201202880 六、發明說明： 【發明所屬之技術領域】 本發明是有關於一種具有移動件與基座的電子叢置，且特 別是有關於一種能自動定位移動的電子裝置及讓复白 動歸位的方法。 ^ 【先前技術】 隨著科技的發展’智慧型電子產品日益推陳出新 類的生活更為便利。以掃地機器人為例，其可進行产 :生甚至可在設定的時間自動啟動’所以能增進人類i活的便 =地機器人包括基座與移動件。移動件可四處移動，以進 時，移動件會_歸基座，^m件，不足 件能準確辨識其與基座之間的相對位置 將是此類智慧型電子產品的重要技術。』移勤件回祕座 【發明内容】 準確種能自動定位移動的電子裝置，其移動件可 能準確mr卿树自動歸位的方法 ’以使移動件 置，包為括達動 第三辨識部。第：之、：第-辨識部、第二辨識部與 而第三雜部位於部位㈣—參考平面上， 平面外。移動件罝有㊉傻:也、第—辨識部之間讀於參考 移動件係根據影像取基座的影像，其中 取7°件揭取之每一影像令的第-辨識 [S1 4 201202880 部、第二辨識部與第三辨識部的相對位置來計算移動路徑，以 移動至基座。 在本發明之一實施例中，上述之第一辨識部、第二辨識部 與第三辨識部之間的連線形成等腰三角形，且第三辨識部位於 等腰三角形的頂角。 在本發明之一實施例中，上述之基座具有從參考平面内凹 的凹面’而第三辨識部設置於凹面上。 在本發明之—實施例中，上述之第三辨識部至基座之底面 鲁的距離等於影像擷取元件至移動件之底面的距離。 在本發明之-實施例巾，上述之第_辨識部至基座之底面 的距離等於第二辨識部至基座之底面的距離，而第一辨識部至 基座之底面的距離不等於第三辨識部至基座之底面的距離。 域在之—實施例中，上述之第—辨識部、第二辨識部 ”第一辨識持別包括至少-發光元件或識別圖形。 _ 2 n t實施例中，上述之影_取元件之視角中心 線垂直於參考平面。 移動ΐίΓΓ之:實施例中，上述之基座具有第一接合部，而 以使：二合部，且移動件適於朝接近基座的方向移動 使第接δ 4與第二接合部相接合。 另提出—種讓移動件自動歸位的方法，其適用於上 立移動的電子裝置。此讓移動件自動歸位的方法 像中的第-辨識部、第二辨識部盥第者，據母〜 算移動路徑，以使移動件移動至基座*:識相相對位置來計 在本發明之一實施例中，上述之第一 與第三辨識㈣嶋賴㈣形=== 201202880 :腰:角形的頂角，第一辨識部與第二 距，第三辨識部與參考平 ^之間存有第一間 第-辨識部與第二辨識部位於;::::間：每-影像中的 第-直線垂直的第二直線上。 &辨識部位於與 二距離；根據第-距離、第二距離、第線之間的第 通過影像擷取元件及第三辨識部第距計算 的央鱼·妒μ贫吐1耵弟一直線與參考平面之間201202880 VI. Description of the Invention: [Technical Field] The present invention relates to an electronic cluster having a moving member and a pedestal, and more particularly to an electronic device capable of automatically locating and moving the accompaniment Methods. ^ [Prior Art] With the development of technology, smart electronic products are increasingly promoting new life. Take the sweeping robot as an example, it can be produced automatically or even automatically at a set time. So it can enhance the human life. The ground robot includes a base and a moving part. The moving parts can be moved around, so that the moving parts will be pedestal, and the parts will be accurately identified. The relative position between the moving parts and the pedestal will be an important technology for such intelligent electronic products. 』Transfer parts back to the secret seat [invention content] Accurate species can automatically locate the mobile electronic device, its moving parts may be accurate mr Qingshu automatic homing method 'to make the moving parts, the package is the third identification part . The first: the first identifying portion, the second identifying portion, and the third miscellaneous portion are located on the portion (four) - the reference plane, out of plane. There are ten stupid movements in the moving parts: also, the first-identification part reads the reference moving part according to the image of the pedestal according to the image, and takes the 7th piece to extract the first identification of each image order [S1 4 201202880 And a relative position of the second identification part and the third identification part to calculate a movement path to move to the pedestal. In an embodiment of the invention, the first identifying portion, the second identifying portion and the third identifying portion form an isosceles triangle, and the third identifying portion is located at an apex angle of the isosceles triangle. In an embodiment of the invention, the base has a concave surface concave from the reference plane and the third identification portion is disposed on the concave surface. In an embodiment of the invention, the distance from the third identification portion to the bottom surface of the base is equal to the distance from the image capturing member to the bottom surface of the moving