeatedly, thus electricity and time all waste
On many idle works.
Utility model content
Mobile electronic device system described in embodiment of the present utility model, such as robot system are intended to cooperate with user
It is operated, robot system determines mission area, mission area is arrived in robot by following target, such as user
After starting point, moved in the mission area according to the pattern of regulation.Thus solve robot can not judge surface state,
The problem of present position and optimal mobile route.The tracing sensor of robot is replaced with human eye, machine is replaced with the planning of human brain
The algorithm of device people；Substitute the work of people with the duplication of labour of robot, save intelligent robot research and development and equipment cost and
The cost made an investment in sweeping, dust collecting mechanism.By the advantage combination among the strong ones of the advantage of people and robot, existing machine of sweeping the floor is made up
The various weakness of people, while user is conformed to the principle of simplicity to free in the multiple work of substance.
Robot system human-computer interaction described in embodiment, without map making, the work that can improve robot is imitated
Rate, while mitigate the live load of user, the intelligence of employment compensate for the technology limitation of robot in itself.
Mobile electronic device according to one embodiment include camera, wireless signal transceiver, processor and
Motion module, wherein the camera is configured to gather the depth distance information of image information and described image information；The nothing
Line signal transceiver is communicatively coupled to the camera, is configured to carry described image information and the depth distance information
Supply the second mobile electronic device, and receive the selected information to target from second mobile electronic device and follow
Range information, wherein second mobile electronic device selectes the mesh based on the image information and depth distance information received
Mark；The processor is communicatively coupled the wireless signal transceiver, be configured to the selected information, it is described follow away from
From information, described image information and the depth distance information, the fortune based on the target is calculated for the mobile electronic device
Dynamic information；And the motion module is communicatively coupled to the processor, it is configured to, according to the movable information, follow institute
Target is stated to be moved.
Alternatively, or in addition, the wireless signal transceiver, which is additionally configured to receive, comes from second mobile electronic device
Mission bit stream, the mission bit stream is used for the starting point for guiding the mobile electronic device to reach mission area；The processor
It is additionally configured to, is the fortune that the mobile electronic device sets the positional information for including the starting point according to the mission bit stream
Dynamic information；And the motion module is additionally configured to according to the movable information, follows the target to reach the mission area and rise
Initial point.
Alternatively, or in addition, mobile electronic device, in addition to memory, the memory are communicatively coupled to described
Processor, for storing the start point information and reaching the routing information of the starting point；The motion module is additionally configured to
According to the origin information and the routing information being stored in the memory, the mission area starting point is reached.
Alternatively, or in addition, wherein the wireless signal transceiver, which is additionally configured to receive, comes from second mobile electron
The mission bit stream of equipment, the mission bit stream be used for mission area is planned, wherein, the processor be additionally configured to receive come
The motion module is guided to be moved according to following either type from the instruction target of second mobile electronic device
Configured information, and the motion module is moved in a corresponding manner according to configured information：When the target is around described
When the edge of mission area is moved for one week, the motion module is configured as boundary entering within one week with the edge of the mission area
Row is moved to complete task；When diagonal motion of the target along the mission area, the motion module be configured as with
Rectangle corresponding to the diagonal is moved for boundary to complete to appoint；Or when target described in the processor None- identified
During path, the solstics that the motion module is configured as being identified according to the processor carries out sector region motion for radius.
Alternatively, or in addition, mobile electronic device also includes memory, and the memory is communicatively coupled to described
Processor, for the configured information and corresponding pattern information will to be stored；The motion module is additionally configured to basis and is stored in
The configured information and corresponding pattern information in the memory, are moved in the mission area.
Alternatively, or in addition, mobile electronic device also includes charging pile, wherein the charging pile includes the processor.
Alternatively, or in addition, mobile electronic device can also include sensor, and the sensor sets the mobile electron
The obstacle information of standby surrounding is sent to the processor, and the processor is additionally configured to adjust the fortune of the mobile electronic device
Dynamic orientation is with avoiding obstacles.
Alternatively, or in addition, the sensor includes ultrasonic sensor and/or laser sensor.
Using the scheme of embodiment, traditional robot needs can be avoided to sweep figure to progress SLAM in whole family room and built
Mould and the miscellaneous work for cleaning whole family's room area.
