CN106199618A - A kind of electronic equipment and localization method - Google Patents
A kind of electronic equipment and localization method Download PDFInfo
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- CN106199618A CN106199618A CN201610491259.XA CN201610491259A CN106199618A CN 106199618 A CN106199618 A CN 106199618A CN 201610491259 A CN201610491259 A CN 201610491259A CN 106199618 A CN106199618 A CN 106199618A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- Computer Networks & Wireless Communication (AREA)
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- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a kind of electronic equipment and localization method, electronic equipment includes: be arranged on the primary importance of described electronic equipment, for the lasing light emitter of emission laser；It is arranged on the second position of electronic equipment, for receiving the imageing sensor of the optical signal that described laser is reflected by destination object；The processor being connected with described lasing light emitter and described imageing sensor, for positioning described destination object based on described optical signal；As can be seen here, the invention provides a kind of new location mode, i.e. by the cooperation of lasing light emitter and imageing sensor, destination object is positioned, be different from laser distance of the prior art detection sensor and ultrasonic detector, and the cost of imageing sensor is relatively low, applied range.
Description
Technical field
The present invention relates to automatic control technology field, a kind of electronic equipment and localization method.
Background technology
The location of electronic equipment generally comprises the location to electronic equipment itself and electronic equipment to object in environment
Location.For location for electronic equipment itself, general employing GPS technology just can realize.
And for electronic equipment to the location of object in environment, as intelligent robot in action during to the barrier in environment
The location hindered, generally comprises two kinds of location modes in prior art, a kind of location mode is for using laser distance detection sensor
Position, under this mode, owing to needing to use the shortest High Power Laser Pulses, therefore, the reading of its data and process
Equipment relatively costly.Another kind of location mode positions for employing ultrasonic detector, its low cost, but owing to it detects
Apart from short and spatial resolution is low, the limitation therefore applied is relatively big, is typically mainly used in small-sized non task humanoid robot.
Therefore, a kind of low cost and the big location mode of range of application how is provided to become those skilled in the art urgently gram
The technical barrier of clothes.
Summary of the invention
In view of this, the present invention provides a kind of electronic equipment and localization method, to provide a kind of low cost and range of application
Big location mode.
For achieving the above object, the present invention provides following technical scheme:
A kind of electronic equipment, including:
It is arranged on the primary importance of described electronic equipment, for the lasing light emitter of emission laser；
It is arranged on the second position of electronic equipment, for receiving the figure of the optical signal that described laser is reflected by destination object
As sensor；
The processor being connected with described lasing light emitter and described imageing sensor, is used for based on described optical signal described target
Object positions.
Preferably, described electronic equipment also includes:
It is connected with described lasing light emitter, for driving the laser drive circuit of described lasing light emitter；
Described processor is connected with described lasing light emitter especially by described laser drive circuit；
Wherein, described processor is additionally operable to by controlling described to described laser drive circuit transmission Laser Modulation parameter
Lasing light emitter.
Preferably, described electronic equipment also includes:
It is arranged on the optical filter on the camera lens of described imageing sensor, for filtering the interference signal in environment.
Preferably, described processor is specifically for calculating described electronic equipment and described destination object based on described optical signal
Between distance and/or orientation.
Preferably, described processor is specifically for, after receiving the optical signal that described imageing sensor collects, determining institute
State the laser signal in optical signal, described laser signal is changed, thus determine described image based on the signal after conversion
The laser pixel distance of sensor, uses range of triangle algorithm to calculate described electronic equipment and institute based on described laser pixel distance
State the distance between destination object and/or azimuth.
A kind of localization method, described method includes:
Control to be arranged on the lasing light emitter of the primary importance of electronic equipment to emission laser；
Obtain the optical signal that the imageing sensor of the second position being arranged on described electronic equipment is received；
Based on described optical signal, destination object is positioned；
Wherein, described imageing sensor is for receiving the optical signal that described laser is reflected by described destination object.
Preferably, described control is arranged on the lasing light emitter of the primary importance of electronic equipment to emission laser, including:
Laser Modulation parameter is sent, so that described Laser Driven is electric to the laser drive circuit being connected with described lasing light emitter
Roadbed is sent out laser in lasing light emitter described in described Laser Modulation driving parameter.
Preferably, described based on described optical signal, destination object is positioned, including:
The distance between described electronic equipment and described destination object and/or orientation is calculated based on described optical signal.