member. In the embodiment of the present invention, the distance from the first recognition portion to the bottom surface of the base is equal to the distance from the second identification portion to the bottom surface of the base, and the distance between the first identification portion and the bottom surface of the base is not equal to the first The distance between the three identification parts and the bottom surface of the base. In the embodiment, the first identification unit and the second identification unit “the first identification unit includes at least a light-emitting element or an identification pattern. In the embodiment, the image center of the above-mentioned image-taking element The line is perpendicular to the reference plane. In the embodiment, the pedestal has a first engaging portion to: a merging portion, and the moving member is adapted to move toward the susceptor to make the first δ 4 and The second joint portion is joined. Another method for automatically moving the moving member is applied to the electronic device that is moved upright. The method for automatically homing the moving member is the first identification part and the second identification method. In the first step, the first and third identifications (four) depend on the (four) shape = in the embodiment of the present invention. == 201202880 : waist: the apex angle of the angle, the first identification part and the second distance, the first identification part and the second identification part are located between the third identification part and the reference level;;::: Between: the second line perpendicular to the first line of each image - & identification part And two distance; According to a first - the distance, the second distance, the first image capturing by the central fish Jealous μ · and the third identification portion of the first element from a calculated lean Ding brother spouting straight line between the first line and a reference plane
使移^件離與夹角來計算移動路徑，以 動至基座 置’其中當移動件位於中央位置時，影 取到的影像中的第一距離等於第二距離，且夾 f等度；以及使移動件沿垂直於參考平面的直線路徑移 的距離 在本發明之一實施例中，上述之使移動件沿垂直於參考平 =的直線路_動至基座讀更包括計算移鱗與基座之間 在本發明之一實施例中’上述之第三辨識部至基座之底面 的距離等於影像擷取元件至移動件之底_距離，而計算移動 件與基+座之間的距離的方法例如是在移動件位於中央位置 時’計算影像擷取元件所擷取到的影像之第三辨識部與第一直 線之間的第三距離，並將第三距離乘以預設係數，以計算出移 動件與基座之間的距離。 在本發明之一實施例中，上述之取得預設係數的方法包 括：使移動件位於中央位置並使移動件與基座相隔第四距離； 令影像擷取元件所擷取到的影像中的第三辨識部與第一直線 之間的最短距離為第五距離；以及將第四距離除以第五距離以 201202880 得到預設係數。 在本發明之能自動定位移動的電子襞置及讓其移動件自 動歸位的方法中，由於第三辨識部位在第一辨識部及第二辨 部所處的參考平面外，所以有利於移動件根據第一辨識部、^ 二辨識部與第三辨識部的相對位置來計算移動路徑，以 移動至基座。 =q释地 ^為讓本發明之上述和其他目的、特徵和優點能更明顯易 懂，下文特舉較佳實施例，並配合所附圖式，作詳細說明如下。 【實施方式】 圖1是本發明一實施例之一種能自動定位移動的電子裝 置的示意圖。請參照圖i，本實施例之能自動定位移動的料 裝置100可為掃地機器人或娱樂褒置等，但不以此為限 自動定位移動的電子裝置100包括基座110與移動件120。2 =m具有第—辨識部112、第二辨識部114與第三辨識ς 116。第一辨識部112與第二辨識部11Μ立於同一參考平面ρ 上’而第三辨識部11Μ立於第—辨識部112與第二辨識部ιΐ4 =且=參考平面Ρ外。移動件12G具有影像擷取元件 ㈣麟。飾件彡像掏取元 辨識部的相對位置來計算移動路徑，以移動至基座u〇。、第 而Ilf本^^例中’基座110例如具有從參考平面ρ内凹的凹 面11卜而第三辨識部116設置於凹面u 部116位於參考平面p外。影像# 災乐一辨项 P冢擷取疋件122之視角0的中心 線C例如疋垂直於參考平面p。介 p 7 , 卞囟尸亦即，影像擷取元件122之視 角中心線C平仃於參考平面p的 辨識部112、第二辨識部114盘第一二置。^卜上述之第一 〃弟二辨識部116之間的連線例 201202880 如疋形成等腰三角形τ，且第二辨辫邱 頂角。因此，坌一城— 辨識邛16位於等腰三角形的 於第二辨識部u 7 112與第三辨識部116之間的距離等 計算移第;一辨:;==，如_^^ 的距離例如是等於第二辨識部===m 離，而第一辨識部 至基座110之底面113的距 等於第三辨識°邱。