CN106017406A - Method and device for measuring target distance - Google Patents
Method and device for measuring target distance Download PDFInfo
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- CN106017406A CN106017406A CN201610326938.1A CN201610326938A CN106017406A CN 106017406 A CN106017406 A CN 106017406A CN 201610326938 A CN201610326938 A CN 201610326938A CN 106017406 A CN106017406 A CN 106017406A
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- mobile terminal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The invention relates to a method and a device for measuring the target distance. The method comprises steps as follows: a mobile terminal is rotated, light emitted by a directional light source of the mobile terminal is turned to a direction of a target from a direction perpendicular to the ground until the light is directly emitted to the target, a rotational included angle of the mobile terminal and the vertical direction when the light is directly emitted to the target is acquired by an angle measurement module of the mobile terminal, and the horizontal distance between the target and the mobile terminal is calculated according to the rotational included angle and the height of the mobile terminal away from the ground. According to the technical scheme, the target distance can be measured without a special laser range finder, the steps are simple, the distance measurement cost is low, and the application range of the method for measuring the target distance is effectively broadened.
Description
Technical field
It relates to technical field of mobile terminals, particularly relate to a kind of method and apparatus measuring object distance.
Background technology
Distance refer to two articles in space or the length that is separated by the time or is spaced, range measurement determines that two thing on ground
One of key element of body plan-position, is to measure one of task most basic in work.
At present, in correlation technique, mainly utilizing special Laser Distance Measuring Equipment to find range, its range measurement principle is: laser
Distance-measuring equipment launches laser beam to object, and receives the laser beam being reflected back by object, and Laser Distance Measuring Equipment is according to record
Laser beam launch time and receive the time, calculate the distance between Laser Distance Measuring Equipment and object.
Summary of the invention
Disclosure embodiment provides a kind of method and apparatus measuring object distance.Described technical scheme is as follows:
First aspect according to disclosure embodiment, it is provided that a kind of method measuring object distance, the method includes:
Rotate mobile terminal, make the light that the directional light sources of described mobile terminal sends by the directional steering being perpendicular to ground
The direction of object, until described light direct projection is on described object；
Utilize the Angle Measurement Module of described mobile terminal, described shifting when obtaining described light direct projection to described object
Dynamic terminal and the rotation angle of vertical direction；
According to described rotation angle and the height on described distance of mobile terminal ground, calculate described object and described shifting
The horizontal range of dynamic terminal.
Second aspect according to disclosure embodiment, it is provided that a kind of device measuring object distance, this device includes:
Rotating module, is configured to rotate mobile terminal, makes the light that the directional light sources of described mobile terminal sends by hanging down
The direction of the straight directional steering object in ground, until described light direct projection is on described object；
Angle acquisition module, is configured to, with the Angle Measurement Module of described mobile terminal, obtains described light direct projection
Described mobile terminal and the rotation angle of vertical direction time on described object；
Distance calculation module, is configured to according to described rotation angle and the height on described distance of mobile terminal ground, meter
Calculate the horizontal range of described object and described mobile terminal.
The third aspect according to disclosure embodiment, it is provided that a kind of device measuring object distance, this device includes:
Processor；
For storing the memorizer of the executable instruction of described processor；
Wherein, described processor is configured to:
Rotate mobile terminal, make the light that the directional light sources of described mobile terminal sends by the directional steering being perpendicular to ground
The direction of object, until described light direct projection is on described object；
Utilize the Angle Measurement Module of described mobile terminal, described shifting when obtaining described light direct projection to described object
Dynamic terminal and the rotation angle of vertical direction；
According to described rotation angle and the height on described distance of mobile terminal ground, calculate described object and described shifting
The horizontal range of dynamic terminal.
The technical scheme that disclosure embodiment provides can include following beneficial effect:
By rotating mobile terminal, the light making the directional light sources of this mobile terminal send is turned by the direction being perpendicular to ground
To object direction, until light direct projection is on object, utilize the Angle Measurement Module of mobile terminal, obtain light direct projection and arrive
Mobile terminal and the rotation angle of vertical direction time on object, according to this rotation angle and the height on distance of mobile terminal ground
Degree, calculates the horizontal range of object and mobile terminal, it is not necessary to use special laser range finder, just can measure target
The distance of thing, step is simple, range finding low cost, effectively raises the range of application measuring object distance method.
It should be appreciated that it is only exemplary and explanatory, not that above general description and details hereinafter describe
The disclosure can be limited.
Accompanying drawing explanation
Accompanying drawing herein is merged in description and constitutes the part of this specification, it is shown that meet the enforcement of the disclosure
Example, and for explaining the principle of the disclosure together with description.
Fig. 1 is the flow chart according to a kind of method measuring object distance shown in an exemplary embodiment；
Fig. 2 is the flow chart according to a kind of method measuring object distance shown in another exemplary embodiment；
Fig. 3 is the flow chart according to a kind of method measuring object distance shown in further example embodiment；
Fig. 4 is the plane decomposition schematic diagram that Fig. 3 illustrates the acceleration that in embodiment, acceleration transducer records；
Fig. 5 is the flow chart according to a kind of method measuring object distance shown in another exemplary embodiment；
Fig. 6 is the block diagram according to a kind of device measuring object distance shown in an exemplary embodiment；
Fig. 7 is the block diagram according to a kind of device measuring object distance shown in another exemplary embodiment；
Fig. 8 is the block diagram according to a kind of device measuring object distance shown in further example embodiment；
Fig. 9 is the block diagram according to a kind of device measuring object distance shown in another exemplary embodiment；
Figure 10 is the entity block diagram according to a kind of device measuring object distance shown in an exemplary embodiment；
Figure 11 is the block diagram according to a kind of device measuring object distance shown in an exemplary embodiment.