Preferably, the distance between described electronic equipment and described destination object and/or orientation, bag are calculated based on optical signal
Include:
Determine the laser signal in described optical signal；
Described laser signal is changed, based on the signal after conversion determine the laser pixel of described imageing sensor away from
From；
Based on described laser pixel distance use range of triangle algorithm calculate described electronic equipment and described destination object it
Between distance and/or azimuth.
Understand via above-mentioned technical scheme, compared with prior art, the embodiment of the invention discloses a kind of electronic equipment,
Including being arranged on the primary importance of electronic equipment, for the lasing light emitter of emission laser, being arranged on the second of electronic equipment
Put, for receiving the imageing sensor of the optical signal that laser is reflected by destination object, be connected with lasing light emitter and imageing sensor
Processor, for destination object being positioned based on optical signal；As can be seen here, the invention provides a kind of new location side
Formula, is i.e. positioned destination object by the cooperation of lasing light emitter and imageing sensor, be different from laser of the prior art away from
From detection sensor and ultrasonic detector, and the cost of imageing sensor is relatively low, applied range.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to
The accompanying drawing provided obtains other accompanying drawing.
Fig. 1 is the structural representation of a kind of electronic equipment disclosed in the embodiment of the present invention one；
Fig. 2 is the structural representation arranging lasing light emitter and imageing sensor on mobile phone disclosed in the embodiment of the present invention one；
Fig. 3 is the structural representation of a kind of electronic equipment disclosed in the embodiment of the present invention two；
Fig. 4 is the structural representation of a kind of electronic equipment disclosed in the embodiment of the present invention three；
Fig. 5 a is the pass, position disclosed in the embodiment of the present invention four between lasing light emitter, destination object and imageing sensor
System；
Fig. 5 b is the position relationship disclosed in the embodiment of the present invention four between destination object and imageing sensor；
Fig. 6 is the schematic flow sheet of a kind of localization method disclosed in the embodiment of the present invention five；
Fig. 7 is the schematic flow sheet of a kind of localization method disclosed in the embodiment of the present invention six；
Fig. 8 is the part schematic flow sheet of a kind of localization method disclosed in the embodiment of the present invention seven.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
The embodiment of the present invention one discloses a kind of electronic equipment, and this electronic equipment can be mobile phone, panel computer, intelligent machine
The various types of smart machine of device people etc..
As it is shown in figure 1, electronic equipment includes: lasing light emitter 100, imageing sensor 200 and processor 300；
Wherein, lasing light emitter 100 is arranged on the primary importance of electronic equipment, for emission laser.Imageing sensor 200
It is arranged on the second position of electronic equipment, for receiving the optical signal that laser is reflected by destination object.
In actual applications, when lasing light emitter 100 is to emission laser, this laser runs into the object in environment then by instead
Penetrating, imageing sensor is able to receive that the optical signal after this object reflection.
It should be noted that, lasing light emitter 100 and imageing sensor 200 are separately positioned on the diverse location of electronic equipment, and two
Position relationship between person can be set based on practical situation, and the present invention does not limits.
Optionally, lasing light emitter 100 and imageing sensor 200 may be provided at the diverse location of electronic equipment the same face.Such as,
Fig. 2 shows a kind of concrete structure arranging lasing light emitter and imageing sensor on mobile phone, as in figure 2 it is shown, set respectively on mobile phone 900
Being equipped with lasing light emitter 100 and imageing sensor 200, wherein, imageing sensor 200 is arranged on the back side of mobile phone 900 near top
Position, lasing light emitter 100 is arranged on the position near bottom, the back side of mobile phone 900.
In the present invention, lasing light emitter 100 can be line laser module.Imageing sensor 200 can be the image of 2D array
Sensor, such as photographic head.Certainly the imageing sensor in the present invention and lasing light emitter are not limited thereto, can be outside for other
Launch the lasing light emitter of laser and the imageing sensor of optical signal can be gathered all within protection scope of the present invention.
Processor 300 is connected with lasing light emitter 100 and imageing sensor 200 respectively, for connecing based on imageing sensor 200
Destination object is positioned by the optical signal received.
To sum up, in the present embodiment, electronic equipment includes the primary importance being arranged on electronic equipment, for swashing to emission
The lasing light emitter of light, is arranged on the second position of electronic equipment, for receiving the figure of the optical signal that laser is reflected by destination object
As sensor, the processor being connected with lasing light emitter and imageing sensor, for positioning destination object based on optical signal.By
This is visible, the invention provides a kind of new location mode, i.e. by the cooperation of lasing light emitter and imageing sensor to destination object
Position, be different from laser distance of the prior art detection sensor and ultrasonic detector, and the one-tenth of imageing sensor
This is relatively low, applied range.