Brief description of the drawings
The detailed description that more complete understanding of the present utility model describes by referring to associated drawings is obtained, attached
Similar reference refers to similar part in figure.
Fig. 1 is shown according to where the mobile electronic device of one embodiment of the present utility model and the second mobile electronic device
The schematic diagram of system.
Fig. 2 shows the block diagram of the processor in the mobile electronic device according to one embodiment of the present utility model.
Fig. 3 is shown calculates angle (orientation) information according to the utilization triangle relation of one embodiment of the present utility model
Schematic diagram.
Fig. 4 shows the method flow diagram in mobile electronic device according to one embodiment of the present utility model.
Embodiment
Embodiment one
Fig. 1 shows the mobile electronic device of mobile electronic device 100 and second according to one embodiment of the present utility model
The schematic diagram of 120 place systems.
Reference picture 1, mobile electronic device 100 include but is not limited to sweeping robot, industrial automation robot, service type
Robot, Disaster Relief Robot of getting rid of the danger, underwater robot, robot for space, unmanned vehicle, automatic driving vehicle etc..
Second mobile electronic device 120 includes but is not limited to：Mobile phone, tablet personal computer, notebook computer, remote control etc..Move
Dynamic electronic equipment alternatively includes operation interface.In an optional embodiment, mobile electronic device is mobile phone, operates boundary
Face is cell phone application.
Signal transmission form between the mobile electronic device 120 of mobile electronic device 100 and second includes but is not limited to：It is blue
Tooth, WIFI, ZigBee, infrared, ultrasonic wave, UWB etc., retouched in the present embodiment so that signal transmission form is WIFI as an example
State.
As shown in figure 1, in one embodiment, mobile electronic device 100 includes camera 102, wireless signal transceiver
104th, processor 106 and motion module 108.Camera 102 is configured to gather the depth distance of image information and image information
Information.Camera 102 is for example, it may be depth (RGB-D) camera.The RGB-D cameras not only gather captured image
Colour element information, also shown in collection in image each pixel depth distance.
Camera 102 can be automatically turned on when mobile electronic device 100 is opened or, for example, by second movement
The user of electronic equipment 120 utilizes the second mobile electronic device 120, such as cell phone application to open the RGB- of mobile electronic device 100
D cameras 102.Range finder module inside camera 102 will enter to the depth distance of each pixel in image shown in camera lens
The quick measurement of row, and image information and depth distance information are passed in processor 104.The range finder module for example can be laser
Range finder module or infrared distance measurement module, etc..Processor 104 further comprises image processor and data processor, will
It is described in detail below in conjunction with Fig. 2.
Wireless signal transceiver 104 is communicatively coupled to camera 102, is configured to image information and depth distance letter
Breath is supplied to the second mobile electronic device 120.
Second mobile electronic device 120, such as mobile phone, receive the image information from mobile electronic device 100 and
After depth distance information, the content synchronization shown in RGB-D cameras 102 is included in mobile phone screen.Then, the second movement electricity
The user of sub- equipment 120 selects setting to need the target followed in mobile phone screen center, and according to depth distance information, by this target
Real-time range shown in screen.For example, the user user oneself that is shown in image information of selection is as target,
Namely the, it is necessary to object followed.User can control camera 102 to be directed at user oneself by APP, and frame is selected in mobile phone
The profile of oneself shown on APP, to complete to select.Then, APP is shown by the range information of the target of frame choosing, example in real time
Such as, according to the depth distance information of RGB-D cameras, the distance of target and mobile electronic device is 1.2 meters.This 1.2 meters in real time
Ground is shown in cell phone application.In addition, user can also set following distance information by mobile phone A pp.For example, mobile electron is set
Standby 100 to follow the distance of target be 1 meter, that is, alternatively, it is 1 meter that mobile electronic device 100, which follows the distance threshold of target,.
In the present embodiment, we illustrate by user of target.It will be understood by those skilled in the art that the target can also be another
Other vehicles such as one vehicle, bicycle, ship, or any visible and moveable object etc..
Mobile electronic device 100 receives the selected information and following distance to target from the second mobile electronic device 120
Information.Wherein as discussed above, the second mobile electronic device 120 is based on the image information selected target received.
