CN103884272B - A kind of object space determines method, device and mobile electronic device - Google Patents
A kind of object space determines method, device and mobile electronic device Download PDFInfo
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- CN103884272B CN103884272B CN201210560939.4A CN201210560939A CN103884272B CN 103884272 B CN103884272 B CN 103884272B CN 201210560939 A CN201210560939 A CN 201210560939A CN 103884272 B CN103884272 B CN 103884272B
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Abstract
This application discloses a kind of object space and determine method, device and mobile electronic device, utilize the secondary light source of mobile electronic device, the triangle relation that photographing module and target object three are constituted determines the position of target object, photographing module is specifically utilized to obtain the multiple images comprising target object, and the position one_to_one corresponding of the plurality of image and photographing module and secondary light source, projected the relative position relation of the hot spot on target object and the vertical direction center line of image by secondary light source in relatively more the plurality of image, determine the position of target object, this kind determines that the mode of target object is not affected by ambient, and, the distance between mobile electronic device and target object can be accurately detected, solve the problem when mobile electronic device takes grasping movement.
Description
Technical field
The application relates to vision mobile electronic device technical field, particularly relates to a kind of object space and determines
Method, device and mobile electronic device.
Background technology
With developing rapidly of mobile electronic device technology, a lot of things can be done by mobile electronic device,
Mobile electronic device research in, it is judged that the mechanical arm of mobile electronic device or mobile electronic device with
Distance between target object is very important problem, especially mobile electronic device or mobile electron
When the mechanical arm of equipment and target object are in short-range, it is judged that whether mobile electronic device is close
Target object is unusual stubborn problem, since it is desired that according to the mechanical arm of mobile electronic device and target
Distance between object determines whether to capture.
In the scheme of existing mobile electronic device detecting distance, some uses Kinect, and (Kinect is Microsoft
The title to XBOX360 body-sensing periphery peripheral hardware on June 14th, 2010, uses and launches infrared structure light
Mode carry out junior range) realize, but when in the range of 50cm, Kinect lost efficacy；Laser ranging mode,
Due to laser detector bulky, it is impossible to be installed on the small and exquisite gripper of manipulator of mobile electronic device,
Therefore, it is impossible to be used on mobile electronic device.
Therefore, existing technical scheme uses camera to solve this problem, specifically judges mobile electronic device
Or the mode of the distance between the mechanical arm of mobile electronic device and target object is: good at ambient
In the case of good, the mode utilizing camera whether to be capable of auto-focusing judges, this kind of mode is to external world
Light dependence is strong, and judges that speed is slow；
To sum up, existing judgement mobile electronic device or the mechanical arm of mobile electronic device and target object
Between the mode of distance affected greatly by light, speed is slow.
Content of the invention
For solving above-mentioned technical problem, the embodiment of the present application provides a kind of object space to determine method and application
The mobile electronic device of the method, to solve between existing judgement mobile electronic device and target object
Distance is affected greatly by light, and judges slow-footed problem, and technical scheme is as follows:
The application provides a kind of object space to determine method, is applied to mobile electronic device, described mobile electricity
Subset includes: photographing module, secondary light source, and described method includes:
When described photographing module obtain comprise the image of target object when, photographing module described in adjusted in concert and
The position of described secondary light source, and the relative position relation of described camera and described secondary light source is constant；
Utilize described photographing module obtain comprise target object multiple images, the plurality of image with described
The positional information one_to_one corresponding of photographing module and described secondary light source；
Obtain the hot spot that secondary light source described in the plurality of image projects on described target object with described
The relative position relation of the vertical direction center line of image；
Relative position according to the hot spot on described target object and the vertical direction center line of described image
Relation, determines the position of target object.
Preferably, the described vertical direction center line according to the hot spot on described target object and described image
Relative position relation, determine that the position of target object is:
When the hot spot on described target object overlaps with described vertical direction center line, show described target
Distance between object and described mobile electronic device reaches threshold distance；
It when the hot spot on described target object and described secondary light source, is positioned at described vertical direction center line same
Side, shows that the distance between described target object and described mobile electronic device is less than threshold distance；
When the hot spot on described target object and described secondary light source, lay respectively at described vertical direction center
Line both sides, show that the distance between described target object and described mobile electronic device is more than threshold distance.
Preferably, by changing the angle of described secondary light source, described threshold distance is changed.
Preferably, above-mentioned object space determines that method also includes: according to described photographing module vertical in
Distance between heart line and the vertical center line of described secondary light source, and described threshold distance, determine institute
State the crevice projection angle of secondary light source.
