CN101881611B - Three-point positioning device and method and speaker system - Google Patents

Abstract

A three-point positioning device covers a scene of an auxiliary positioning module by means of an image sensor sensing range so as to generate a sensing image. The auxiliary positioning module comprises a first auxiliary positioning unit, a second auxiliary positioning unit and a third auxiliary positioning unit. By sensing the image, the three-point positioning device identifies a first sensing unit, a second sensing unit and a third sensing unit of the image sensor respectively corresponding to the first auxiliary positioning unit, the second auxiliary positioning unit and the third auxiliary positioning unit. Thus, the absolute position of the auxiliary positioning module may be calculated by the three-point positioning device according to the positions or received powers of the first sensing unit, the second sensing unit, and the third sensing unit.

Description

Three-point positioning device and method and speaker system

technical field

The present invention relates to a positioning device, more specifically, to a three-point positioning device.

Background technique

The positioning device of the known technology has been applied to video games or computer games to enable players to have a better interactive experience. For example, in Nintendo's Wii game console, the Wii control joystick includes a positioning device of known technology, so that the Wii host can obtain the position of the Wii control joystick relative to the object under test (such as a display or display screen). The moving distance and moving direction of the game, and the progress of the game is controlled according to the moving distance and moving direction. Taking the tennis game as an example, when the user swings the Wii control joystick, the Wii host can obtain the distance and direction of the relative movement of the Wii control joystick through the positioning device of the known technology, so that the character controlled by the user can make Swing the tennis racket accordingly to hit the ball. For example, when the relative movement distance per unit time obtained by the Wii host is larger, the character controlled by the user hits the ball with stronger power, so that the hit ball flies faster; otherwise, when When the relative moving distance per unit time obtained by the Wii host is small, the power of the character controlled by the user to hit the ball is weak, so that the hit ball flies slowly. In addition, the Wii host can make the character controlled by the user perform a forehand or backhand action according to the obtained relative movement direction.

In order to allow users to have a better interactive experience, the present invention provides a three-point positioning device, which can calculate the absolute position of the user. In this way, the game machine can provide the user with a more realistic interactive experience according to the absolute position measured by the three-point positioning device of the present invention.

Contents of the invention

The invention provides a three-point positioning device, which is characterized in that it includes an auxiliary positioning module, an image sensor, and a position calculation circuit. The auxiliary positioning module includes a first auxiliary positioning unit, a second auxiliary positioning unit, and a third auxiliary positioning unit. A first auxiliary positioning line is formed between the first auxiliary positioning unit and the second auxiliary positioning unit. The length of the first auxiliary positioning line is equal to a first known distance. A second auxiliary positioning line is formed between the second auxiliary positioning unit and the third auxiliary positioning unit. The length of the second auxiliary positioning line is equal to a second known distance. The included angle between the first auxiliary positioning straight line and the second auxiliary positioning straight line is a known included angle. The image sensor is used for sensing a scene covering the first auxiliary positioning unit, the second auxiliary positioning unit and the third auxiliary positioning unit, so as to generate a sensing image. The extent of the scene depends on a known viewing angle of the image sensor. The position calculation circuit is used to receive the sensing image to identify a first sensing unit of the image sensor corresponding to the first auxiliary positioning unit, a sensor corresponding to the second auxiliary positioning unit from the sensing image A second sensing unit of the image sensor, and a third sensing unit of the image sensor corresponding to the third auxiliary positioning unit, and according to the first sensing unit, the second sensing unit, and the The position of the third sensing unit is used to calculate a distance to be measured and an angle to be measured between the auxiliary positioning module and the image sensor, so as to output a distance/angle signal.