Processor 106 is communicatively coupled to wireless signal transceiver 104 and camera 102, and processor 106 is configured to base
In to the selected information of target, following distance information, image information and depth distance information, calculated for mobile electronic device 100
Movable information based on target.
Fig. 2 shows the block diagram of the processor 106 in the mobile electronic device according to one embodiment of the present utility model.
As shown in Fig. 2 processor 106 includes image processor 2060 and data processor 2062.Alternatively, processor 106 also includes
Path planning module 2064, obstacle avoidance module 2066 and locating module 2068.Image processor 2060 is communicatively connected to image
First 102, it is configured to according to image information and depth distance information extraction clarification of objective information, according to characteristic information, locks mesh
Mark, and image information, depth distance information and characteristic information are sent to data processor 2062.Data processor 2062 can
Image processor 2060 is communicably connected to, is configured to clarification of objective information, image information and depth distance according to locking
Information, calculate the movable information based on target.The extraction of characteristics of image, it can use and be based on Scale invariant features transform (Scale
Invariant Feature Transform, SIFT) algorithm or accelerate robust feature (Speeded Up Robust
Features, SURF) algorithm progress.
Specifically, the object content selected frame is carried out Treatment Analysis, locking by the image processor 2060 in processor 106
The characteristics of image of the target followed.The characteristics of image can be calculated each pixel of selected target by image processor 2060
Mean depth range information obtains.For example, image processor 2060 calculates the average depth of each pixel of chosen user
Distance is spent, and ignores the depth distance of the background in image.Then, image processor 2060 is by characteristic information and the depth of target
Degree range information reaches data processor 2062.Data processor 2062 calculates the orientation for following target using triangle relation,
That is, angle information of the target relative to mobile electronic device 100.Then, data processor 2062 is by comparing real-time target
The depth distance of image and the threshold value of following distance, and what is calculated follow target bearing angle information, are path planning mould
Block 2064 provides mobile message.It is further described below in conjunction with acquisitions of the Fig. 3 to angle information and mobile message.
Fig. 3 is shown calculates angle (orientation) information according to the utilization triangle relation of one embodiment of the present utility model
Schematic diagram.Specifically, C points represent the position of camera.A points represent the position of the previous sampled point of target, and B points represent that target is moved
The position of latter sampled point after dynamic.By measure C points to the distance of A points, the distance of C points to B points, and A points to B points away from
From line segment AC to line segment BC angle information α can be obtained, namely follows the motion direction of target.Alternatively, as camera C
During point rotation, then phase compensation is carried out to angle information α, obtain the actual angular offset alpha between B points and A points '.Then, number
The angular offset alpha being calculated is obtained according to processor 2062 ', the mobile electronic device 100 and target extracted from image information
Between actual range, e.g. 1.2 meters, and 1 meter of depth distance threshold value.Data processor 2062 is based on above- mentioned information, is
Mobile electronic device 100 calculates the movable information based on target.For example, 1.2 meters of actual range is more than 1 meter of threshold distance, therefore,
Mobile electronic device 100 should be closelyed follow and moved with target.
Fig. 1 and Fig. 2 are back to below, and motion module 108 is communicatively coupled to processor 106, is configured to according to motion
Information, the target is followed to be moved.For example, data processor 2062 in processor 106 is by mobile electronic device 100
Movable information is supplied to path planning module 2064, and path planning module 2064 indicates that motion module 108 improves speed, so as to subtract
The distance between small and target, for example, the distance reduced is 0.2 meter.
In the moving process of follow-up mobile electronic device 100, image processing module 2060 constantly utilizes camera 102
Find and locking frame selects target, adjust movement velocity, the direction of itself, to realize following in real time to target.
Alternatively, mobile electronic device 100 also includes encoder 114, for recording the interior of mobile electronic device in real time
Positional information, for example, the position of relative starting point charging pile 140, and after terminating to follow task, auto-returned charging pile 140
Await orders.In addition, encoder 114 is used as odometer, by the rotation information of recorder people's wheel, come what calculating robot passed by
Track.In addition, the locating module 2068 in mobile electronic device 100 realizes local positioning, i.e. the moment of the first mobile device 100
The relative position of oneself and the second mobile device 120 is determined, it is original during such as dropout, avoidance etc., to return to
The relative position of setting.