By above-mentioned accompanying drawing, it has been shown that the embodiment that the disclosure is clear and definite, hereinafter will be described in more detail.These accompanying drawings
With word, the scope being not intended to be limited disclosure design by any mode is described, but by with reference to specific embodiment being
Those skilled in the art illustrate the concept of the disclosure.
Detailed description of the invention
Here will illustrate exemplary embodiment in detail, its example represents in the accompanying drawings.Explained below relates to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represents same or analogous key element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the disclosure.On the contrary, they are only with the most appended
The example of the apparatus and method that some aspects that described in detail in claims, the disclosure are consistent.
Fig. 1 is the flow chart according to a kind of method measuring object distance shown in an exemplary embodiment, this enforcement
Example is applied to the mobile terminal including having directional light sources and Angle Measurement Module with the method for this measurement object distance
Illustrate.The method of this measurement object distance can include following several step:
In a step 101, rotate mobile terminal, make the light that the directional light sources of this mobile terminal sends by being perpendicular to ground
The direction of directional steering object, until light direct projection is on object.
The feature of directional light sources is: in the case of its transmitting radiation direction determines, in scene, the object of diverse location is anti-
The lighting effect mirrored is completely the same, and therefore, the directional rays that directional light sources is launched will not produce scattering, the mesh that light is irradiated to
The position of mark thing easily determines, so the disclosure determines the position of object by the directional light that directional light sources is launched.
As the directional light sources of transmitting directional rays, it can be an ingredient of mobile terminal, it is also possible to be fixing
Arbitrary source on mobile terminals, in the disclosure, the radiation direction that directional light sources is launched all with the rotation side of mobile terminal
To unanimously.
In this step, rotating the mobile terminal being fixed on a certain height in distance ground, the light that directional light sources sends will
Along with mobile terminal makes corresponding rotation, therefore, by rotating light that mobile terminal can make directional light sources send by hanging down
The direction of the straight directional steering object in ground, until the light direct projection that sends of directional light sources stops to time on object.
In a step 102, utilize the Angle Measurement Module of this mobile terminal, move when obtaining light direct projection to object
Terminal and the rotation angle of vertical direction；
The Angle Measurement Module being arranged in mobile terminal is in the case of mobile terminal rotates, it is possible to know mobile terminal
Rotational angle, so, when the light that directional light sources sends by be perpendicular to direction, ground forward direct projection to the direction of object time,
Utilize Angle Measurement Module, it is possible to mobile terminal and the rotation angle of vertical direction when knowing light direct projection to object.
In step 103, according to above-mentioned rotation angle and the height on distance of mobile terminal ground, this object and shifting are calculated
The horizontal range of dynamic terminal.
When Angle Measurement Module gets the rotation angle of mobile terminal, that is, get the light that directional light sources sends
When direct projection is to the rotation angle of mobile terminal time on object and vertical direction, in conjunction with the height on distance of mobile terminal ground,
Just the horizontal range of object and mobile terminal can be calculated according to trigonometric function principle.
In sum, the method measuring object distance that the present embodiment provides, by rotating mobile terminal, make this move
The light that the directional light sources of terminal sends is by being perpendicular to directional steering object direction, ground, until light direct projection is to object
On, utilize the Angle Measurement Module of mobile terminal, mobile terminal and the rotation of vertical direction when obtaining light direct projection to object
Turn angle, according to this rotation angle and the height on distance of mobile terminal ground, calculate the level of object and mobile terminal away from
From, it is not necessary to using special laser range finder, just can measure the distance of object, step is simple, range finding low cost, effectively
Improve measure object distance method range of application.
Fig. 2 is the flow chart according to a kind of method measuring object distance shown in another exemplary embodiment, this reality
Execute the mobile end that example is applied to include having directional light sources and Angle Measurement Module equally with the method for this measurement object distance
End illustrates.Disclosure embodiment be on the basis of above-described embodiment to measure object distance method enter one
Step explanation.The method of this measurement object distance can include following several step.
In step 201, the height on distance of mobile terminal ground is obtained.
In the disclosed embodiments, before rotating fixing mobile terminal, can first get distance of mobile terminal ground
The height in face, in order to follow-up directly can rotate angle and this distance of mobile terminal ground according to the mobile terminal that gets
Highly, the distance of object and mobile terminal is calculated.
What deserves to be explained is, obtain the mode of distance of mobile terminal ground level, can be realized by multiple implementation, example
As, the height on distance of mobile terminal ground can be pre-set at inside mobile terminal, and then during subsequent applications,
Directly read out inside mobile terminal, or for being internally provided with the mobile terminal of height sensor, can be directly sharp
The height on distance of mobile terminal ground is got with height sensor.Disclosure embodiment is to obtaining distance of mobile terminal ground
The mode of face height is defined.
In step 202., the angle when light that the directional light sources at mobile terminal sends is perpendicular to ground, to mobile terminal
Degree measurement module is calibrated, during to guarantee that the light that this directional light sources sends is perpendicular to direction, ground, and this Angle Measurement Module
The mobile terminal recorded is 0 with the angle of vertical direction.
In order to ensure the precision rotating angle that angular transducer records, using the mobile end with Angle Measurement Module
Before end, first calibrating this Angle Measurement Module, the result of calibration should be that the light that directional light sources sends is perpendicular to
During direction, ground, the mobile terminal that this Angle Measurement Module records is 0 with the angle of vertical direction.
Can realize in the following way about calibrating mode: first make mobile terminal be in vertical state, and ensure to determine
The light sent to light source is perpendicular to direction, ground, the mobile terminal that secondly acquisition angles measurement module records and vertical direction
Angle, if this angle is 0, then shows that the precision of Angle Measurement Module meets requirement, if this angle is not 0, then record is mobile eventually
The deviation angle of end deviation vertical direction and direction, and add on the follow-up rotation angle recorded or deduct this deviation angle,
With ensure follow-up get rotate angle meet required precision.