The present invention also provides a three-point positioning method, which is characterized in that it includes providing a first auxiliary positioning unit, a second auxiliary positioning unit, a third auxiliary positioning unit, an image sensor, and an auxiliary positioning module. Detecting a scene, so as to generate a sensing image, according to the sensing image, identify a first sensing unit of the image sensor corresponding to the first auxiliary positioning unit, a corresponding to the second auxiliary positioning unit A second sensing unit of the image sensor, and a third sensing unit of the image sensor corresponding to the third auxiliary positioning unit, and according to the first sensing unit, the second sensing unit, and the first sensing unit The positions of the three sensing units are used to calculate a measured distance and a measured angle between the image sensor and the auxiliary positioning module. A first auxiliary positioning line is formed between the first auxiliary positioning unit and the second auxiliary positioning unit. The length of the first auxiliary positioning line is equal to a first known distance. A second auxiliary positioning line is formed between the second auxiliary positioning unit and the third auxiliary positioning unit. The length of the second auxiliary positioning line is equal to a second known distance. The included angle between the first auxiliary positioning straight line and the second auxiliary positioning straight line is a known included angle. The first auxiliary positioning unit, the second auxiliary positioning unit and the third auxiliary positioning unit are located within the scope of the scene.

Description of drawings

FIG. 1 is a schematic diagram illustrating a three-point positioning device according to a first embodiment of the present invention.

FIG. 2 , FIG. 3 , FIG. 4 , and FIG. 5 are schematic diagrams illustrating the method for calculating the included projection angle of the present invention.

FIG. 6 is a schematic diagram illustrating a three-point positioning device according to a second embodiment of the present invention.

FIG. 7 is a schematic diagram illustrating a three-point positioning device according to a third embodiment of the present invention.

Fig. 8 is a schematic diagram illustrating the speaker system of the present invention.

Wherein, the reference signs are explained as follows:

100, 600, 700, 801 Three-point positioning device

110, 610, 710, 810 image sensor

130, 630, 730, 830 Auxiliary positioning module

131～133, 631～633, auxiliary positioning unit

731～733

800 Speaker System

802 volume controller

820 position calculation circuit

CS ₁ ~ CS ₃ sensing unit

D ₁₂ , D ₂₃ , D _F , D _M , D _A ,

D _S1F ～D _S3F , D _FOV/2 , D ₆₁₂ , distance

D ₆₂₃ 、 D ₇₃₁ 、 D ₇₃₃

L ₁₃₁ ～L ₁₃₃ , L ₆₃₁ ～L ₆₃₃ , projected straight line

L ₇₃₁ ～ L ₇₃₃

L ₁₁₂ , L ₁₂₃ , L ₆₁₂ , L ₆₂₃ , auxiliary positioning straight line

L ₇₁₂ , L ₇₂₃

L _F midline

LENS Lens

MO Object to be tested

O _F intersection point

_PF Midpoint

SC scene

S _D/A distance/angle signal

S _I1 ~ S _IM video signal

S _VC1 , S _VC2 volume control signal

SP ₁ , SP ₂ speakers

θ ₁₂ , θ ₂₃ , θ _X , θ _M ,

θ _FOV , θ _A , θ _B , θ _C , angle

θ _Y , θ ₆₁₂ , θ ₆₂₃

Detailed ways

Please refer to Figure 1. FIG. 1 is a schematic diagram illustrating a three-point positioning device 100 according to a first embodiment of the present invention. The three-point positioning device 100 includes an image sensor 110 , a position calculation circuit 120 (not shown), and an auxiliary positioning module 130 . The three-point positioning device 100 is used to measure the distance D _M to be measured and the angle θ _M to be measured between the auxiliary positioning module 130 and the image sensor 110 . When the auxiliary positioning module 130 is set at the same position as an object MO, the three-point positioning device 100 can be used to measure the distance D _M to be measured and the angle θ _M to be measured between the object MO and the three-point positioning device 100 . For example, the object under test MO can be a display or a display screen. When the image sensor 110 is at the same position as the user (for example, the user holds the image sensor 110 of the three-point positioning device 100 ), the distance between the user and the display (the object under test MO) can be obtained by the three-point positioning device 100 .