Alternatively, mobile electronic device 100 also includes sensor 112.Sensor 112 for example can be sonac or
Person's laser sensor.In addition, processor 106 also includes obstacle avoidance module 2066.In operation, obstacle avoidance module 2066 is according to ultrasonic wave
The data of sensor and laser sensor calculate obstacle information, and reach path planning module 2064.With reference to following target
Distance, path planning module meter 2064 calculate it is optimal follow path, then pass through shifting of the motion module 108 to mobile electronic device
It is dynamic to make control.Image processor 2060 is constantly found and locked in frame choosing using camera in subsequent robot's moving process
Hold, to realize following in real time to target.
Mobile electronic device can use one of a variety of following algorithms, follow target.Above-mentioned following algorithm includes but unlimited
In correlation filtering (Kernel Correlation filter, KCF), mean shift algorithm, (Mean Shift, MS calculations
Method), optical flow method (Optical Flow, OF algorithm), Kalman filtering algorithm (Kalman Filter, KF algorithm) and particle
Filtering algorithm (Particle Filter, PF algorithm) etc..
Alternatively, or in addition to, mobile electronic device 100 also includes charging pile 140, and wherein charging pile 140 includes processing
Device 106.That is, the function of processor 106 can be integrated in charging pile.
Signal transmission form between mobile electronic device 100 and charging pile 140 includes but is not limited to：Bluetooth, WIFI,
ZigBee, infrared, ultrasonic wave, UWB etc., optional signal transmission form are bluetooths.
Embodiment two
Embodiment two discloses guides the path of the arrival mission area starting point of mobile electronic device 100 to draw by man-machine interaction
The example led.
First, wireless signal transceiver 104 receives the mission bit stream from the second mobile electronic device 120.The task is believed
Cease the starting point for guiding mobile electronic device 100 to reach mission area.Then processor 106 is always according to the mission bit stream
Mobile electronic device 100 sets the movable information for the positional information for including starting point.Motion module 108 is according to from processor
106 movable information, target is followed to reach mission area starting point.
Alternatively, mobile electronic device 100 also includes memory 110.Memory 110 is communicatively coupled to processor
106 and motion module 108, for storing start point information and following target to reach the routing information of starting point.Motion module 108
It is additionally configured to, according to the origin information and routing information being stored in memory 110, reach mission area starting point.
For example, it is sweeping robot with mobile electronic device 100, the second mobile electronic device 120 is mobile phone, and task is clear
Sweep and illustrate exemplified by task.Those skilled in the art will be understood that mobile electronic device 100 is not limited to sweeping robot, the
Two mobile electronic devices 120 are also not necessarily limited to mobile phone, and task is also not necessarily limited to the cleaning task being mentioned below or walking task
Deng.When carrying out the task of Route guiding, the user of mobile phone can be waken up by gesture, voice wakes up, APP wakes up, fuselage is pressed
The modes such as key wake-up inform that sweeping robot will carry out Route guiding study.After sweeping robot is ready, Yong Huyin
The mission area that sweeping robot moves towards different respectively, such as parlor, kitchen, bedroom 1, bedroom 2 etc. are led, and carries out region division and draws
Lead.When user guides sweeping robot to reach first mission area starting point, starting point is generally parlor entrance, kitchen
Entrance, bedroom entrance etc., the path planning module 2064 of sweeping robot record this mission area initial point position information, and
Reach the path of this mission area starting point.It is above-mentioned to guide the lower Path selection reached to avoid tradition by target, namely by user
Sweeping robot need to sweep numerous and diverse work that figure models and clean whole family's room area to carrying out SLAM in whole family room
Make.
In starting point, robot is by by the RGB-D camera identification missions region starting point entrained by fuselage, such as sleeping
Room doorway, and confirmed with user.User can be confirmed by user gesture, voice, fuselage button or APP.In addition, appoint
Business area's starting point also can directly be set by Man Machine Interface by user by APP.
Embodiment three
Embodiment three discloses the example for guiding mobile electronic device 100 to carry out regional planning guiding by man-machine interaction.