In step 203, rotate mobile terminal, make the light that the directional light sources of this mobile terminal sends by being perpendicular to ground
The direction of directional steering object, until light direct projection is on object.
In this step, the implementation of above-mentioned steps 101 is used to rotate the shifting being fixed on a certain height in distance ground
Dynamic terminal, and then make light that directional light sources sends by the direction of the directional steering object being perpendicular to ground, concrete implementation
Here is omitted for step.
In step 204, utilize the Angle Measurement Module after calibration, mobile terminal when obtaining light direct projection to object
Rotation angle with vertical direction.
Mobile terminal and the rotation of vertical direction when measuring light direct projection to object first with Angle Measurement Module
Angle, if in step 202 calibrate Angle Measurement Module, mobile terminal and vertical direction have a deviation angle, that
In this step, need Angle Measurement Module is measured rotate angle make respective handling so as to get rotation angle be
The angle of mobile terminal (that is, directional light sources send light) actual rotation.
In step 205, rotate angle and the height on distance of mobile terminal ground according to get, calculate this object
Horizontal range with mobile terminal.
After getting the accurate height rotating angle and distance of mobile terminal ground, then can be directly according to above-mentioned two
Condition calculates the horizontal range of object and mobile terminal, it is achieved mode is simple, it is easy to operation.
In sum, the method measuring object distance that the present embodiment provides, before rotating mobile terminal, first obtains
Take the height on distance of mobile terminal ground, can in the light direct projection got to object time mobile terminal and vertical direction
After rotating angle, directly calculate the horizontal range of object and mobile terminal according to this height and rotation angle, and then avoid
The inconvenience that the follow-up height obtaining distance of mobile terminal ground again brings, further, disclosure embodiment also add angle
The calibration function of degree measurement module so that Angle Measurement Module meets required precision, and then ensure that the angle that rotates recorded
The accuracy of accuracy and object and distance of mobile terminal.
Optionally, in the example shown in Fig. 1 and Fig. 2, the Angle Measurement Module of mobile terminal, including: acceleration sensing
Device and gyroscope.Acceleration transducer can measure the acceleration of mobile terminal, makes mobile terminal move in any direction, accelerates
Degree sensor just has signal output, and mobile terminal transfixion brief acceleration sensor does not then have signal to export.It practice, add
Velocity sensor can also measure mobile terminal acceleration in three directions, and the embodiment shown in the disclosure is for the side calculated
Just, simply enter as a example by the parallel acceleration being parallel to mobile terminal screen and the normal acceleration being perpendicular to mobile terminal screen
Row explanation.Gyroscope can measure the mobile terminal rotational angular velocity in each time interval, and then according to rotational angular velocity pair
The time interval answered calculates the rotation angle of mobile terminal.
As a kind of example, if above-mentioned Angle Measurement Module is acceleration transducer, then the embodiment shown in Fig. 3 can be made
For above-mentioned steps 102 or the alternative implementation of step 204, refer to below embodiment:
Fig. 3 is the flow chart according to a kind of method measuring object distance shown in further example embodiment, this reality
Execute the mobile end that example is applied to include having directional light sources and Angle Measurement Module equally with the method for this measurement object distance
End illustrates.Fig. 4 is the plane decomposition schematic diagram that Fig. 3 illustrates the acceleration that in embodiment, acceleration transducer records.
As shown in Figure 3 and Figure 4, the method for this measurement object distance can include following several step.
In step 301, utilize this acceleration transducer, measure and be parallel to the parallel acceleration of mobile terminal screen and hang down
Straight in the normal acceleration of mobile terminal screen；
Disclosure embodiment illustrates as a example by the inceptive direction of mobile terminal is as vertical direction.Assume that mobile terminal exists
In rotation process, the acceleration in x-axis direction is 0, and keeps constant, and it is corresponding that it only has the acceleration on y-axis and z-axis direction to occur
Change.
As shown in Figure 4, when mobile terminal does not rotates, what acceleration transducer was measured is parallel to the parallel of mobile terminal screen
Acceleration is gravity acceleration g, and the normal acceleration being perpendicular to mobile terminal screen is 0, and when mobile terminal turns to orientation
The light direct projection that light source sends is to time on object, and assumes that rotating angle θ represents, then decompose former according to acceleration of gravity
Reason, it is known that acceleration transducer can measure that to be parallel to the parallel acceleration of mobile terminal screen be ay=g cos θ, is perpendicular to move
The normal acceleration of dynamic terminal screen is az=g sin θ.
In step 302, according to parallel acceleration and normal acceleration, when determining light direct projection to object, move end
End and the rotation angle of vertical direction.
Due to parallel acceleration ay=g cos θ and normal acceleration az=g sin θ meets following relational expression:So according to trigonometric function relation, can be rightCarry out inverse transformation, that is, utilize public affairs
Formula (1), mobile terminal and the rotation angle of vertical direction when obtaining light direct projection to object；
Wherein, θ is light direct projection to the rotation angle of mobile terminal time on object with vertical direction, ayFor being parallel to move
The parallel acceleration of dynamic terminal screen, azFor being perpendicular to the normal acceleration of mobile terminal screen.
In sum, when disclosure embodiment is acceleration transducer for the Angle Measurement Module in mobile terminal, first
First with this acceleration transducer, measure and be parallel to the parallel acceleration of mobile terminal screen and be perpendicular to mobile terminal screen
Normal acceleration, and then according to this parallel acceleration and normal acceleration, when determining light direct projection to object, move end
End and the rotation angle of vertical direction, thus can conveniently measure the horizontal range of object and mobile terminal, low cost, it is easy to real
Existing, solve correlation technique and special laser range finder must be used just to measure object distance problem, effectively raise
Measure the range of application of object distance method.