Preferably, above-mentioned object space determines that method also includes: utilize the hot spot on described target object
With the relative movement relation of described vertical direction center line, determine described target object and described mobile electron
The relative motion relation of equipment, particularly as follows:
When the hot spot on described target object and described secondary light source, lay respectively at taking the photograph of described photographing module
Take the both sides of the vertical center line of picture, and described target object is to the direction near described vertical center line
Mobile, show described mobile electronic device near described target object；
When the hot spot on described target object and described secondary light source are positioned at the picked-up picture of described photographing module
The both sides of vertical center line, and described target object moves to the direction away from described vertical center line,
Show described mobile electronic device away from described target object；
When the described hot spot stated on target object and described secondary light source are positioned at the picked-up picture of described photographing module
The homonymy of the vertical center line in face, and described target object moves near the direction of described vertical center line,
Show described mobile electronic device away from described target object；
When the hot spot on described target object and described secondary light source are positioned at the picked-up picture of described photographing module
The homonymy of vertical center line, and described target object moves to the direction away from described vertical center line,
Show described mobile electronic device near described target object.
Preferably, when the described image obtaining when described photographing module comprises target object, take the photograph described in regulation
As the position of module and described secondary light source includes:
Regulate described photographing module and described secondary light source around the image manifesting planes of described photographing module
Vertical direction center line rotates, around the vertical direction center line rotation of described image manifesting planes, and
Move forward and backward described photographing module and secondary light source relative to described target object.
The application also provides a kind of object space to determine device, is applied to mobile electronic device, described movement
Electronic equipment includes: the photographing module being generally aligned in the same plane and secondary light source, comprising: adjustment module, obtain
Delivery block and the first determining module, wherein:
Described adjustment module, for when described photographing module obtains the image comprising target object, synchronizing
Regulate described photographing module and the position of described secondary light source, and described camera and described secondary light source
Relative position relation is constant；
Described acquisition module, for obtain described photographing module obtain comprise the multiple of described target object
In image, described secondary light source projects the vertical direction of the hot spot on described target object and described image
The relative position relation of center line, and the plurality of image and described photographing module and described secondary light source
Positional information one_to_one corresponding；
Described first determining module, vertical for according to the hot spot on described target object and described image
The relative position relation of direction center line, determines the position of described target object.
Preferably, described first determining module specifically for:
When the hot spot on described target object overlaps with described vertical direction center line, show described target
Distance between object and described mobile electronic device reaches threshold distance；
It when the hot spot on described target object and described secondary light source, is positioned at described vertical direction center line same
Side, shows that the distance between described target object and described mobile electronic device is less than threshold distance；
When the hot spot on described target object and described secondary light source, lay respectively at described vertical direction center
Line both sides, show that the distance between described target object and described mobile electronic device is more than threshold distance.
Preferably, above-mentioned object space determines that device also includes:
Second determining module, for according to described photographing module camera picture vertical center line with described
Distance between the vertical center line of secondary light source, and described threshold distance, determine described secondary light source
Crevice projection angle.
Preferably, above-mentioned object space determines that device also includes:
3rd determining module, is used for relative with described secondary light source according to the hot spot on described target object
Mobile relation, determines the relative motion relation of described target object and described mobile electronic device, specifically wraps
Include:
When the hot spot on described target object and described secondary light source, lay respectively at taking the photograph of described photographing module
Take the both sides of the vertical center line of picture, and described target object is to the direction near described vertical center line
Mobile, show described mobile electronic device near described target object；
When the hot spot on described target object and described secondary light source are positioned at the picked-up picture of described photographing module
The both sides of vertical center line, and described target object moves to the direction away from described vertical center line,
Show described mobile electronic device away from described target object；
When the described hot spot stated on target object and described secondary light source are positioned at the picked-up picture of described photographing module
The homonymy of the vertical center line in face, and described target object moves near the direction of described vertical center line,
Show described mobile electronic device away from described target object；
When the hot spot on described target object and described secondary light source are positioned at the picked-up picture of described photographing module
The homonymy of vertical center line, and described target object moves to the direction away from described vertical center line,
Show described mobile electronic device near described target object.
Preferably, described adjustment module specifically for: regulate described photographing module and described secondary light source enclose
Vertical direction center line around the image manifesting planes of described photographing module rotates, and shows around described image
The vertical direction center line of plane rotates, and moves forward and backward described shooting mould relative to described target object
Block and secondary light source.
The application also provides a kind of mobile electronic device, it is characterised in that include: above-mentioned object space
Determine device, photographing module and secondary light source, wherein:
Described photographing module, is used for obtaining image；
Described secondary light source, for target object throw light, in order to obtain on described target object
Hot spot.
Preferably, described secondary light source is LASER Light Source, and described photographing module is inside mobile electronic device
Camera.
The technical scheme being provided from above the embodiment of the present application, described object space determines method, dress
Put and mobile electronic device, utilize secondary light source, photographing module and the target object three of mobile electronic device
The triangle relation that person is constituted determines the position of target object, specifically utilizes photographing module to obtain and comprises object
Multiple images of body, and the plurality of image and the position one_to_one corresponding of photographing module and secondary light source, lead to
Cross the vertical direction of the hot spot that in more the plurality of image, secondary light source projects on target object and image
The relative position relation of center line, determines the position of target object, and this kind determines the mode of target object
Do not affected by ambient, furthermore, it is possible to be accurately detected between mobile electronic device and target object
Distance whether in the threshold range that can capture, solve when mobile electronic device is taked to capture dynamic
The problem made.