First, wireless signal transceiver 104 receives the mission bit stream from the second mobile electronic device 120, task letter
Cease for planning mission area.Processor 106 receives the instruction target from the second mobile electronic device 120 according to following
The configured information that either type guided-moving module 108 is moved, and motion module 108 is according to configured information, with corresponding
Pattern is moved：Work as target, such as when user is moved for one week around the edge of mission area, motion module 108 is configured
To be that boundary is moved to complete task with the edge one week of the mission area；Alternatively, target is worked as, such as user is along mission area
Diagonal motion when, motion module 108 be configured as using the rectangle corresponding to diagonal as boundary moved with complete appoint
Business；Or alternatively, when the path of the None- identified target of processor 106, motion module 108 is configured as according to processor 106
The solstics of identification is that radius carries out sector region motion to complete task.
Alternatively, mobile electronic device 100 also includes memory 110, and memory 110 is communicatively coupled to processor
106 and motion module 108, for storing configured information and corresponding pattern information；Motion module 108 is additionally configured to according to storage
In the configured information in memory 110 and corresponding pattern information, moved in mission area.
For example, it is sweeping robot with mobile electronic device 100, the second mobile electronic device 120 is mobile phone, and task is clear
Sweep and illustrate exemplified by task.Those skilled in the art will be understood that mobile electronic device 100 is not limited to sweeping robot, the
Two mobile electronic devices 120 are also not necessarily limited to mobile phone, and task is also not necessarily limited to the cleaning task being mentioned below.First, the user of mobile phone
Guided robot is entered into mission area, planning is guided to the mission area, and named by App for the region, mission area
The concrete mode of planning and guidance will illustrated subsequently.After the completion for the treatment of this mission area Route guiding and regional planning guiding, use
Family can continue to lead robot to next task area, carry out the guiding in path and region again, and name.User can establish
Multiple tasks area, after the completion of being guided when all mission areas, the cleaning task of robot afterwards can order according to the cleaning of user
Order voluntarily reaches mission area starting point and started working, and is guided again without user.
When carrying out mission area planning and guidance, user can pass by different paths to carry out mission area rule with guided robot
Draw.Such as：Around task area edge one week clearly to mark off the region for needing to clean；Directly diagonally, from mission area
Initial point moves towards mission area distalmost end, and automatic decision is gone out this diagonal maximum rectangular extent that may be present as task by robot
Area；Or can not be identified well by robot and when establishing mission area in the path of user's walking, robot will be by identifying
The solstics that is reached of user carry out sector region cleaning for radius.User can be by above-mentioned after the completion of task Division
Man Machine Interface preserves task and reused.For example, user can select on the APP of the second mobile electronic device 120
Mobile electronic device should be with which kind of Pattern completion task.For example, it can be shown on the APP of the second mobile electronic device 120
At least Three models：Closed mode, diagonal model and radial mode in edge one week.Mobile electronic device 120 according to
Pattern selected by family, carry out corresponding cleaning modes.
In addition, user can also set cleaning frequency respectively for different task area, also task can be cleaned every time setting
When choose one or more mission areas.Robot can go to purging zone to carry out by contexture by self in any manner known in the art
Clean, or planned multiple different destinations according to real-time indoor arrangement by user, robot is made with optimal by human intervention
Move in path.
Alternatively, or in addition to, purging zone can be any shape that the position based on mobile electronic device determines
And scope.For example, purging zone can be the border circular areas centered on the position of mobile electronic device, the radius in the region can
To be such as 0.1-10 rice, such as 0.5-5 rice, preferably 1 meter；For example, purging zone can be the rectangular area of the different length of sides；With
Family can arbitrarily set the shape of purging zone and scope by mobile electronic device.For different mobile electronic devices
Position, the shape and scope of different purging zones can be set.
In one embodiment, purging zone is what the position based on second mobile electronic device determined.
In another embodiment, purging zone is that the position based on multiple second mobile electronic devices determines, this
When intelligent charging spot 140 can be generated to clean task path and send to robot, robot according to all positional informations and press this road
Footpath is cleaned.