As a kind of example, if above-mentioned Angle Measurement Module is gyroscope, then the embodiment shown in Fig. 5 is as above-mentioned steps
102 or the alternative implementation of step 204, refer to below embodiment:
Fig. 5 is the flow chart according to a kind of method measuring object distance shown in another exemplary embodiment, this reality
Execute the mobile end that example is applied to include having directional light sources and Angle Measurement Module equally with the method for this measurement object distance
End illustrates.The method of this measurement object distance can include following several step.
In step 501, gyroscope, the rotation time of record mobile terminal and rotational angular velocity are utilized.
Owing to mobile terminal is in all possible difference of velocity of rotation in each moment, so, mobile utilizing gyroscope to measure
During the rotational angular velocity of terminal, the rotation time in each moment and the rotational angular velocity of correspondence thereof in record rotation process simultaneously.
In step 502, according to rotation time and rotational angular velocity, when calculating light direct projection to object, move end
End and the rotation angle of vertical direction.
Owing to the rotation angle of mobile terminal is multiplied by rotation time equal to rotational angular velocity, so, in this step, for
The rotating speed angular velocity in each moment and rotation time, all can obtain light direct projection by the way of superposition is sued for peace or quadratured
Mobile terminal and the rotation angle of vertical direction time on object.
Optionally, in order to simplify calculating process, it is assumed that the mobile terminal uniform rotation in the disclosure, the rotation of mobile terminal
Angular velocity is ω, when the light that directional light sources sends is forwarded to direct projection to the direction of object by the direction being perpendicular to ground, used
Rotation time be t, then utilize formula (2), mobile terminal and vertical direction when just can obtain light direct projection to object
Rotation angle；
θ=ω t (2)
Wherein, θ is light direct projection to the rotation angle of described mobile terminal time on object with vertical direction, and ω is for rotating
Angular velocity, t is rotation time.
In sum, when disclosure embodiment is gyroscope for the Angle Measurement Module in mobile terminal, first with
Rotation time and the rotational angular velocity of mobile terminal is measured and recorded to gyroscope, and then according to the rotation time recorded and rotation
Angular velocity, mobile terminal and the rotation angle of vertical direction when calculating light direct projection to object, thus can conveniently measure
Object and the horizontal range of mobile terminal, it is easy to accomplish, it is not necessary to use special laser range finder just can measure mobile whole
End and the distance of object, improve the range of application measuring object distance method.
As a kind of example, above-mentioned steps 103 or the alternative implementation of step 205, can realize according to following steps:
Knowable to the above-mentioned each embodiment illustrated, if the height h on distance of mobile terminal ground represents, light direct projection is to mesh
Time on mark thing, mobile terminal represents with the rotation angle θ of vertical direction, then utilizes formula (3), can obtain object and shifting
Horizontal range s of dynamic terminalx。
sx=h tan θ (3)
In the disclosed embodiments, if known light direct projection is to the rotating clamp of mobile terminal time on object with vertical direction
Angle and the height on distance of mobile terminal ground, then be equivalent to be aware of an on-right angle angle of right angled triangle and one straight
The length of the arm of angle, the most then can calculate the length of an other right-angle side of direct triangle, that is, object is whole with mobile
The horizontal range of end.
Optionally, Angle Measurement Module is arranged on mobile terminals, and directional light sources is arranged on mobile terminal or independent
Arrange and be assembled in mobile terminal on this mobile terminal, and directional light sources is chosen as laser instrument or pocket lamp.
Angle Measurement Module in disclosure embodiment is arranged on mobile terminals or the inside of mobile terminal, the disclosure
Not being defined the physical relationship of directional light sources with mobile terminal, such as, directional light sources both can be that mobile terminal carries
Directional light sources, it is also possible to be independently of the directional light sources of mobile terminal, but utilize the directional light sources independent of mobile terminal
Measure mobile terminal angle change time, this directional light sources is assembled on mobile terminal, its with mobile terminal rotation and
Rotate.Therefore, user has only to utilize the Angle Measurement Module of mobile terminal and directional light sources just can realize angle measure of the change,
Thus can easily record the horizontal range of object and mobile terminal, greatly reduce measurement cost.
What deserves to be explained is, mobile terminal includes that smart mobile phone, panel computer, MP3, intelligent watch etc. are multiple different mobile
Any one in terminal, it is also possible to being the mobile terminal that bluetooth earphone, MP5 etc. are different, here is omitted, and, these public affairs
Open and the concrete kind of mobile terminal is not defined.
Following for disclosure device embodiment, may be used for performing method of disclosure embodiment.Real for disclosure device
Execute the details not disclosed in example, refer to method of disclosure embodiment.
Fig. 6 is the block diagram according to a kind of device measuring object distance shown in an exemplary embodiment.This measurement mesh
The device of mark thing distance can pass through software, hardware or both be implemented in combination with becoming and comprise Angle Measurement Module and directional light
The mobile terminal in source some or all of.As shown in Figure 6, the device of this measurement object distance, including: rotating module 601,
Angle acquisition module 602 and distance calculation module 603.
Rotating module 601, is configured to rotate mobile terminal, makes the light that the directional light sources of mobile terminal sends by vertically
In the direction of the directional steering object on ground, until light direct projection is on object.
Angle acquisition module 602, is configured to, with the Angle Measurement Module of mobile terminal, obtains light direct projection to target
Mobile terminal and the rotation angle of vertical direction time on thing.
Distance calculation module 603, is configured to rotation angle and the mobile terminal got according to angle acquisition module 602
The height on distance ground, calculates the horizontal range of object and mobile terminal.