The embodiment of the present invention two discloses a kind of electronic equipment, as it is shown on figure 3, electronic equipment includes: lasing light emitter 100, figure
As sensor 200, processor 300 and laser drive circuit 400；Wherein:
Lasing light emitter 100 is arranged on the primary importance of electronic equipment, for emission laser.Imageing sensor 200 is arranged
In the second position of electronic equipment, for receiving the optical signal that laser is reflected by destination object.
Laser drive circuit 400 is connected with lasing light emitter 100, is used for driving lasing light emitter 100.Processor 300 is driven by laser
Galvanic electricity road 400 is connected with lasing light emitter 100, for sending Laser Modulation parameter to control lasing light emitter to laser drive circuit 400
100, concrete, laser drive circuit 400 is launched and laser adjustment based on the Laser Modulation driving parameter lasing light emitter 100 received
The laser that parameter is corresponding.
Optionally, Laser Modulation parameter includes laser pulse parameters, laser frequency spectrum parameter etc..
Processor 400 is also connected with imageing sensor 200, for optical signal based on imageing sensor 200 reception to mesh
Mark object positions.
To sum up, in the present embodiment, electronic equipment includes the primary importance being arranged on electronic equipment, for swashing to emission
The lasing light emitter of light, is arranged on the second position of electronic equipment, for receiving the figure of the optical signal that laser is reflected by destination object
As sensor, the processor being connected with lasing light emitter and imageing sensor, for positioning destination object based on optical signal.By
This is visible, the invention provides a kind of new location mode, i.e. by the cooperation of lasing light emitter and imageing sensor to destination object
Position, be different from laser distance of the prior art detection sensor and ultrasonic detector, and the one-tenth of imageing sensor
This is relatively low, applied range.
The embodiment of the present invention three discloses a kind of electronic equipment, and as shown in Figure 4, electronic equipment includes: lasing light emitter 100, figure
As sensor 200, processor 300 and optical filter 500；Wherein:
Lasing light emitter 100 is arranged on the primary importance of electronic equipment, for emission laser.Imageing sensor 200 is arranged
In the second position of electronic equipment, for receiving the optical signal that laser is reflected by destination object.
Processor 300 is respectively lasing light emitter 100 and imageing sensor 200 is connected, for receiving based on imageing sensor
Optical signal destination object is positioned.
Optical filter 500 is arranged on the camera lens of imageing sensor 200, for filtering the interference signal in environment.
Wherein, optical filter 500 can be arranged on before the camera lens of imageing sensor 200, i.e. imageing sensor 200
The optical signal received first passes through optical filter again by the camera lens of imageing sensor 200.
Optionally, optical filter 500 can be optical filter, and this optical filter is arranged on the front side of camera lens；Or, light
Learning wave filter 500 can also be optics filter membrane, and this optics filter membrane is attached on camera lens.Certainly the invention is not limited in this, for
Other kinds of optical filter is all within protection scope of the present invention.
To sum up, in the present embodiment, electronic equipment includes the primary importance being arranged on electronic equipment, for swashing to emission
The lasing light emitter of light, is arranged on the second position of electronic equipment, for receiving the figure of the optical signal that laser is reflected by destination object
As sensor, the processor being connected with lasing light emitter and imageing sensor, for positioning destination object based on optical signal.By
This is visible, the invention provides a kind of new location mode, i.e. by the cooperation of lasing light emitter and imageing sensor to destination object
Position, be different from laser distance of the prior art detection sensor and ultrasonic detector, and the one-tenth of imageing sensor
This is relatively low, applied range.Further, by arranging optical filter on the image sensor, filter doing in environment
Disturb signal, it is possible to reduce the interference to laser signal of the light component in ambient light, improve the accuracy of location.
The embodiment of the present invention four discloses a kind of electronic equipment, be discussed in detail processor how based on optical signal to target
Object positions.Wherein, processor carries out location based on optical signal to destination object and includes: processor calculates based on optical signal
Distance between electronic equipment and destination object and/or orientation.
Concrete, processor, for after receiving the optical signal that imageing sensor collects, determines swashing in optical signal
Optical signal, changes laser signal, thus determines the laser pixel distance of imageing sensor, base based on the signal after conversion
Range of triangle algorithm is used to calculate the distance between electronic equipment and destination object and/or azimuth in laser pixel distance.