In another embodiment, purging zone is the continuous moving track of the position based on the second mobile electronic device
Determine, now the second mobile electronic device continuously sends out the wireless signal of the position with mobile electronic device, and robot can
To postpone or keep the rule of a certain distance, continuous motion track is formed according to these wireless signals received, in movement
During to along road ground carry out predetermined amplitude cleaning.The distance can be such as 0.1-5 rice, such as 0.5-2 rice, preferably
1 meter.For example, robot is moved with certain left front right preceding angle of S types.This process need not rely on map, can taking human as programme path or
Pro-active intervention is to avoid fixed or movable barrier, such as moves the furniture that may be bumped against on path.When the second mobile electron
When equipment stops movement and still sends wireless signal, it is repeatedly clear that robot can change motion track centered on radio signal source
Current region is swept, such as pitch of the laps movement is done by certain radius around radio signal source.
In one embodiment, sweeping robot can also include sensor and motion-control module.Sensor include but
It is not limited to ultrasonic sensor and laser sensor.In one embodiment, the sensor in sweeping robot is by sweeper
Obstacle information around device people is sent to motion-control module, adjusts the motion orientation avoiding obstacles of sweeping robot.
Example IV
Fig. 4 shows the method flow diagram in mobile electronic device according to one embodiment of the present utility model.
The mobile electronic device 100 includes camera 102, wireless signal transceiver 104, processor 106 and motion mould
Block 108.This method 400 is included in block 410, and the depth of image information and described image information is gathered by the camera 102
Spend range information；In block 420, will by being communicatively coupled to the wireless signal transceiver 104 of the camera 102
Described image information and the depth distance information are supplied to the second mobile electronic device, in block 430, receive from described the
The selected information and following distance information to target of two mobile electronic devices, wherein second mobile electronic device is based on institute
The image information and depth distance information of reception select the target；In block 440, by being communicatively coupled the wireless communication
The processor 106 of number transceiver 104 and the camera 102 is based on the selected information, the following distance information, institute
Image information and the depth distance information are stated, the movable information based on the target is calculated for the mobile electronic device；With
And in block 450, by being communicatively coupled to the motion module 108 of the processor 106, believed according to the motion
Breath, follows the target to be moved.
Alternatively, method 400 also includes (not shown) by the wireless signal transceiver 104 reception from described
The mission bit stream of second mobile electronic device, the mission bit stream are used to guide the mobile electronic device to reach rising for mission area
Initial point；By the processor 106 according to the mission bit stream, being set for the mobile electronic device includes the starting point
The movable information of positional information；And the target is followed to reach institute according to the movable information by the motion module 108
State mission area starting point.
Alternatively, the mobile electronic device also includes being communicatively coupled to the processor 106 and the motion mould
The memory 110 of block 108, method 400 also include (not shown)：By the memory 110, the starting point letter is stored
Cease and reach the routing information of the starting point；By the motion module 108, according to being stored in the memory 110
The origin information and the routing information, reach the mission area starting point.
Alternatively, method 400 also includes (not shown)：By the wireless signal transceiver 104, reception comes from institute
The mission bit stream of the second mobile electronic device is stated, the mission bit stream is used to plan mission area, passes through the processor
106, receive the instruction target from second mobile electronic device and guide the motion mould according to following either type
The configured information that block is moved, and the motion module 108 is moved in a corresponding manner according to configured information：Work as institute
When stating target and being moved within one week around the edge of the mission area, the motion module 108 is configured as with the mission area
Edge one week be that boundary is moved to complete task；It is described when diagonal motion of the target along the mission area
Motion module 108 is configured as being moved to complete task using the rectangle corresponding to the diagonal as boundary；Or when described
Described in the None- identified of processor 106 during the path of target, the motion module 108 is configured as being known according to the processor 106
Other solstics is that radius carries out sector region motion to complete task.
Alternatively, mobile electronic device also includes the storage for being communicatively coupled to the processor and the motion module
Device 110.Method 400 also includes (not shown)：By the memory 110, the configured information and corresponding mould are stored
Formula information；By the motion module, according to the configured information and corresponding mould being stored in the memory 110
Formula information, moved in the mission area.