In sum, the device measuring object distance that the present embodiment provides, rotate mobile terminal by rotating module,
Make the light that the directional light sources of mobile terminal sends by the direction of the directional steering object being perpendicular to ground, until light direct projection
On object, by angle acquisition module arranges the Angle Measurement Module with mobile terminal, obtain light direct projection to target
Mobile terminal and the rotation angle of vertical direction time on thing, and then make distance calculation module get according to angle acquisition module
Rotate angle and the height on distance of mobile terminal ground, calculate the horizontal range of object and mobile terminal.The side of the disclosure
Case, it is not necessary to use special laser range finder, just can measure the distance of object, step is simple, range finding low cost, effectively
Improve measure object distance method range of application.
Fig. 7 is the block diagram according to a kind of device measuring object distance shown in another exemplary embodiment.This measurement
The device of object distance can pass through software, hardware or both be implemented in combination with becoming and comprise Angle Measurement Module and orientation
The mobile terminal of light source some or all of.Embodiment shown in the disclosure is to survey on the basis of Fig. 6 illustrates embodiment
Further illustrating of the device of amount object distance.As it is shown in fig. 7, the device of this measurement object distance, including: height obtains
Module 701, calibration module 702, rotating module 703, angle acquisition module 704 and distance calculation module 705.
This height acquisition module 701, is configured to obtain the height on distance of mobile terminal ground.
Calibration module 702, is configured to, when the light that directional light sources sends is perpendicular to ground, enter Angle Measurement Module
Row calibration, during to guarantee that the light that directional light sources sends is perpendicular to direction, ground, the mobile terminal that Angle Measurement Module records with
The angle of vertical direction is 0.
Rotating module 703, is configured to rotate mobile terminal, makes the light that the directional light sources of mobile terminal sends by vertically
In the direction of the directional steering object on ground, until light direct projection is on object.
Angle acquisition module 704, is configured to, with the Angle Measurement Module of mobile terminal, obtains light direct projection to target
Mobile terminal and the rotation angle of vertical direction time on thing.
Distance calculation module 705, is configured to rotation angle and the height acquisition got according to angle acquisition module 704
The height on the distance of mobile terminal ground that module 701 gets, calculates the horizontal range of object and mobile terminal.
In sum, the device measuring object distance that the present embodiment provides, obtained mobile by height acquisition module
Terminal distance ground height, utilize calibration module when the light that directional light sources sends is perpendicular to ground, to angular surveying mould
Block is calibrated, during to guarantee that the light that directional light sources sends is perpendicular to direction, ground, and the mobile end that Angle Measurement Module records
End is 0 with the angle of vertical direction, and then when making rotating module rotate mobile terminal, makes angle acquisition module get light straight
When being mapped on object, mobile terminal and the rotation angle of vertical direction, finally utilize distance calculation module according to the rotation got
Turn angle and the height on distance of mobile terminal ground, calculate the horizontal range of object and mobile terminal, it is ensured that angular surveying
Module disclosure satisfy that required precision, and then ensure that the accuracy rotating angle and object and distance of mobile terminal recorded
Accuracy.
As a kind of example, the Angle Measurement Module of mobile terminal, including: acceleration transducer and gyroscope.This acceleration
Degree sensor can be measured the mobile terminal parallel acceleration being parallel to mobile terminal screen in rotation process and be perpendicular to
The normal acceleration of mobile terminal screen；This gyroscope can measure the mobile terminal rotational angular velocity in each time interval.
Fig. 8 is the block diagram according to a kind of device measuring object distance shown in further example embodiment.This measurement
The device of object distance can pass through software, hardware or both be implemented in combination with becoming and comprise Angle Measurement Module and orientation
The mobile terminal of light source some or all of.As shown in Figure 8, if the Angle Measurement Module of mobile terminal is acceleration sensing
Device, then angle acquisition module 602, including: acceleration obtains submodule 801 and angle obtains submodule 802.
This acceleration obtains submodule 801, is configured to, with acceleration transducer, measures and is parallel to mobile terminal screen
Parallel acceleration and be perpendicular to the normal acceleration of mobile terminal screen.
This angle obtains submodule 802, be configured to according to acceleration obtain the parallel acceleration that records of submodule 801 and
Normal acceleration, mobile terminal and the rotation angle of vertical direction when determining light direct projection to object.
In sum, when disclosure embodiment is acceleration transducer for the Angle Measurement Module in mobile terminal, logical
Cross acceleration acquisition submodule and utilize acceleration transducer, measure the parallel acceleration being parallel to mobile terminal screen with vertical
In the normal acceleration of mobile terminal screen, and then angle is utilized to obtain submodule according to this parallel acceleration and vertical acceleration
Degree, mobile terminal and the rotation angle of vertical direction when determining light direct projection to object, thus can conveniently measure object
With the horizontal range of mobile terminal, low cost, it is easy to accomplish, solve correlation technique and must use special laser range finder
Object distance problem can be measured, effectively raise the range of application measuring object distance method.
Fig. 9 is the block diagram according to a kind of device measuring object distance shown in another exemplary embodiment.This measurement
The device of object distance can pass through software, hardware or both be implemented in combination with becoming and comprise Angle Measurement Module and orientation
The mobile terminal of light source some or all of.If as it is shown in figure 9, the Angle Measurement Module of mobile terminal is gyroscope, then angle
Degree acquisition module 602, including: angular velocity obtains submodule 901 and angle obtains submodule 902.
This angular velocity obtains submodule 901, is configured to, with gyroscope, records the rotation time of mobile terminal and turns
Dynamic angular velocity.
This angle obtains submodule 902, is configured to obtain the rotation time of submodule 901 record according to angular velocity and turn
Dynamic angular velocity, mobile terminal and the rotation angle of vertical direction when calculating light direct projection to object.