丨〗^ 土座uo之底面I13的距離例如是不The moving path is calculated by moving the moving member away from the angle to move to the base. Wherein when the moving member is at the central position, the first distance in the captured image is equal to the second distance, and the clip f is equal to the degree; And a distance for moving the moving member along a linear path perpendicular to the reference plane. In an embodiment of the present invention, the moving member is moved along the straight line perpendicular to the reference level = to the base reading, including calculating the scale and In an embodiment of the present invention, the distance between the third identification portion and the bottom surface of the base is equal to the bottom distance of the image capturing member to the moving member, and the distance between the moving member and the base + seat is calculated. The method of distance is, for example, calculating a third distance between the third identification portion of the image captured by the image capturing component and the first straight line when the moving member is at the central position, and multiplying the third distance by the preset coefficient, To calculate the distance between the moving part and the base. In an embodiment of the invention, the method for obtaining the preset coefficient comprises: positioning the moving member at a central position and separating the moving member from the base by a fourth distance; and causing the image capturing component to capture the image The shortest distance between the third identification portion and the first straight line is the fifth distance; and the fourth distance is divided by the fifth distance to obtain the preset coefficient at 201202880. In the method of automatically positioning the moving electronic device and automatically homing the moving member of the present invention, since the third identification portion is outside the reference plane where the first identifying portion and the second identifying portion are located, it is advantageous for moving The movement path is calculated based on the relative positions of the first identification unit, the second identification unit, and the third identification unit to move to the pedestal. The above and other objects, features, and advantages of the present invention will become more apparent and understood. [Embodiment] FIG. 1 is a schematic view of an electronic device capable of automatically positioning a movement according to an embodiment of the present invention. Referring to FIG. 1 , the device 100 capable of automatically positioning and moving in this embodiment may be a cleaning robot or an entertainment device, but the electronic device 100 that does not automatically move the mobile device 100 includes the base 110 and the moving member 120. 2 =m has a first identification unit 112, a second identification unit 114, and a third identification unit 116. The first identification unit 112 and the second identification unit 11 stand on the same reference plane ρ', and the third identification unit 11 stands on the first identification unit 112 and the second identification unit ι4 = and = reference plane. The moving member 12G has an image capturing member (four). The trimming image captures the relative position of the identification portion to calculate the movement path to move to the base u〇. In the example of the first embodiment, the pedestal 110 has, for example, a concave surface 11 recessed from the reference plane ρ, and the third identification portion 116 is disposed outside the concave surface u portion 116 outside the reference plane p. Image # Disaster music one distinguishes the center line C of the viewing angle 0 of the P element 122, for example, perpendicular to the reference plane p. For example, the center line C of