Owing to the optical signal of imageing sensor collection not only including the laser signal that destination object reflects, also include ring
Other optical signals in border, i.e. disturb signal.Optionally, processor determines the laser signal in optical signal, including: processor obtains
Take the first optical signal that image collecting device received in the very first time and the second optical signal received in the second time, by first
Optical signal and the second optical signal subtract each other and obtain laser signal.Wherein, the very first time is the time that lasing light emitter launches laser, when second
Between do not launch time of laser for lasing light emitter, if the second time was between the time that lasing light emitter is launched between twice adjacent laser
Every.As a kind of concrete implementation mode, processor is for determining the very first time and the second time based on laser pulse, described
Laser pulse is the Laser Modulation parameter for driving lasing light emitter that processor sends to laser drive circuit.
After processor determines the laser signal in optical signal, laser signal can be converted to the signal of telecommunication and turn further
It is changed to binary signal, thus determines the laser pixel distance of imageing sensor based on the signal after conversion.
Wherein, processor, can be the most right before the laser pixel distance determining imageing sensor based on the signal after conversion
Signal after conversion carries out Gaussian Blur process, the pixel receiving optical signal to be extended, it is simple to preferably determine figure
Laser pixel distance as sensor.Further, after the signal after conversion is carried out Gaussian Blur process, it is also possible to place
Signal after reason carries out interpolation processing, to improve data processing precision.
In the present embodiment, laser pixel distance include vertical pixel distance and/or vertical pixel distance, processor based on
Vertical pixel distance calculates the distance between electronic equipment and destination object, and/or, determine that electronics sets based on pixels across distance
Azimuth between standby and destination object.Concrete calculation can use range of triangle algorithm.
For ease of understanding range of triangle algorithm, the present embodiment is described with an example, and Fig. 5 a shows laser
Position relationship between source, destination object and imageing sensor three, Fig. 5 b shows destination object and imageing sensor two
Position relationship between person.
With reference to Fig. 5 a, imageing sensor includes camera lens 200A and sensor array 200B, electronic equipment and destination object S
Between distance be d1, based on range of triangle algorithm as a kind of computing formula, d1=(f × d2)/x.
Wherein, f is the lens focus of imageing sensor, and d2 is the distance between lasing light emitter 100 and camera lens 200A, and x is vertical
Straight pixel distance.Vertical pixel distance x is for characterizing the pixel battle array receiving optical signal on sensor array in vertical direction
Column distance.
After processor calculates the vertical pixel distance of imageing sensor, it is possible to use d1=(f × d1)/x calculates
Distance between electronic equipment and destination object, wherein, the numerical value of the lens focus f of imageing sensor and lasing light emitter 100 with
The numerical value of distance d2 between camera lens 200A all prestores in the electronic device.
With reference to Fig. 5 b, imageing sensor includes camera lens 200A and sensor array 200B, electronic equipment and destination object S
Between azimuth be θ, the lens focus of imageing sensor is f, and pixels across distance is y, and pixels across distance y is used for characterizing
The pel array distance of optical signal is received in a lateral direction on sensor array.
After the pixels across distance of imageing sensor determined by processor, it is possible to use f and y can calculate electronics and set
Azimuth angle theta between standby and destination object, as utilized computing formula tan θ=y/f computer azimuth angle θ.Wherein, imageing sensor
The concrete numerical value of lens focus f prestore in the electronic device.
The embodiment of the present invention five discloses a kind of localization method, and as shown in Figure 6, a kind of localization method comprises the following steps:
Step 601: control to be arranged on the lasing light emitter of the primary importance of electronic equipment to emission laser；
Step 602: obtain the optical signal that the imageing sensor of the second position being arranged on electronic equipment is received；
In actual applications, when lasing light emitter is to emission laser, this laser runs into the object in environment and is then reflected, figure
As sensor is able to receive that the optical signal after this object-based device.It should be noted that, lasing light emitter and imageing sensor are respectively provided with
At the diverse location of electronic equipment, and position relationship between the two can be set based on practical situation, and the present invention does not does
Limit.
Optionally, lasing light emitter and imageing sensor may be provided at the diverse location of electronic equipment the same face.
Step 603: destination object is positioned based on described optical signal.
Wherein, imageing sensor is for receiving the optical signal that described laser is reflected by described destination object.
In the present invention, in order to the interference that the light component reduced in ambient light is to laser signal, the standard of location is improved
Really property, optionally, the camera lens of imageing sensor is provided with optical filter, for filtering the interference signal in environment.