The auxiliary positioning module 130 includes auxiliary positioning units 131 , 132 , and 133 . The auxiliary positioning units 131, 132, and 133 have distinctive features that can be detected. For example, the auxiliary positioning units 131, 132, and 133 are light-emitting diodes (such as light-emitting diodes of infrared light) with specific wavelengths or specific frequency bands, or objects with specific patterns or specific colors. The sensor 110 can identify the image signals sensed by the auxiliary positioning units 131 - 133 on the image sensor 110 . In this embodiment, the auxiliary positioning units 131 , 132 and 133 are set on the object MO. An auxiliary positioning line L ₁₁₂ is formed between the auxiliary positioning units 131 and 132 . The length of the auxiliary positioning line L ₁₁₂ is equal to the known distance D ₁₂ ; an auxiliary positioning line L ₁₂₃ is formed between the auxiliary positioning units 132 and 133 . The length of the auxiliary positioning line L ₁₂₃ is equal to the known distance D ₂₃ . The auxiliary positioning straight line L ₁₁₂ is parallel to the auxiliary positioning straight line L ₁₂₃ . In addition, the distance to be measured _DM in FIG. 1 is illustrated by taking the distance between the sensing unit CS ₂ and the auxiliary positioning unit 132 as an example. However, the distance D _M to be measured can also be the distance between the sensing unit CS ₁ and the auxiliary positioning unit 131 , or the distance between the sensing unit CS ₃ and the auxiliary positioning unit 133 . Similarly, the angle θ _M to be measured in FIG. 1 is illustrated by an included angle between the line connecting the sensing unit CS ₃ and the auxiliary positioning unit 133 and the auxiliary positioning straight line L ₁₂₃ . However, the angle θ _M to be measured can also be the line between the sensing unit CS ₂ and the auxiliary positioning unit 132 and the auxiliary positioning line L ₁₂₃ , the line between the sensing unit CS ₂ and the auxiliary positioning unit 132 and the auxiliary positioning line L ₁₁₂ , or the angle between the line connecting the sensing unit CS ₁ and the auxiliary positioning unit 131 and the auxiliary positioning straight line L ₁₁₂ .

The image sensor 110 is used for sensing the scene SC to generate the sensing image I accordingly. The sensing image I includes image signals S _I1 -S _IM . As shown in FIG. 1 , the range of the scene SC that can be sensed by the image sensor 110 depends on the known viewing angle θ _FOV of the image sensor 110 . The known viewing angle θ _FOV of the image sensor 110 corresponds to the field of view (Field of View, FOV) of the image sensor 110 . The image sensor 110 includes sensing units CS ₁ ˜CS _M , wherein M represents a positive integer. Each sensing unit CS ₁ ˜CS _M in the image sensor 110 senses a corresponding portion of the scene SC to generate image signals S _I1 ˜S _IM for sensing the image I. For example, as shown in FIG. 1 , the auxiliary positioning module 130 is located within the scope of the scene SC. The sensing unit CS ₁ senses the auxiliary positioning unit 131 within the range of the scene SC to generate an image signal S _I1 ; the sensing unit CS ₂ senses the auxiliary positioning unit 132 within the range of the scene SC to generate an image signal S _I2 ; The sensing unit _CS3 senses the auxiliary positioning unit 133 within the range of the scene SC to generate an image signal S _I3 . In addition, the lens LENS in FIG. 1 is used to condense light onto the image sensor 110 to facilitate the image sensor 110 to generate the sensing image I.

The position calculation circuit 120 is used to receive the sensing image I (image signals S _I1 -S _IM ), to identify the sensing unit CS ₁ corresponding to the auxiliary positioning unit 131 and the sensing unit CS 1 corresponding to the auxiliary positioning unit 132 from the sensing image I. The sensing unit CS ₂ , and the sensing unit CS ₃ corresponding to the auxiliary positioning unit 133 calculate the distance to be measured _DM and the angle to be measured θ according to the positions of the sensing units CS ₁ , CS ₂ , and CS _{3 M} , so as to output the distance/angle signal S _D/A . The working principle of the position calculation circuit 120 will be further described below.