the image capturing element 122 is parallel to the identification portion 112 of the reference plane p, and the second identification portion 114 is disposed first and second. ^ The first example of the connection between the first two brothers identification unit 116 201202880 forms an isosceles triangle τ, and the second distinguishes the apex angle. Therefore, the first city-identification 邛16 is located at the distance between the second identification portion u 7 112 and the third identification portion 116 of the isosceles triangle, and the like, and the distance is determined by a distance such as _^^ For example, it is equal to the second identification portion===m, and the distance from the first identification portion to the bottom surface 113 of the susceptor 110 is equal to the third identification value.丨〗 ^ The distance of the bottom surface I13 of the earthen uo is, for example, no
僅有利於區別i-辨之底面113的距離。如此，不 116，還可防、第一辨識部114與第三辨識部 第一㈣邻m些彌取到的影像中出現第三辨識部116與 第辨識部112或第二辨識部114重疊的情形。 可為發識σ|Π12、第二辨識部114與第三辨識部116 識部m與第：辨二二f辨別第一辨識部112、第二辨 發光元#對位置。發光元件可為可見光 m由件够卜光發光元件或其他合適的發光元件。在另一實 二来：識部112、第二辨識部114與第三辨識部116 形可包括多個，且每-第-辨識部112、 與第三_部116的這些發光元件或識別圖形 =不=，以利影像榻取元件122操取到 112、第二辨識部114與第三辨識部U6的影像。 下文將詳細說明如何讓上述之移動件12〇自動歸位的方 /5: ° 圖2 ^本發明-實施例之讓移動件自動歸位的方法的流 圖3疋本發明-實關之能自動定位移動的電子裝置之 ^件意圖，而圖4是圖3之移動件賴取的影 位的方法如步驟sm所示，先藉由移動^ = 201202880 件122持續操取基座110的影像Μ。#即，每隔-段預定的時 間（如數秒鐘）⑯藉由影像娜元件m擁取-張影像Μ。 部上著第如 =2〇所示，根據每一影_中的第〜辨識 咏 乐一辨識部114,與第三辨識部116’的相對位置來計 ^移動路# ’以使移動件120移動至基座11G。更詳細地說， 一辨識部112與第二辨識部1M之間存有第一間距％ 識部116與參考平面p之間存有第二間距v2，每〜 ,=第一辨識部112，與第二辨識部114,位於第一直線 。、二辨識部116,位於與第一直線L1垂直的第二直線 ϋ述之計算移動路徑，以使移動件120移動至基座丨川 ’列如是先計算每一影像Μ中的第一辨識部112,與第二亩 L 間的第一距離D1以及第二辨識部114’與第二直線 之間的第二距離D2。 L2 ，著，根據第-距離⑴、第二距離D2、第一間距v :距V2计算通過影像擷取元件122及第三辨識部w ^ =直線L3與參考平面p之間的夾角ω。更詳細地說，如= :^叶算時，可先將第四直線L4視為平行第三直線乙 綠T^i^^L3與第四直線l4分別垂直影像μ。由於第-古’ D2為已/四直線W彼此平行，且第一距離Μ與第二2 E1與距離° E2故可根據第—距離D1與第二距離Μ計算出足巨離 且第三辨^因為距離E1加距離E2等於第—間距Vi， 116至^Π116至第—顺部112的距料於第三辨識部 而且，因部Μ的距離，因此距離Ε3等於（V1/2)-E1。 如此，可根^衫二間距V2為已知，所以可算出夾角『 路徑，㈣Ϊ 距離叫、第二輯D2熟角ω來計算移動 動件120移動至中央位置。此處所指的中央位置 201202880 是當移動件120位於此中央位置時，影像操取元件i22所操取 到的影像Μ中的第一距離D1等於第二距離Μ，爽角ω等於 90度，而第二直線L3與視角中心線c重疊。 而主思的疋’在移動件12〇移動的過程中，影像擷取元件 122仍會在每段預定的時間就擷取—張影像Μ，以供修正移動 Γ2=二1Γ件120移動至中央位置後，接著使移動件 /口垂直於參考平面Ρ的直線職移動至基座ιι〇。 在-實施财，使義件12〇沿垂直於參考平面ρ的It is only advantageous to distinguish the distance of the i-shaped bottom surface 113. In this way, the first identification unit 114 and the first identification unit 114 and the third identification unit are adjacent to each other, and the third identification unit 116 overlaps with the identification unit 112 or the second identification unit 114. situation. The first identification unit 112 and the third identification unit 116 may identify the first identification unit 112 and the second identification light element # pair position for the recognition σ|Π12, the second identification unit 114, and the third identification unit 116. The illuminating element may be visible light m by a sufficient amount of light illuminating elements or other suitable illuminating elements. In another embodiment, the identification unit 112, the second identification unit 114, and the third identification unit 116 may include a plurality of light-emitting elements or identification patterns of each of the first-identification portion 112 and the third portion 116. = No =, the image capturing device 122 captures the image of the 112, the second identifying portion 114 and the third identifying portion U6. The following describes in detail how to make the