Wherein, optical filter can be arranged on before the camera lens of imageing sensor, the light that i.e. imageing sensor receives
Signal first passes through optical filter again by the camera lens of imageing sensor.
To sum up, in the present embodiment, the lasing light emitter of the primary importance being arranged on electronic equipment by control is swashed to emission
Light, obtains the optical signal that the imageing sensor of the second position being arranged on electronic equipment is received, thus believes based on described light
Number destination object is positioned.As can be seen here, the invention provides a kind of new location mode, i.e. by lasing light emitter and image
Destination object is positioned by the cooperation of sensor, is different from laser distance of the prior art detection sensor and ultrasonic spy
Survey device, and the cost of imageing sensor is relatively low, applied range.
The embodiment of the present invention six discloses a kind of localization method, as it is shown in fig. 7, a kind of localization method comprises the following steps:
Step 701: send Laser Modulation parameter to the laser drive circuit being connected with lasing light emitter, so that Laser Driven is electric
Roadbed is sent out laser in lasing light emitter described in described Laser Modulation driving parameter；
Wherein, step 701 is to control concrete to emission laser of the lasing light emitter of primary importance being arranged on electronic equipment
Realize.
Optionally, Laser Modulation parameter can include laser pulse parameters, laser frequency spectrum parameter etc..
Step 702: obtain the optical signal that the imageing sensor of the second position being arranged on electronic equipment is received；
Step 703: destination object is positioned based on described optical signal.
To sum up, in the present embodiment, the lasing light emitter of the primary importance being arranged on electronic equipment by control is swashed to emission
Light, obtains the optical signal that the imageing sensor of the second position being arranged on electronic equipment is received, thus believes based on described light
Number destination object is positioned.As can be seen here, the invention provides a kind of new location mode, i.e. by lasing light emitter and image
Destination object is positioned by the cooperation of sensor, is different from laser distance of the prior art detection sensor and ultrasonic spy
Survey device, and the cost of imageing sensor is relatively low, applied range.
The embodiment of the present invention seven discloses a kind of localization method, how to enter destination object based on optical signal to be discussed in detail
Row location.Wherein, based on described optical signal, destination object is positioned, including: calculate described electronics based on described optical signal
Distance between equipment and described destination object and/or orientation.
Concrete, as shown in Figure 8, calculate the distance between described electronic equipment and described destination object based on optical signal
And/or orientation, comprise the following steps:
Step 801: determine the laser signal in described optical signal；
Owing to the optical signal of imageing sensor collection not only including the laser signal that destination object reflects, also include ring
Other optical signals in border, i.e. disturb signal.Optionally, determine the laser signal in optical signal, including: obtain image collector
Put the first optical signal in very first time reception and the second optical signal in the reception of the second time, by the first optical signal and second
Optical signal subtracts each other and obtains laser signal.Wherein, the very first time be lasing light emitter launch laser time, the second time be lasing light emitter not
Launch the time of laser, if the second time was the time interval that lasing light emitter launches between twice adjacent laser.Real as one
Existing mode, specifically can determine the very first time and the second time based on laser pulse, and described laser pulse is to Laser Driven
The Laser Modulation parameter for driving lasing light emitter that circuit sends.
Step 802: change described laser signal, determines swashing of described imageing sensor based on the signal after conversion
Light pixel distance；
When, after the laser signal determined in optical signal, laser signal being converted to the signal of telecommunication and be further converted into
Binary signal, thus the laser pixel distance of imageing sensor is determined based on the signal after conversion.
Wherein, before determining the laser pixel distance of imageing sensor based on the signal after conversion, can be first to conversion after
Signal carry out Gaussian Blur process, the pixel receiving optical signal to be extended, it is simple to preferably determine image sensing
The laser pixel distance of device.Further, after the signal after conversion is carried out Gaussian Blur process, it is also possible to after processing
Signal carries out interpolation processing, to improve data processing precision.
Laser pixel distance includes vertical pixel distance and/or vertical pixel distance.
Step 803: use range of triangle algorithm to calculate described electronic equipment and described mesh based on described laser pixel distance
Distance between mark object and/or azimuth.
Concrete, calculate the distance between electronic equipment and destination object based on vertical pixel distance, and/or, based on horizontal stroke
The azimuth between electronic equipment and destination object is determined to pixel distance.