Brief description
In order to be illustrated more clearly that the embodiment of the present application or technical scheme of the prior art, below will be to reality
The accompanying drawing executing required use in example or description of the prior art is briefly described, it should be apparent that below,
Accompanying drawing in description is only some embodiments described in the application, for those of ordinary skill in the art
From the point of view of, on the premise of not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 a is the schematic flow sheet that a kind of object space of the embodiment of the present application determines method；
Fig. 1 b is the application target object positioning principle schematic diagram；
Fig. 1 c is that between the mobile electronic device shown in Fig. 1 b and target object, relative position relation is imaging mould
The display situation of the camera picture of block；
Fig. 2 is the schematic flow sheet that the another kind of object space of the embodiment of the present application determines method；
Fig. 3 is the schematic flow sheet that the another kind of object space of the embodiment of the present application determines method；
Fig. 4 is the schematic flow sheet that the another kind of object space of the embodiment of the present application determines method；
Fig. 5 is the structural representation that a kind of object space of the embodiment of the present application determines device；
Fig. 6 is the structural representation that the another kind of object space of the embodiment of the present application determines device；
Fig. 7 is the structural representation that the another kind of object space of the embodiment of the present application determines device.
Detailed description of the invention
For the technical scheme making those skilled in the art be more fully understood that in the application, below in conjunction with
Accompanying drawing in the embodiment of the present application, clearly and completely retouches to the technical scheme in the embodiment of the present application
State, it is clear that described embodiment is only some embodiments of the present application, rather than whole enforcement
Example.Based on the embodiment in the application, those of ordinary skill in the art are not before making creative work
Put the every other embodiment being obtained, all should belong to the scope of the application protection.
Referring to Fig. 1 a, showing that a kind of object space determines the schematic flow sheet of method, described method should
For mobile electronic device, described mobile electronic device includes: photographing module and secondary light source.
Described object space determines that method comprises the following steps:
101, when described photographing module obtain comprise the image of target object when, regulate described photographing module and
The position of described secondary light source.
When described photographing module obtains bag target object in image, regulation photographing module and secondary light source
Position, specifically can be around the vertical direction center line of the image manifesting planes of described photographing module, described figure
As the vertical direction center line of display plane rotates and movable relative to described target object described
Photographing module and secondary light source.
It should be noted that must photographing module and secondary light source described in synchronizing moving, and the two is relative
Position relationship can not change.
102, utilize described photographing module to obtain the multiple images comprising target object；The plurality of image with
The positional information one_to_one corresponding of described photographing module and described secondary light source.
Every time behind the position of regulation photographing module and secondary light source, all utilize photographing module to obtain and comprise target
The image of object, the multiple image obtaining and described photographing module and the positional information one of described secondary light source
One is corresponding.
103, obtain the hot spot that secondary light source described in the plurality of image projects on described target object with
The relative position relation of the vertical direction center line of described image.
When secondary light source projects on target object, and when producing hot spot on described target object, pass through
Photographing module obtains the image comprising target object, the target object in image comprises described hot spot, obtains
Take the relative position of the vertical center line with the image of described photographing module display picture for the hot spot described in image
Relation.
104, according to relative position relation, determine the position of target object.
When the position of target object or mobile electronic device changes, secondary light source is irradiated to described mesh
The position of the hot spot on mark object also can change, and then, on the image display picture of photographing module
Vertical direction center line and on described image display picture the relative position of shown hot spot also will
Change, therefore, by judging the relative position relation of described center line and described hot spot, can be true
Make the position of target object.
Refer to Fig. 1 b, show target object triangle polyester fibre principle schematic, as it can be seen, mobile electricity
Between subset (photographing module 110 i.e. in figure and the position of secondary light source 120) and target object
Threshold distance is Lm, adjusts the crevice projection angle of secondary light source 120 so that the emergent light of secondary light source 120
The intersection point of line and center line is Lm to the distance of photographing module 110, now, if target object 130 and shifting
When distance between dynamic electronic equipment reaches described threshold distance, secondary light source 120 projects target object
Center line OO just and in figure for the hot spot on 1301Overlap.Therefore, it can according to target object 130
On hot spot and center line between relative position relation judge the position of target object.
Accordingly, refer to Fig. 1 c, show the phase of the mobile electronic device shown in Fig. 1 b and target object
Display situation to the camera picture at photographing module for the position relationship.
Distance between target object shown in Fig. 1 b and mobile electronic device is more than described threshold distance, as
Fig. 1 c understands, on the camera picture 100 of photographing module, secondary light source 120 projects target object 130
On hot spot and secondary light source 120 lay respectively at vertical center line OO in figure1Both sides.It follows that
Distance between target object and mobile electronic device and the position of the hot spot in camera picture and vertical center line
Put and there is corresponding relation, therefore, it can be judged by the image that photographing module obtains the position of target object.