As a kind of example, above-mentioned distance calculation module 603 or distance calculation module 705, it is configured to, with formula
(3) horizontal range of object and mobile terminal, is obtained；
sx=h tan θ (3)
Wherein, sxFor the horizontal range of object Yu mobile terminal, h is the height on distance of mobile terminal ground, and θ is light
Direct projection is to the rotation angle of mobile terminal time on object with vertical direction.
Optionally, Angle Measurement Module is arranged on mobile terminals, and directional light sources is arranged on mobile terminal or independent
Arrange and be assembled in mobile terminal on this mobile terminal.
As a kind of example, this directional light sources is laser instrument or pocket lamp.
About the device in above-described embodiment, wherein modules performs the concrete mode of operation in relevant the method
Embodiment in be described in detail, explanation will be not set forth in detail herein.
The foregoing describing inner function module and the structural representation of the device measuring object distance, Figure 10 is to show according to one
The entity block diagram of a kind of device measuring object distance shown in example embodiment, as shown in Figure 10, this measurement object away from
From device, including memorizer 1001 and processor 1002.
Memorizer 1001, is used for storing processor executable.
Processor 1002, is used for:
Rotate mobile terminal, make the light that the directional light sources of this mobile terminal sends by the directional steering mesh being perpendicular to ground
The direction of mark thing, until light direct projection is on this object；
Utilize the Angle Measurement Module of mobile terminal, mobile terminal and vertical direction when obtaining light direct projection to object
Rotation angle；
According to rotating angle and the height on distance of mobile terminal ground, calculate the level of object and mobile terminal away from
From.
In the embodiment of the device of above-mentioned measurement object distance, it should be appreciated that this processor can be that central authorities process list
Unit (English: Central Processing Unit, it is called for short: CPU), it is also possible to be other general processors, Digital Signal Processing
Device (English: Digital Signal Processor, be called for short: DSP), special IC (English: Application
Specific Integrated Circuit, is called for short: ASIC) etc..General processor can be microprocessor or this processor
Can also be the processor etc. of any routine, and aforesaid memorizer can be read only memory (English: read-only
Memory, abbreviation: ROM), random access memory (English: random access memory, RAM), flash be called for short:
Device, hard disk or solid state hard disc.SIM is also referred to as subscriber identification card, smart card, and digital mobile telephone must load onto this
Card can use.On computer chip, i.e. store the information of digital mobile phone client, the key of encryption and the electricity of user
The contents such as words book.Hardware processor can be embodied directly in conjunction with the step of the method disclosed in the embodiment of the present invention to have performed
Become, or complete with the hardware in processor and software module combination execution.
Figure 11 is the block diagram according to a kind of device measuring object distance shown in an exemplary embodiment.Such as, survey
The device 1100 of amount object distance can be mobile phone, computer, digital broadcast terminal, messaging devices, game control
Platform processed, tablet device, armarium, body-building equipment, personal digital assistant etc..
With reference to Figure 11, device 1100 can include following one or more assembly: processes assembly 1102, memorizer 1104,
Power supply module 1106, multimedia groupware 1108, audio-frequency assembly 1110, the interface 1112 of input/output (I/O), sensor cluster
1114, and communications component 1116.
Process assembly 1102 and generally control the integrated operation of device 1100, such as with display, call, data communication,
The operation that camera operation and record operation are associated.Process assembly 1102 and can include that one or more processor 1120 performs
Instruction, to complete all or part of step of above-mentioned method.Additionally, process assembly 1102 can include one or more mould
Block, it is simple to process between assembly 1102 and other assemblies is mutual.Such as, process assembly 1102 and can include multi-media module,
With facilitate multimedia groupware 1108 and process between assembly 1102 mutual.
Memorizer 1104 is configured to store various types of data to support the operation at device 1100.These data
Example include on device 1100 operation any application program or the instruction of method, contact data, telephone book data,
Message, picture, video etc..Memorizer 1104 can by any kind of volatibility or non-volatile memory device or they
Combination realizes, such as static RAM (SRAM), Electrically Erasable Read Only Memory (EEPROM), erasable can
Program read-only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory
Reservoir, disk or CD.
The various assemblies that power supply module 1106 is device 1100 provide electric power.Power supply module 1106 can include power management
System, one or more power supplys, and other generate, manage and distribute, with for device 1100, the assembly that electric power is associated.
The touch-control of one output interface of offer that multimedia groupware 1108 is included between described device 1100 and user shows
Display screen.In certain embodiments, touching display screen can include liquid crystal display (LCD) and touch panel (TP).Touch panel
Including one or more touch sensors with the gesture on sensing touch, slip and touch panel.Described touch sensor is permissible
Not only sensing touches or the border of sliding action, but also detects the persistent period relevant to described touch or slide and pressure
Power.In certain embodiments, multimedia groupware 1108 includes a front-facing camera and/or post-positioned pick-up head.When device 1100
Being in operator scheme, during such as screening-mode or video mode, front-facing camera and/or post-positioned pick-up head can receive outside many
Media data.Each front-facing camera and post-positioned pick-up head can be a fixing optical lens system or have focal length and light
Learn zoom capabilities.
Audio-frequency assembly 1110 is configured to output and/or input audio signal.Such as, audio-frequency assembly 1110 includes a wheat
Gram wind (MIC), when device 1100 is in operator scheme, during such as call model, logging mode and speech recognition mode, mike quilt
It is configured to receive external audio signal.The audio signal received can be further stored at memorizer 1104 or via communication
Assembly 1116 sends.In certain embodiments, audio-frequency assembly 1110 also includes a speaker, is used for exporting audio signal.