To sum up, in the present embodiment, the lasing light emitter of the primary importance being arranged on electronic equipment by control is swashed to emission
Light, obtains the optical signal that the imageing sensor of the second position being arranged on electronic equipment is received, thus believes based on described light
Number destination object is positioned.As can be seen here, the invention provides a kind of new location mode, i.e. by lasing light emitter and image
Destination object is positioned by the cooperation of sensor, is different from laser distance of the prior art detection sensor and ultrasonic spy
Survey device, and the cost of imageing sensor is relatively low, applied range.
In this specification, each embodiment uses the mode gone forward one by one to describe, and what each embodiment stressed is and other
The difference of embodiment, between each embodiment, identical similar portion sees mutually.For method disclosed in embodiment
For, due to its with embodiment disclosed in device corresponding, so describe is fairly simple, relevant part sees device section and defends oneself
Bright.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention.
Multiple amendment to these embodiments will be apparent from for those skilled in the art, as defined herein
General Principle can realize without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty phase one
The widest scope caused.
Claims (9)
1. an electronic equipment, it is characterised in that including:
It is arranged on the primary importance of described electronic equipment, for the lasing light emitter of emission laser；
It is arranged on the second position of electronic equipment, passes for receiving the image of the optical signal that described laser is reflected by destination object
Sensor；
The processor being connected with described lasing light emitter and described imageing sensor, is used for based on described optical signal described destination object
Position.
Electronic equipment the most according to claim 1, it is characterised in that described electronic equipment also includes:
It is connected with described lasing light emitter, for driving the laser drive circuit of described lasing light emitter；
Described processor is connected with described lasing light emitter especially by described laser drive circuit；
Wherein, described processor is additionally operable to by controlling described laser to described laser drive circuit transmission Laser Modulation parameter
Source.
Electronic equipment the most according to claim 1, it is characterised in that described electronic equipment also includes:
It is arranged on the optical filter on the camera lens of described imageing sensor, for filtering the interference signal in environment.
4. according to the electronic equipment described in any one of claims 1 to 3, it is characterised in that described processor specifically for based on
Described optical signal calculates the distance between described electronic equipment and described destination object and/or orientation.
Electronic equipment the most according to claim 4, it is characterised in that described processor is specifically for receiving described image
After the optical signal that sensor acquisition arrives, determine the laser signal in described optical signal, described laser signal is changed, thus
Determine the laser pixel distance of described imageing sensor based on the signal after conversion, use triangle based on described laser pixel distance
Location algorithm calculates the distance between described electronic equipment and described destination object and/or azimuth.
6. a localization method, it is characterised in that described method includes:
Control to be arranged on the lasing light emitter of the primary importance of electronic equipment to emission laser；
Obtain the optical signal that the imageing sensor of the second position being arranged on described electronic equipment is received；
Based on described optical signal, destination object is positioned；
Wherein, described imageing sensor is for receiving the optical signal that described laser is reflected by described destination object.
Method the most according to claim 6, it is characterised in that described control is arranged on swashing of the primary importance of electronic equipment
Light source to emission laser, including:
Laser Modulation parameter is sent to the laser drive circuit being connected with described lasing light emitter, so that described laser drive circuit base
It is sent out laser in lasing light emitter described in described Laser Modulation driving parameter.
Method the most according to claim 6, it is characterised in that described carrying out destination object based on described optical signal is determined
Position, including:
The distance between described electronic equipment and described destination object and/or orientation is calculated based on described optical signal.
Method the most according to claim 8, it is characterised in that calculate described electronic equipment and described target based on optical signal
Distance between object and/or orientation, including:
Determine the laser signal in described optical signal；
Described laser signal is changed, determines the laser pixel distance of described imageing sensor based on the signal after conversion；
Range of triangle algorithm is used to calculate between described electronic equipment and described destination object based on described laser pixel distance
Distance and/or azimuth.
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| CN201610491259.XA CN106199618A (en) | 2016-06-28 | 2016-06-28 | A kind of electronic equipment and localization method |
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| CN107607960A (en) * | 2017-10-19 | 2018-01-19 | 深圳市欢创科技有限公司 | A kind of anallatic method and device |
| CN108008403A (en) * | 2017-12-11 | 2018-05-08 | 深圳市富微科创电子有限公司 | Infrared laser ranging device and method, unmanned plane and barrier-avoiding method |
| WO2019001001A1 (en) * | 2017-06-28 | 2019-01-03 | 杭州海康机器人技术有限公司 | Obstacle information acquisition apparatus and method |
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