If it should be noted that photographing module obtain image in target object on there is no secondary light source institute
Produce hot spot, show the distance between target object and mobile electronic device be far longer than described threshold value away from
From.
The object space that the present embodiment provides determines method, utilizes the secondary light source of mobile electronic device, takes the photograph
As the triangle relation of module and target object three composition determines the position of target object, concrete utilization images
Module obtains the multiple images comprising target object, and the plurality of image and photographing module and secondary light source
Position one_to_one corresponding, project the light on target object by secondary light source in relatively more the plurality of image
Spot and the relative position relation of the vertical direction center line of image, determine the position of target object, this kind
Determine that the mode of target object is not affected by ambient, furthermore, it is possible to be accurately detected mobile electron
Distance between equipment and target object, solves the problem when mobile electronic device takes grasping movement.
Refer to Fig. 2, show that the another kind of object space of the embodiment of the present application determines the flow process signal of method
Figure, described method is applied to mobile electronic device, and described mobile electronic device includes photographing module, auxiliary
Light source.
Described object space determines that method comprises the following steps:
201, regulate described photographing module and the position of described secondary light source；
When being embodied as, when described photographing module acquisition image comprises target object, regulate described shooting
Module and the position of described secondary light source.
202, utilize described photographing module to obtain the multiple images comprising target object；Wherein, described image
Position one_to_one corresponding with described photographing module and described secondary light source.
203, obtain the hot spot in the plurality of image and the center line of the vertical direction of described photographing module
Relative position relation；Wherein, described hot spot is that described secondary light source projects and obtains on described target object
's.
204, according to the hot spot on target object in the plurality of image and the center line of described vertical direction
Relative position relation, determines the nearest position apart from described mobile electronic device for the described target object.
Concrete, when the hot spot on target object in the plurality of image and described vertical direction center line weight
During conjunction, show that the distance between described target object and described mobile electronic device reaches threshold distance；
It when the hot spot on described target object and described secondary light source, is positioned at described vertical direction center line same
Side, shows that the distance between described target object and described mobile electronic device is less than threshold distance；
When the hot spot on described target object and described secondary light source, lay respectively at described vertical direction center
Line both sides, show that the distance between described target object and described mobile electronic device is more than threshold distance.
Judge the nearest position of target object distance mobile electronic device according to above-mentioned criterion.
It should be noted that described threshold distance can be according to the effectively crawl model of described mobile electronic device
Enclosing determination, such as, mobile electronic device uses kinect, then described threshold distance is 50cm, because kinect
To lose efficacy in the range of 50cm.
205, according to hot spot on the nearest position of described mobile electronic device for the described target object and institute
The relative position relation of the center line stating the vertical direction of photographing module judges whether described target object reaches
Threshold distance.
Concrete, still with the criterion in step 204 judge described target object whether reach threshold value away from
From.
The object space that the present embodiment provides determines method, according to the light on the target object in multiple images
Spot and the relative position relation of vertical direction center line, it is first determined go out target object distance mobile electron and set
Standby nearest position, and then judge nearest position and the movement of described target object distance mobile electronic device
Whether the distance between electronic equipment reaches threshold distance, especially when target object in irregular shape,
The method utilizing the present embodiment to provide determines that the accuracy of object space is high.
Referring to Fig. 3, showing that another kind of object space determines the schematic flow sheet of method, the method is applied
In mobile electronic device, described mobile electronic device includes photographing module, secondary light source, described method bag
Include:
301, regulate described photographing module and the position of described secondary light source；
When being embodied as, when described photographing module acquisition image comprises target object, regulate described shooting
Module and the position of described secondary light source.
Concrete, described photographing module and described secondary light source can show around the image of described photographing module
Show that the vertical direction center line of plane, the vertical direction center line of described image manifesting planes rotate, and
Move forward and backward described photographing module and secondary light source relative to described target object.
302, utilize described photographing module to obtain the multiple images comprising target object, wherein, described image
Position one_to_one corresponding with described photographing module and described secondary light source.
Every time behind the position of regulation photographing module and secondary light source, all utilize photographing module to obtain and comprise target
The image of object, the multiple image obtaining and described photographing module and the positional information one of described secondary light source
One is corresponding.
303, obtain the hot spot in the plurality of image and the center line of the vertical direction of described photographing module
Relative position relation；Wherein, described hot spot is that described secondary light source projects and obtains on described target object
's.
304, judge that described position relationship obtains judged result according to described relative position relation；
Concrete judged result includes following three kinds of situations:
305, when the hot spot on described target object overlaps with described vertical direction center line, show described
Distance between target object and described mobile electronic device reaches threshold distance；
306, it when the hot spot on described target object and described secondary light source, is positioned at described vertical direction center
Line homonymy, shows that the distance between described target object and described mobile electronic device is less than threshold distance；
307, when the hot spot on described target object and described secondary light source, lay respectively at described vertical direction
Center line both sides, show distance between described target object and described mobile electronic device more than threshold value away from
From.