I/O interface 1112 provides interface, above-mentioned peripheral interface module for processing between assembly 1102 and peripheral interface module
Can be keyboard, put striking wheel, button etc..These buttons may include but be not limited to: home button, volume button, start button and
Locking press button.
Sensor cluster 1114 includes one or more sensor, for providing the state of various aspects to comment for device 1100
Estimate.Such as, what sensor cluster 1114 can detect device 1100 opens/closed mode, the relative localization of assembly, such as institute
Stating display and keypad that assembly is device 1100, sensor cluster 1114 can also detect device 1100 or device 1,100 1
The position change of individual assembly, the presence or absence that user contacts with device 1100, device 1100 orientation or acceleration/deceleration and dress
Put the variations in temperature of 1100.Sensor cluster 1114 can include proximity transducer, is configured to do not having any physics
The existence of object near detection during contact.Sensor cluster 1114 can also include optical sensor, as CMOS or ccd image sense
Device, for using in imaging applications.In certain embodiments, this sensor cluster 1114 can also include acceleration sensing
Device, gyro sensor, Magnetic Sensor, pressure transducer or temperature sensor.
Communications component 1116 is configured to facilitate the communication of wired or wireless mode between device 1100 and other equipment.Dress
Put 1100 and can access wireless network based on communication standard, such as WiFi, 2G or 3G, or combinations thereof.Exemplary at one
In embodiment, broadcast singal or broadcast that communications component 1116 receives from external broadcasting management system via broadcast channel are relevant
Information.In one exemplary embodiment, described communications component 1116 also includes near-field communication (NFC) module, to promote short distance
Communication.Such as, can be based on RF identification (RFID) technology in NFC module, Infrared Data Association (IrDA) technology, ultra broadband
(UWB) technology, bluetooth (BT) technology and other technologies realize.
In the exemplary embodiment, device 1100 can be by one or more application specific integrated circuits (ASIC), numeral
Signal processor (DSP), digital signal processing appts (DSPD), PLD (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components realize, be used for performing above-mentioned document display method.
In the exemplary embodiment, a kind of non-transitory computer-readable recording medium including instruction, example are additionally provided
As included the memorizer 1104 of instruction, above-mentioned instruction can have been performed said method by the processor 1120 of device 1100.Example
If, described non-transitory computer-readable recording medium can be ROM, random access memory (RAM), CD-ROM, tape, soft
Dish and optical data storage devices etc..
A kind of non-transitory computer-readable recording medium, when the instruction in described storage medium is by the process of device 1100
When device performs so that device 1100 is able to carry out a kind of method measuring object distance.
Those skilled in the art, after considering description and putting into practice invention disclosed herein, will readily occur to its of the disclosure
Its embodiment.The application is intended to any modification, purposes or the adaptations of the disclosure, these modification, purposes or
Person's adaptations is followed the general principle of the disclosure and includes the undocumented common knowledge in the art of the disclosure
Or conventional techniques means.Description and embodiments is considered only as exemplary, and the true scope of the disclosure and spirit are by following
Claim is pointed out.
It should be appreciated that the disclosure is not limited to precision architecture described above and illustrated in the accompanying drawings, and
And various modifications and changes can carried out without departing from the scope.The scope of the present disclosure is only limited by appended claim.
Claims (21)
1. the method measuring object distance, it is characterised in that including:
Rotate mobile terminal, make the light that the directional light sources of described mobile terminal sends by the directional steering target being perpendicular to ground
The direction of thing, until described light direct projection is on described object；
Utilize the Angle Measurement Module of described mobile terminal, described mobile whole when obtaining described light direct projection to described object
End and the rotation angle of vertical direction；
According to described rotation angle and the height on described distance of mobile terminal ground, calculate described object mobile whole with described
The horizontal range of end.
Method the most according to claim 1, it is characterised in that also include:
When the light that described directional light sources sends is perpendicular to ground, described Angle Measurement Module is calibrated, to guarantee
State the light that directional light sources sends when being perpendicular to direction, ground, the described mobile terminal that described Angle Measurement Module records with vertically
The angle in direction is 0.
Method the most according to claim 2, it is characterised in that also include:
Obtain the height on described distance of mobile terminal ground.
Method the most according to claim 1, it is characterised in that described Angle Measurement Module, including: acceleration transducer and
Gyroscope.
Method the most according to claim 4, it is characterised in that if described Angle Measurement Module is acceleration transducer, then
The described Angle Measurement Module utilizing described mobile terminal, described mobile whole when obtaining described light direct projection to described object
End and the rotation angle of vertical direction, including:
Utilize described acceleration transducer, measure and be parallel to the parallel acceleration of described mobile terminal screen and be perpendicular to described shifting
The normal acceleration of dynamic terminal screen；
According to described parallel acceleration and described normal acceleration, described shifting when determining described light direct projection to described object
Dynamic terminal and the rotation angle of vertical direction.
Method the most according to claim 5, it is characterised in that described according to described parallel acceleration with described vertical acceleration
Degree, described mobile terminal and the rotation angle of vertical direction when determining described light direct projection to described object, including:
Utilize formula (1), described mobile terminal and the rotation of vertical direction when obtaining described light direct projection to described object
Angle；
Wherein, θ is described light direct projection to the rotation angle of described mobile terminal time on described object with vertical direction, ayFor
Described parallel acceleration, azFor described normal acceleration.
Method the most according to claim 4, it is characterised in that if described Angle Measurement Module is gyroscope, the most described profit
By the Angle Measurement Module of described mobile terminal, when obtaining described light direct projection to described object, described mobile terminal is with perpendicular
Nogata to rotation angle, including:
Utilize described gyroscope, record rotation time and the rotational angular velocity of described mobile terminal；
According to described rotation time and described rotational angular velocity, described shifting when calculating described light direct projection to described object
Dynamic terminal and the rotation angle of vertical direction.