Alternatively, processor also includes image processor 2060 and data processor 2062, wherein described image processor
2060 are communicatively connected to the camera 102, and the data processor 2062 is communicatively connected to described image
Processor 2060.Method 400 also includes (not shown)：According to described image information and the depth distance information extraction institute
State clarification of objective information, according to the characteristic information, lock the target, and by described image information, the depth away from
The data processor 2062 is sent to from information and the characteristic information；According to the characteristic information of the target of locking, institute
Image information and the depth distance information are stated, calculates the movable information based on target.
Alternatively mobile electronic device also includes charging pile 140, wherein the charging pile 140 includes the processor 106.
Alternatively, mobile electronic device can also include sensor, and method 400 also passes through the biography including (not shown)
Sensor, the obstacle information around the mobile electronic device is sent to the processor；And by the processor, adjust
The motion orientation of the whole mobile electronic device is with avoiding obstacles.
Alternatively, sensor described in mobile electronic device includes ultrasonic sensor and/or laser sensor.
In description above, the utility model is described by reference to specific illustrative embodiment；However, it should manage
Solution, in the case where not departing from the scope of the utility model described in this paper, can carry out various modifications and variations.Specification
It should treat in an exemplary fashion with accompanying drawing, rather than it is restricted, and all such modifications are intended to be included in this reality
With in new scope.Therefore, the scope of the utility model should by general embodiments as described herein and its legal equivalents and
It is not only to be determined by above-mentioned specific embodiment.For example, the step of described in any method or process embodiments, can be with any suitable
Sequence performs, and is not limited to the clear and definite order presented in a particular embodiment.In addition, the portion described in any device embodiment
Part and/or element can be assembled with various arrangements or otherwise operatively configured, essentially identical with the utility model to produce
Result, therefore be not limited to the concrete configuration described in specific embodiment.
The solution of benefit, other advantages and problem is described on specific embodiment above；However, any benefit
The solution at place, advantage or problem, or any particular benefits, advantage or scheme can be caused to occur or become more apparent upon any
Element is not necessarily to be construed as key, required or basic feature or part.
As it is used herein, term " comprising ", "comprising" or its any modification are intended to quote including for nonexcludability, make
Process, method, article, composition or the device of element list, which must be included, not only includes those described elements, and can also
Including not expressly listed or intrinsic main process, method, article, composition or device.Except that being not specifically delineated
Outside a little, the said structure, layout, application, ratio, element, material or the part that are used in practice of the present utility model its
It is combined and/or modification can be changed, or otherwise especially suitable for specific environment, manufacture specification, design ginseng
Number or other operations require, without departing from its substantially principle.
Although describing the utility model by reference to some preferred embodiments herein, those skilled in the art will hold
It is readily understood, in the case where not departing from spirit and scope of the present utility model, other application can substitute it is described in this paper that
A bit.Therefore, the utility model is only limited by following claims.
Claims (9)
1. a kind of mobile electronic device, including camera, wireless signal transceiver, processor and motion module, wherein：
The camera is configured to gather the depth distance information of image information and described image information；
The wireless signal transceiver is communicatively coupled to the camera, is configured to described image information and the depth
Range information is supplied to the second mobile electronic device, and receives being selected to target from second mobile electronic device
Information and following distance information, wherein second mobile electronic device selectes the target based on the image information received；
The processor is communicatively coupled to the wireless signal transceiver and the camera, is configured to described selected
Information, the following distance information, described image information and the depth distance information, base is calculated for the mobile electronic device
In the movable information of the target；And
The motion module is communicatively coupled to the processor, is configured to, according to the movable information, follow the target
Moved.
A kind of 2. mobile electronic device according to claim 1, wherein the wireless signal transceiver is additionally configured to receive
Mission bit stream from second mobile electronic device, the mission bit stream are used to guide the mobile electronic device arrival to appoint
The starting point in business area；
The processor is additionally configured to, and according to the mission bit stream, being set for the mobile electronic device includes the starting point
Positional information movable information；And
The motion module is additionally configured to according to the movable information, follows the target to reach the mission area starting point.
3. a kind of mobile electronic device according to claim 2, in addition to memory,
The memory is communicatively coupled to the processor and the motion module, for store the start point information and
Reach the routing information of the starting point；
The motion module is additionally configured to according to the start point information and the routing information being stored in the memory,
Reach the mission area starting point.