The present embodiment provide object space determine method, when described photographing module obtain image in comprise
During target object, regulate the position of described photographing module and secondary light source；The described photographing module of regulation every time
With the position of secondary light source, all utilize photographing module to obtain the image comprising described target object, and then obtain
Take the relative position relation of the vertical direction center line of hot spot and photographing module in multiple image, according to described
Relative position relation, finally determines whether described target object reaches threshold distance, when target object reaches
During to threshold distance, it may be determined that carry out grasping movement.
Refer to Fig. 4, show that the another kind of object space of the application determines the flow chart of method, described method
Being applied to mobile electronic device, described mobile electronic device includes photographing module, secondary light source.
The present embodiment will stress after judging the position of target object, how to adjust movement further
Distance between electronic equipment and target object, makes the distance between target object and mobile electronic device reach
To threshold distance, mobile electronic device is finally enable to capture described target object.
Described object space determines that method comprises the following steps:
401, regulate described photographing module and the position of described secondary light source；
When being embodied as, when described photographing module acquisition image comprises target object, regulate described shooting
Module and the position of described secondary light source.
402, utilize described photographing module to obtain the multiple images comprising target object, wherein, described image
Position one_to_one corresponding with described photographing module and described secondary light source.
403, obtain the hot spot in the plurality of image and the center line of the vertical direction of described photographing module
Relative position relation；Wherein, described hot spot is that described secondary light source projects and obtains on described target object
's.
404, the position of described target object is determined according to described relative position relation.
405, when described target object is not up to threshold distance, according to the hot spot on described target object and
The relative movement relation of described secondary light source, determines described target object fortune relative with mobile electronic device
Dynamic relation.
Specifically include following several situation:
1), when the hot spot on described target object and described secondary light source, described photographing module is laid respectively at
The both sides of vertical center line of picked-up picture, and described target object is near described vertical center line
Direction is moved, and shows described mobile electronic device near described target object；
2), when the hot spot on described target object and described secondary light source are positioned at the picked-up of described photographing module
The both sides of the vertical center line of picture, and described target object is to the direction shifting away from described vertical center line
Dynamic, show described mobile electronic device away from described target object；
3), when the described hot spot stated on target object and described secondary light source are positioned at taking the photograph of described photographing module
Take the homonymy of the vertical center line of picture, and described target object is to the direction near described vertical center line
Mobile, show described mobile electronic device away from described target object；
4), when the hot spot on described target object and described secondary light source are positioned at the picked-up of described photographing module
The homonymy of the vertical center line of picture, and described target object is to the direction shifting away from described vertical center line
Dynamic, show described mobile electronic device near described target object.
The object space that the present embodiment provides determines method, when target object occurs in mobile electronic device
When in the visual field, adjust the position of photographing module and secondary light source, every time the described photographing module of regulation and auxiliary
The position of light source, all utilizes photographing module to obtain the image comprising target object, and then according to multiple images
Middle hot spot and the relative position relation of the vertical direction center line of photographing module, determine the position of target object
Put.And when target object is not up to threshold distance, by the hot spot on target object with described vertically
The relative movement relation of direction center line, determines the relative motion of described target object and mobile electronic device
Relation, finally makes the distance between target object and mobile electronic device reach threshold distance, finally real
Execute grasping movement.
Corresponding to above method embodiment, the application also provides a kind of object space to determine device.
Refer to Fig. 5, show that a kind of object space of the embodiment of the present application determines the structural representation of device,
This object space determines that device is applied to mobile electronic device, and described mobile electronic device at least includes: position
In conplane photographing module and secondary light source.
Described object space determines that device includes: adjustment module the 501st, acquisition module 502 and the first determination mould
Block 503, wherein:
Described adjustment module 501, for when described photographing module obtains the image comprising target object, adjusting
Save described photographing module and the position of described secondary light source.
Concrete, described adjustment module can make described photographing module and described secondary light source take the photograph around described
As the vertical direction center line of the image manifesting planes of module rotates, hanging down around described image manifesting planes
Nogata rotates to center line, and moves forward and backward described photographing module and auxiliary relative to described target object
Light source.
Described acquisition module 502, for obtain that described photographing module obtains to comprise described target object many
In individual image, described secondary light source projects the vertical side of the hot spot on described target object and described image
To the relative position relation of center line, and the plurality of image and described photographing module and described secondary light source
Positional information one_to_one corresponding.
The hot spot obtaining described in described image on target object is relative with the vertical center line of described image
Position relationship；Described image is obtained by described photographing module, and described image includes target object.
The hot spot judging in described image on target object and the position relationship of the vertical center line of image, make
For determining the foundation of target object location.