Method the most according to claim 7, it is characterised in that described fast according to described rotation time and described angle of rotation
Degree, when calculating described light direct projection to described object, described mobile terminal and the rotation angle of vertical direction, specifically wrap
Include:
If described mobile terminal uniform rotation, then utilize formula (2), described in when obtaining described light direct projection to described object
Mobile terminal and the rotation angle of vertical direction；
θ=ω t (2)
Wherein, θ is described light direct projection to the rotation angle of described mobile terminal time on described object with vertical direction, and ω is
Described rotational angular velocity, t is described rotation time.
9. according to the method described in any one of claim 1～8, it is characterised in that described according to described rotation angle with described
The height on distance of mobile terminal ground, calculates the horizontal range of described object and described mobile terminal, including:
Utilize formula (3), obtain the horizontal range of described object and described mobile terminal；
sx=h tan θ (3)
Wherein, sxFor the horizontal range of described object Yu described mobile terminal, h is the height on described distance of mobile terminal ground,
θ is described light direct projection to the rotation angle of described mobile terminal time on described object with vertical direction.
Method the most according to claim 1, it is characterised in that described Angle Measurement Module is arranged on described mobile terminal
On, described directional light sources is arranged on described mobile terminal or arranges and be assembled in described movement independent of described mobile terminal
In terminal.
11. methods according to claim 10, it is characterised in that described directional light sources is laser instrument or pocket lamp.
12. 1 kinds of devices measuring object distance, it is characterised in that including:
Rotating module, is configured to rotate mobile terminal, makes the light that the directional light sources of described mobile terminal sends by being perpendicular to
The direction of the directional steering object on ground, until described light direct projection is on described object；
Angle acquisition module, is configured to, with the Angle Measurement Module of described mobile terminal, obtains described light direct projection to institute
Described mobile terminal and the rotation angle of vertical direction when stating on object；
Distance calculation module, is configured to, according to described rotation angle and the height on described distance of mobile terminal ground, calculate
Described object and the horizontal range of described mobile terminal.
13. devices according to claim 12, it is characterised in that also include: calibration module；
Described calibration module, is configured to when the light that described directional light sources sends is perpendicular to ground, to described angular surveying
Module is calibrated, and during to guarantee that the light that described directional light sources sends is perpendicular to direction, ground, described Angle Measurement Module is surveyed
The described mobile terminal obtained is 0 with the angle of vertical direction.
14. devices according to claim 13, it is characterised in that also include: highly acquisition module；
Described height acquisition module, is configured to obtain the height on described distance of mobile terminal ground.
15. devices according to claim 12, it is characterised in that described Angle Measurement Module, including: acceleration transducer
And gyroscope.
16. devices according to claim 15, it is characterised in that if described Angle Measurement Module is acceleration transducer,
The most described angle acquisition module, including:
Acceleration obtains submodule, is configured to, with described acceleration transducer, measures and is parallel to described mobile terminal screen
Parallel acceleration and be perpendicular to the normal acceleration of described mobile terminal screen；
Angle obtains submodule, is configured to, according to described parallel acceleration and described normal acceleration, determine that described light is straight
Described mobile terminal and the rotation angle of vertical direction when being mapped on described object.
17. devices according to claim 15, it is characterised in that if described Angle Measurement Module is gyroscope, then described
Angle acquisition module, including:
Angular velocity obtains submodule, is configured to, with described gyroscope, records the rotation time of described mobile terminal and turns
Dynamic angular velocity；
Angle obtains submodule, is configured to, according to described rotation time and described rotational angular velocity, calculate described light straight
Described mobile terminal and the rotation angle of vertical direction when being mapped on described object.
18. according to the device described in any one of claim 12～17, it is characterised in that described distance calculation module, is configured
For utilizing formula (3), obtain the horizontal range of described object and described mobile terminal；
sx=h tan θ (3)
Wherein, sxFor the horizontal range of described object Yu described mobile terminal, h is the height on described distance of mobile terminal ground,
θ is described light direct projection to the rotation angle of described mobile terminal time on described object with vertical direction.
19. devices according to claim 12, it is characterised in that described Angle Measurement Module is arranged on described mobile terminal
On, described directional light sources is arranged on described mobile terminal or arranges and be assembled in described movement independent of described mobile terminal
In terminal.
20. devices according to claim 19, it is characterised in that described directional light sources is laser instrument or pocket lamp.
21. 1 kinds of devices measuring object distance, it is characterised in that including:
Processor；
For storing the memorizer of the executable instruction of described processor；
Wherein, described processor is configured to:
Rotate mobile terminal, make the light that the directional light sources of described mobile terminal sends by the directional steering target being perpendicular to ground
The direction of thing, until described light direct projection is on described object；
Utilize the Angle Measurement Module of described mobile terminal, described mobile whole when obtaining described light direct projection to described object
End and the rotation angle of vertical direction；
According to described rotation angle and the height on described distance of mobile terminal ground, calculate described object mobile whole with described
The horizontal range of end.
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| CN201610326938.1A CN106017406A (en) | 2016-05-17 | 2016-05-17 | Method and device for measuring target distance |
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| CN201610326938.1A CN106017406A (en) | 2016-05-17 | 2016-05-17 | Method and device for measuring target distance |
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| CN109917411A (en) * | 2019-04-17 | 2019-06-21 | 重庆大学 | Obstacle detector and method based on laser ranging and three axis accelerometer |
| CN112013810A (en) * | 2020-08-20 | 2020-12-01 | 杭州海康微影传感科技有限公司 | Distance measurement method, device and equipment |
| CN114018163A (en) * | 2021-11-01 | 2022-02-08 | 沂源县国有织女洞林场 | Height measuring device and method |
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