above-mentioned moving member 12〇 automatically homing to the square /5: ° Figure 2 ^ The flow of the method of the present invention - the automatic homing of the moving member is shown in the present invention - The method for automatically locating the moving electronic device is shown in FIG. 4, and FIG. 4 is a method for capturing the image position of the moving member of FIG. 3. As shown in step sm, the image of the susceptor 110 is continuously manipulated by moving the ^^201202880 device 122. Hey. #即, every predetermined period of time (e.g., a few seconds) 16 is captured by the image element m. As shown in the figure below, the moving path 120 is calculated based on the relative position of the first identification unit 114 and the third identification unit 116'. Move to the base 11G. In more detail, between the identification portion 112 and the second identification portion 1M, there is a first spacing between the identification portion 116 and the reference plane p, and a second spacing v2 exists between each of the first identification portions 112, and The second identification unit 114 is located on the first straight line. The second identification unit 116 is located in the second straight line perpendicular to the first straight line L1, and the moving path is moved to move the moving member 120 to the base. The first identification unit 112 in each image frame is calculated first. a first distance D1 between the second acre and a second distance D2 between the second identification portion 114' and the second straight line. L2, according to the first-distance (1), the second distance D2, and the first spacing v: the angle ω between the image capturing element 122 and the third identifying portion w^=the straight line L3 and the reference plane p is calculated from V2. More specifically, if the =:^ leaf is calculated, the fourth straight line L4 can be regarded as a parallel third line, the green line T^i^^L3 and the fourth line l4 are respectively perpendicular to the image μ. Since the first-old 'D2 is the parallel/four straight lines W parallel to each other, and the first distance Μ and the second 2 E1 and the distance ° E2, the distance can be calculated according to the first distance D1 and the second distance 且 and the third discrimination is Since the distance E1 plus the distance E2 is equal to the first interval Vi, the distance from 116 to Π 116 to the first portion 112 is expected to be at the third identification portion, and the distance Ε3 is equal to (V1/2) - E1 due to the distance of the portion Μ. Thus, since the two-pitch V2 is known, the angle "path, (4) Ϊ distance, and the second series D2 angle ω can be calculated to calculate the movement of the moving member 120 to the center position. The central position 201202880 referred to herein is that when the moving member 120 is located at the central position, the first distance D1 in the image frame captured by the image capturing component i22 is equal to the second distance Μ, and the refresh angle ω is equal to 90 degrees. The second straight line L3 overlaps the viewing angle center line c. However, in the process of moving the moving member 12, the image capturing component 122 still captures the image Μ at a predetermined time for the correction movement Γ 2 = 2 Γ 120 movement to the center After the position, the moving part/port is moved to the base ιι〇 perpendicular to the reference plane Ρ. In the implementation of the money, so that the piece 12 〇 perpendicular to the reference plane ρ