Described first determining module 503, for according to described relative position relation, determines described target object
Position.
Concrete, when the hot spot on described target object overlaps with described vertical direction center line, show
Distance between described target object and described mobile electronic device reaches threshold distance；
It when the hot spot on described target object and described secondary light source, is positioned at described vertical direction center line same
Side, shows that the distance between described target object and described mobile electronic device is less than threshold distance；
When the hot spot on described target object and described secondary light source, lay respectively at described vertical direction center
Line both sides, show that the distance between described target object and described mobile electronic device is more than threshold distance.
The present embodiment provide object space determine device, by adjustment module regulate described photographing module and
The position of secondary light source, meanwhile utilizes acquisition module to obtain mesh in the image that described photographing module obtains
The relative position relation of the vertical center line of the hot spot on mark object and image, finally utilizes the first determination mould
Block determines the position of target object, and the object space that the application provides determines device not by ambient
Impact, furthermore, it is possible to the distance being accurately detected between mobile electronic device and target object, solves
The problem when mobile electronic device takes grasping movement.
Referring to Fig. 6, showing that another kind of object space determines the structural representation of device, described device should
For mobile electronic device, described mobile electronic device at least includes: the photographing module being generally aligned in the same plane
And secondary light source.
Described object space determines that device includes: adjustment module the 601st, acquisition module 602 and the first determination mould
Block 603, the second determining module 604, wherein:
Described adjustment module 601, for when described photographing module obtains the image comprising target object, adjusting
Save described photographing module and the position of described secondary light source.
Described acquisition module 602, for obtain that described photographing module obtains to comprise described target object many
In individual image, described secondary light source projects the vertical side of the hot spot on described target object and described image
To the relative position relation of center line.
Described first determining module 603, is used for the described target object according to the acquisition of described acquisition module and institute
State the relative position relation of the vertical direction center line of image, determine the position of described target object.
Second determining module 604, for the vertical direction center line of the camera picture according to described photographing module
And the distance between the vertical center line of described secondary light source, and described threshold distance, determine described auxiliary
Help the crevice projection angle of light source.
When being embodied as, antitrigonometric function relation according to right angled triangle, can determine described fill-in light
The crevice projection angle in source, concrete, described threshold distance is as the length of a right-angle side 1 of right angled triangle
Degree, between the vertical direction center line of described camera picture and the vertical direction center line of described secondary light source
Distance as the length of another right-angle side 2 of right angled triangle, the length of right-angle side 1 and right-angle side 2
Length ratio be the tangent value of crevice projection angle of described secondary light source, thus try to achieve according to antitrigonometric function
The angle value of the crevice projection angle of described secondary light source.
The object space that the embodiment of the present application provides determines device, utilizes the second determining module according to described threshold
The vertical direction center line of the camera picture of value distance and described photographing module and described secondary light source
Distance between vertical direction center line, determines the crevice projection angle of secondary light source.
Refer to Fig. 7, show that the another kind of object space of the embodiment of the present application determines the structural representation of device
Figure, this object space determines that device is applied to mobile electronic device, and described mobile electronic device at least includes:
The photographing module being generally aligned in the same plane and secondary light source.
The object space that the present embodiment provides determines that device increases on the basis of Fig. 5 corresponding device embodiment
It is provided with the 3rd determining module.
Described object space determines that device specifically includes: adjustment module the 701st, acquisition module 702 and first is true
Cover half block 703, the 3rd determining module 704, wherein:
Described adjustment module 701, for when described photographing module obtains the image comprising target object, adjusting
Save described photographing module and the position of described secondary light source.
Described acquisition module 702, for obtain that described photographing module obtains to comprise described target object many
In individual image, described secondary light source projects the vertical side of the hot spot on described target object and described image
To the relative position relation of center line.
Described first determining module 703, is used for the described target object according to the acquisition of described acquisition module and institute
State the relative position relation of the vertical direction center line of image, determine the position of described target object.
Described second determining module 704, for according to the hot spot on described target object and described secondary light source
Relative movement relation, determine the relative motion relation of described target object and described mobile electronic device.
Specifically include situations below:
1) when the hot spot on described target object and described secondary light source, described photographing module is laid respectively at
The both sides of the vertical center line of picked-up picture, and described target object is to the side near described vertical center line
To movement, show described mobile electronic device near described target object；
2) when the hot spot on described target object and described secondary light source are positioned at the picked-up picture of described photographing module
The both sides of the vertical center line in face, and described target object moves to the direction away from described vertical center line,
Show described mobile electronic device away from described target object；
3) when the described hot spot stated on target object and described secondary light source are positioned at the picked-up of described photographing module
The homonymy of the vertical center line of picture, and described target object is near the shifting of the direction of described vertical center line
Dynamic, show described mobile electronic device away from described target object；
4) when the hot spot on described target object and described secondary light source are positioned at the picked-up picture of described photographing module
The homonymy of the vertical center line in face, and described target object moves to the direction away from described vertical center line,
Show described mobile electronic device near described target object.