A kind of 4. mobile electronic device according to claim 1, wherein the wireless signal transceiver is additionally configured to receive
Mission bit stream from second mobile electronic device, the mission bit stream be used for mission area is planned, wherein,
The processor is additionally configured to receive the instruction target from second mobile electronic device according to following any
Mode guides the configured information that the motion module is moved, and the motion module is according to configured information, with corresponding mould
Formula is moved：
When the target is moved for one week around the edge of the mission area, the motion module is configured as with described
Moved for boundary to complete task within one week at the edge in business area；
When diagonal motion of the target along the mission area, the motion module is configured as right with diagonal institute
The rectangle answered is that boundary is moved to complete task；Or
When the path of target described in the processor None- identified, the motion module is configured as being known according to the processor
Other solstics is that radius carries out sector region motion to complete task.
5. a kind of mobile electronic device according to claim 4, in addition to memory,
The memory is communicatively coupled to the processor and the motion module, for storing the configured information and phase
The pattern information answered；
The motion module is additionally configured to according to the configured information and the corresponding pattern being stored in the memory
Information, moved in the mission area.
6. a kind of mobile electronic device according to claim 1, wherein, the processor also includes image processor sum
According to processor, wherein
Described image processor is communicatively connected to the camera, is configured to
According to clarification of objective information described in described image information and the depth distance information extraction,
According to the characteristic information, the target is locked, and
Described image information, the depth distance information and the characteristic information are sent to the data processor；
The data processor is communicatively connected to described image processor, is configured to the feature of the target according to locking
Information, described image information and the depth distance information, calculate the movable information based on target.
7. a kind of mobile electronic device according to any one of claim 1-6, in addition to charging pile, wherein the charging
Stake includes the processor.
8. a kind of mobile electronic device according to any one of claim 1-6, it can also include sensor, the sensor
Obstacle information around the mobile electronic device is sent to the processor, the processor and is additionally configured to described in adjustment
The motion orientation of mobile electronic device is with avoiding obstacles.
9. a kind of mobile electronic device according to claim 8, the sensor includes ultrasonic sensor and/or laser
Sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720674632.5U CN207051738U (en) | 2017-06-12 | 2017-06-12 | A kind of mobile electronic device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720674632.5U CN207051738U (en) | 2017-06-12 | 2017-06-12 | A kind of mobile electronic device |
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| CN207051738U true CN207051738U (en) | 2018-02-27 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108459594A (en) * | 2017-06-12 | 2018-08-28 | 炬大科技有限公司 | A kind of method in mobile electronic device and the mobile electronic device |
| CN108634874A (en) * | 2018-05-11 | 2018-10-12 | 南京华捷艾米软件科技有限公司 | Sweeping robot and its cleaning method |
| WO2019001237A1 (en) * | 2017-06-30 | 2019-01-03 | 炬大科技有限公司 | Mobile electronic device, and method in mobile electronic device |
| CN110612492A (en) * | 2018-06-20 | 2019-12-24 | 灵动科技（北京）有限公司 | Self-driven unmanned mower |
| CN113467448A (en) * | 2018-06-07 | 2021-10-01 | 科沃斯机器人股份有限公司 | Fixed-point working method, self-moving robot and storage medium |
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2017
- 2017-06-12 CN CN201720674632.5U patent/CN207051738U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108459594A (en) * | 2017-06-12 | 2018-08-28 | 炬大科技有限公司 | A kind of method in mobile electronic device and the mobile electronic device |
| WO2018228254A1 (en) * | 2017-06-12 | 2018-12-20 | 炬大科技有限公司 | Mobile electronic device and method for use in mobile electronic device |
| WO2019001237A1 (en) * | 2017-06-30 | 2019-01-03 | 炬大科技有限公司 | Mobile electronic device, and method in mobile electronic device |
| CN108634874A (en) * | 2018-05-11 | 2018-10-12 | 南京华捷艾米软件科技有限公司 | Sweeping robot and its cleaning method |
| CN113467448A (en) * | 2018-06-07 | 2021-10-01 | 科沃斯机器人股份有限公司 | Fixed-point working method, self-moving robot and storage medium |
| CN110612492A (en) * | 2018-06-20 | 2019-12-24 | 灵动科技（北京）有限公司 | Self-driven unmanned mower |
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