路徑移動至基座11〇之前可先計算移動件12〇與基座ιι〇之間 的距離’接著再根據所計算出的距離使移動件12〇沿垂直於參 考的直_徑移動，以回歸基座11〇。在第三辨識部μ 至基座110之底面113的距離等於影像摘取元件122至移動件 120之底© 121的距離的實施例中，計算移動件與基座之間的 距離的方法例如是在移動件12G位於中央位置時，藉由影像^ =兀件122操取影像M (如圖6所示），並計算所獅到的影 像Μ之第三辨識部116’與第一直線u之間的第三距離历， =之;'=^預W ’以物移動㈣與基座 上述之預設錄是在所狀能自動定位軸的電 100製造完成後即設定於其中。請參照圖7與圖8，取得^ 係數的方法例如是先使移動件12G位於 !20與基座U0相隔第四距離D4。接著 ^使2牛 所擷取到的影像Μ中的第三辨識部丨16，與二。取兀件122 最短距離為第五距離D5。之後，將第離心線^之間的 D5以得咖設絲。 第五距離 圖9是本發明另一實施射移動件回歸至基座的示意 201202880 ，。月參照® 9 ’基座ι1〇例如具有第一接合部118而移動 ^ 〇例如具有第二接合部124，且當移動件12G朝接近基座 =的方向移動至第-接合部118與第二接合部 日’貝移動件120即停止移動。此第一接合部118與第二接合 為充電端子’以使基座110能透過第-接合部118 i &部124而對移動件120内的充電電池充電。然而，本 ί 限定第一接合部118與第二接合部124需為充電端 σ °卩118與第二接合部124亦可為互相配合的卡合 4或疋互相配合的孔與銷，但不以此為限。 綜上所述，本發明實施例之能自動定位移動的電子裝置 100及讓其移動件自動歸位的方法中’由於第三辨識部116位 在第-辨識部112及第二辨識部114所處的參考平面ρ外，所 3有利於移動件12G根據第一辨識部112、第二辨識部ιΐ4與 第二辨識部116的相對位置來計算移動_，以精確地移動至 基座110。 雖然本發明已以較佳實施例揭露如上，然其並非用以限定 t發明’本㈣關麟領域中具有通常知識者，在不脫離本 發明之精神和範圍内，當可作些許之更動與潤飾，因此本發明 之保護範圍當視後附之申請專利範圍所界定者為 【圖式簡單說明】 ’ 置的本發明—實施例之—種能自較位移動的電子裝 程圖圖2是本發明一實施狀讓鶴件自動歸位的方法的流 圖3是本發明-實施例之能自動定位移動的 移動件擷取影像的示意圖。 χ 201202880 圖4是圖3之移動件所擷取的影像的示意圖。 圖5是本發明一實施例中計算第三直線與參考平面之間 的夾角的示意圖。 圖6是本發明一實施例中移動件位於中央位置所擷取到 的影像之示意圖。 圖7是本發明一實施例中設定預設係數時移動件盥基座 的相對位置之示意圖。 … 圖8是本發明—實施例中設定預設係數時移動件所 到的影像之示意圖。Before the path is moved to the pedestal 11 可, the distance between the moving member 12 〇 and the pedestal ι ι can be calculated. Then, according to the calculated distance, the moving member 12 移动 is moved along the straight line perpendicular to the reference to return. The base 11 is closed. In the embodiment in which the distance from the third identification portion μ to the bottom surface 113 of the susceptor 110 is equal to the distance from the image pickup element 122 to the bottom 121 of the moving member 120, the method of calculating the distance between the moving member and the pedestal is, for example, When the moving member 12G is at the center position, the image M is captured by the image ^=the member 122 (as shown in FIG. 6), and the third identification portion 116' of the image of the lion is calculated and the first line u is calculated. The third distance calendar, =;; = ^ pre-W 'object movement (four) and the base of the above-mentioned preset recording is set in the electric 100 after the automatic positioning of the shaft is completed. Referring to Fig. 7 and Fig. 8, the method of obtaining the coefficient is, for example, first placing the moving member 12G at !20 and the base U0 by a fourth distance D4. Then, the third identification unit 丨16 and the second of the image files captured by the 2 cows are made. The shortest distance of the picking member 122 is the fifth distance D5. Thereafter, the D5 between the first centrifugal lines ^ is used to make a wire. Fifth Distance Figure 9 is a schematic representation of another embodiment of the present invention in which the moving member returns to the base 201202880. The month reference ® 9 'the base ι1 〇 has, for example, the first engaging portion 118 and moves, for example, has the second engaging portion 124, and moves to the first engaging portion 118 and the second when the moving member 12G approaches the base = The joint portion 'be moving member 120' stops moving. The first joint portion 118 and the second joint are the charging terminals' to enable the susceptor 110 to pass through the first joint portion 118 i & portion 124 to charge the rechargeable battery in the moving member 120. However, the first joint portion 118 and the second joint portion 