The object space that the present embodiment provides determines device, judges object when utilizing the first determining module
Behind the position of body, when adjusting the distance between mobile electronic device and target object further, utilize described
3rd determining module judges the relative motion relation between target object and mobile electronic device, makes object
Distance between body and mobile electronic device reaches threshold distance, finally enables mobile electronic device capture
Described target object.
The application also provides a kind of mobile electronic device, including the object space that above-described embodiment provides determines
Device, photographing module and secondary light source, wherein:
Described secondary light source, for described target object throw light, in order on described target object
Obtain hot spot.
Described secondary light source is preferably with the light source being capable of directional lighting, such as lasing light emitter.
Described photographing module, is used for obtaining image, and described image is supplied to the determination of described object space
Device, specifically can use camera to realize.
Object space in described mobile electronic device determine the structure composition and working principle of device with above-mentioned
The object space that embodiment provides determines that device is identical, and here is omitted.
The mobile electronic device that the present embodiment provides, utilizes the photographing module of mobile electronic device to obtain and take the photograph
Picture module and the diverse location one_to_one corresponding of secondary light source, and comprise multiple images of target object, pass through
In relatively more the plurality of image, secondary light source projects the vertical side of the hot spot obtaining on target object and image
To the relative position relation of center line, determine the position of target object.The position that the application provides determines
Method, device and mobile electronic device, determine that the mode of target object is not affected by ambient, and
And, the distance between mobile electronic device and target object can be accurately detected, solve mobile electron
The problem when equipment takes grasping movement.
Each embodiment in this specification all uses the mode gone forward one by one to describe, identical between each embodiment
Similar part sees mutually, and what what each embodiment stressed was from other embodiments is different
Part.For device or system embodiment, owing to it is substantially similar to embodiment of the method,
So describing fairly simple, the part that related part sees embodiment of the method illustrates.
It should be noted that herein, the relational terms of such as first and second or the like is only used
By an entity or operation separate with another entity or operating space, and not necessarily require or
Imply relation or the order that there is any this reality between these entities or operation.
The above is only the detailed description of the invention of the application, it is noted that general for the art
For logical technical staff, on the premise of without departing from the application principle, some improvement and profit can also be made
Decorations, these improvements and modifications also should be regarded as the protection domain of the application.
Claims (13)
1. object space determines a method, is applied to mobile electronic device, described mobile electronic device bag
Include: photographing module, secondary light source, it is characterised in that described method includes:
When described photographing module obtain comprise the image of target object when, photographing module described in adjusted in concert and
The position of described secondary light source, and the relative position relation of described camera and described secondary light source is constant；
Utilize described photographing module obtain comprise target object multiple images, the plurality of image with described
The positional information one_to_one corresponding of photographing module and described secondary light source；
Obtain the hot spot that secondary light source described in the plurality of image projects on described target object with described
The relative position relation of the vertical direction center line of image；
Relative position according to the hot spot on described target object and the vertical direction center line of described image
Relation, determines the position of target object.
2. method according to claim 1, it is characterised in that described according on described target object
The relative position relation of vertical direction center line of hot spot and described image, determine the position of target object
For:
When the hot spot on described target object overlaps with described vertical direction center line, show described target
Distance between object and described mobile electronic device reaches threshold distance；
It when the hot spot on described target object and described secondary light source, is positioned at described vertical direction center line same
Side, shows that the distance between described target object and described mobile electronic device is less than threshold distance；
When the hot spot on described target object and described secondary light source, lay respectively at described vertical direction center
Line both sides, show that the distance between described target object and described mobile electronic device is more than threshold distance.
3. method according to claim 2, it is characterised in that by changing described secondary light source
Angle, changes described threshold distance.
4. method according to claim 2, it is characterised in that also include: according to described shooting mould
Distance between the vertical center line of block and the vertical center line of described secondary light source, and described threshold value away from
From determining the crevice projection angle of described secondary light source.
5. the method according to any one of claim 1-4, it is characterised in that also include: utilize institute
State the relative movement relation of the hot spot on target object and described vertical direction center line, determine described target
Object and the relative motion relation of described mobile electronic device, particularly as follows:
When the hot spot on described target object and described secondary light source, lay respectively at taking the photograph of described photographing module
Take the both sides of the vertical center line of picture, and described target object is to the direction near described vertical center line
Mobile, show described mobile electronic device near described target object；
When the hot spot on described target object and described secondary light source are positioned at the picked-up picture of described photographing module
The both sides of vertical center line, and described target object moves to the direction away from described vertical center line,
Show described mobile electronic device away from described target object；
When the described hot spot stated on target object and described secondary light source are positioned at the picked-up picture of described photographing module
The homonymy of the vertical center line in face, and described target object moves near the direction of described vertical center line,
Show described mobile electronic device away from described target object；
When the hot spot on described target object and described secondary light source are positioned at the picked-up picture of described photographing module
The homonymy of vertical center line, and described target object moves to the direction away from described vertical center line,
Show described mobile electronic device near described target object.
6. method according to claim 1, it is characterised in that described when the acquisition of described photographing module
Image when comprising target object, regulate described photographing module and the position of described secondary light source include:
Regulate described photographing module and described secondary light source around the image manifesting planes of described photographing module
Vertical direction center line rotates, around the vertical direction center line rotation of described image manifesting planes, and
Move forward and backward described photographing module and secondary light source relative to described target object.
7. object space determines a device, is applied to mobile electronic device, described mobile electronic device bag
Include: the photographing module being generally aligned in the same plane and secondary light source, it is characterised in that include: adjustment module,
Acquisition module and the first determining module, wherein:
Described adjustment module, for when described photographing module obtains the image comprising target object, synchronizing
Regulate described photographing module and the position of described secondary light source, and described camera and described secondary light source
Relative position relation is constant；
Described acquisition module, for obtain described photographing module obtain comprise the multiple of described target object
In image, described secondary light source projects the vertical direction of the hot spot on described target object and described image
The relative position relation of center line, and the plurality of image and described photographing module and described secondary light source
Positional information one_to_one corresponding；
Described first determining module, vertical for according to the hot spot on described target object and described image
The relative position relation of direction center line, determines the position of described target object.
8. device according to claim 7, it is characterised in that described first determining module is specifically used
In:
When the hot spot on described target object overlaps with described vertical direction center line, show described target
Distance between object and described mobile electronic device reaches threshold distance；
It when the hot spot on described target object and described secondary light source, is positioned at described vertical direction center line same
Side, shows that the distance between described target object and described mobile electronic device is less than threshold distance；
When the hot spot on described target object and described secondary light source, lay respectively at described vertical direction center
Line both sides, show that the distance between described target object and described mobile electronic device is more than threshold distance.
9. device according to claim 8, it is characterised in that also include:
Second determining module, for according to described photographing module camera picture vertical center line with described
Distance between the vertical center line of secondary light source, and described threshold distance, determine described secondary light source
Crevice projection angle.
10. device according to claim 8, it is characterised in that also include:
3rd determining module, is used for relative with described secondary light source according to the hot spot on described target object
Mobile relation, determines the relative motion relation of described target object and described mobile electronic device, specifically wraps
Include:
When the hot spot on described target object and described secondary light source, lay respectively at taking the photograph of described photographing module
Take the both sides of the vertical center line of picture, and described target object is to the direction near described vertical center line
Mobile, show described mobile electronic device near described target object；
When the hot spot on described target object and described secondary light source are positioned at the picked-up picture of described photographing module
The both sides of vertical center line, and described target object moves to the direction away from described vertical center line,
Show described mobile electronic device away from described target object；
When the described hot spot stated on target object and described secondary light source are positioned at the picked-up picture of described photographing module
The homonymy of the vertical center line in face, and described target object moves near the direction of described vertical center line,
Show described mobile electronic device away from described target object；
When the hot spot on described target object and described secondary light source are positioned at the picked-up picture of described photographing module
The homonymy of vertical center line, and described target object moves to the direction away from described vertical center line,
Show described mobile electronic device near described target object.
11. devices according to claim 7, it is characterised in that:
Described adjustment module specifically for: regulate described photographing module and described secondary light source taken the photograph around described
As the vertical direction center line of the image manifesting planes of module rotates, hanging down around described image manifesting planes
Nogata rotates to center line, and moves forward and backward described photographing module and auxiliary relative to described target object
Light source.
12. 1 kinds of mobile electronic devices, it is characterised in that include: described in any one of claim 7-11
Object space determine device, photographing module and secondary light source, wherein:
Described photographing module, is used for obtaining image；
Described secondary light source, for target object throw light, in order to obtain on described target object
Hot spot.
13. mobile electronic devices according to claim 12, it is characterised in that described secondary light source
For LASER Light Source, described photographing module is the camera within mobile electronic device.
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| CN108120433B (en) * | 2016-11-28 | 2021-06-11 | 沈阳新松机器人自动化股份有限公司 | Method and device for detecting obstacle by robot |
| CN106839996A (en) * | 2017-02-14 | 2017-06-13 | 温州中壹技术服务有限公司 | A kind of image collecting device and acquisition method |
| CN107728633B (en) * | 2017-10-23 | 2020-12-18 | 广州极飞科技有限公司 | Method and device for acquiring position information of target object, mobile device and control method thereof |
| CN109489552B (en) * | 2018-12-07 | 2021-06-25 | 深圳中广核工程设计有限公司 | Laser positioning method and system of nuclear reactor voltage stabilizer video inspection device |
| CN111562567B (en) * | 2020-05-11 | 2021-04-30 | 北京驭光科技发展有限公司 | Obstacle detection system of mobile device, mobile device and sweeping robot |
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