124 need to be the holes and pins for the charging end σ ° 卩 118 and the second joint portion 124 to cooperate with each other. This is limited to this. In summary, in the method for automatically locating the mobile electronic device 100 and automatically homing the moving member in the embodiment of the present invention, the third identification portion 116 is located in the first identification portion 112 and the second identification portion 114. In addition to the reference plane ρ, the 3 is advantageous for the moving member 12G to calculate the movement_ according to the relative positions of the first identifying portion 112, the second identifying portion ι4, and the second identifying portion 116 to accurately move to the susceptor 110. Although the present invention has been disclosed in the above preferred embodiments, it is not intended to limit the invention in the field of the invention, and it is possible to make a few changes without departing from the spirit and scope of the invention. Retouching, therefore, the scope of protection of the present invention is defined by the scope of the appended claims, which is defined by the following description of the drawings. The present invention is an embodiment of the present invention. FIG. 3 is a flow chart of a method for automatically hoisting a crane piece according to an embodiment of the present invention. χ 201202880 Figure 4 is a schematic diagram of the image captured by the moving member of Figure 3. Figure 5 is a schematic illustration of calculating the angle between a third line and a reference plane in accordance with one embodiment of the present invention. Figure 6 is a schematic illustration of an image captured by a moving member at a central position in accordance with an embodiment of the present invention. Fig. 7 is a view showing the relative position of the moving member 盥 base when the preset coefficient is set in an embodiment of the present invention. Fig. 8 is a view showing an image of a moving member when a preset coefficient is set in the embodiment of the present invention.
9疋本發明一實施例中移動件回歸基座時 【主要元件符號說明】 的示意圖。 1〇〇 :能自動定位移動的電子裝置 110 :基座 111 :凹面 112 :第一辨識部 112’ ：影像中的第一辨識部 113 ' 121 :底面 114 :第二辨識部 114’ ：影像中的第二辨識部 116 :第三辨識部 U6’ ··影像中的第三辨識部 118 :第一接合部 120 :移動件 122 :影像擷取元件 124 :第二接合部 C:視角中心線 m 12 2012028809. A schematic diagram of a description of a main component symbol when a moving member is returned to a pedestal according to an embodiment of the present invention. 1〇〇: Electronic device 110 capable of automatically positioning movement: base 111: concave surface 112: first identification portion 112': first identification portion 113' in image: bottom surface 114: second identification portion 114': in image Second identification portion 116: third identification portion U6' · third recognition portion 118 in the image: first joint portion 120: moving member 122: image capturing member 124: second joint portion C: angle of view center line m 12 201202880
D1 :第一距離 D2 :第二距離 D3 :第三距離 D4 :第四距離 D5 :第五距離 El 、E2、E3 :距離 LI :第一直線 L2 :第二直線 L3 :第三直線 L4 ••第四直線 M 影像 P ： 參考平面 T ： 等腰三角形 VI :第一間距 V2 :第二間距 Θ :視角 ω •爽角 S110、S120 :步驟 13D1: first distance D2: second distance D3: third distance D4: fourth distance D5: fifth distance El, E2, E3: distance LI: first straight line L2: second straight line L3: third straight line L4 •• Four-line M image P: Reference plane T: Isosceles triangle VI: First pitch V2: Second pitch Θ: Viewing angle ω • Refreshing angle S110, S120: Step 13