In FIG. 1 , a projected straight line L ₁₃₁ is formed between the sensing unit CS ₁ and the auxiliary positioning unit 131; a projected straight line L 132 is formed between the sensing unit CS ₂ and the auxiliary positioning unit ₁₃₂ ; the sensing unit CS ₃ and the auxiliary positioning unit 133 form a projection line L ₁₃₃ . The measured distance D _M is the distance between the sensing unit CS ₂ and the auxiliary positioning unit 132 , and the measured angle θ _M is the angle between the projected straight line L ₁₃₃ and the auxiliary positioned straight line L ₁₂₃ . The projection lines L ₁₃₁ , L ₁₃₂ and L ₁₃₃ intersect at an intersection point _OF . where the location of the intersection point _OF is approximately at the center of the lens LENS. The distance between the intersection point _OF and the image sensor 110 is D _F . In addition, since the distance between the sensing unit CS ₂ and the auxiliary positioning unit 132 is approximately equal to the distance between the intersection point _OF and the auxiliary positioning unit 132, the distance to be measured D _M can be used to represent the sensing unit CS ₂ and the auxiliary positioning unit 132. In addition to the distance between the auxiliary positioning units 132 , it can also be used to represent the intersection point _OF and the distance between the auxiliary positioning units 132 . The angle between the projection lines L ₁₃₁ and L ₁₃₂ is the projection angle θ ₁₂ ; the angle between the projection lines L ₁₃₂ and L ₁₃₃ is the projection angle θ ₂₃ . Since the projection lines L ₁₃₁ , L ₁₃₂ and the object under test MO (or the auxiliary positioning lines L ₁₁₂ and L ₁₂₃ ) form a triangle, the distance between the projection line L ₁₃₁ and the object MO (or the auxiliary positioning lines L ₁₁₂ and L ₁₂₃ ) The size of the angle θ _X between will be equal to (π-θ _M -θ ₁₂ -θ ₂₃ ), where π represents the sum of the three interior angles of a triangle.

According to the sine theorem, the relationship among the measured distance D _M , the known distances D ₁₂ and D ₂₃ , the measured angle θ _M , and the projected angles θ ₁₂ and θ ₂₃ can be expressed as follows:

D ₁₂ /sinθ ₁₂ =D _M /sinθ _X =D _M /sin(π-θ _M -θ ₁₂ -θ ₂₃ )...(1);

D ₂₃ /sinθ ₂₃ ＝D _M /sinθ _M ＝D _M /sinθ _M ...(2);

Therefore, as long as the position calculation circuit 120 can obtain the projected angles θ _{12 and} θ ₂₃ , the distance to be measured DM and the angle to be measured θ _M can be calculated according to formulas (1) and (2).

Please refer to Figure 2, Figure 3, Figure 4, and Figure 5. FIG. 2 , FIG. 3 , FIG. 4 , and FIG. 5 are schematic diagrams illustrating the method for calculating the projected angles θ ₁₂ and θ ₂₃ according to the present invention. The endpoint of the projection of the intersection point _OF on the image sensor 110 is the midpoint _PF of the image sensor 110 . A median line L _F is formed between the point of intersection OF and the midpoint _PF , and the length of _the median line L _F is equal to the known distance D _F . The centerline _LF is perpendicular to the plane of the image sensor 110 .

In FIG. 2 , the middle point _PF is between the sensing cells _CS1 and _CS2 . The distance between the sensing unit CS ₁ and the midpoint _PF is D _S1F , and the distance D _S1F can be obtained by adding the width of the sensing unit between the sensing unit CS ₁ and the midpoint _PF ; The distance between the unit CS ₂ and the midpoint _PF is D _S2F , and the distance D _S2F can be obtained by adding the width of the sensing unit between the sensing unit CS ₂ and the midpoint _PF ; the sensing unit CS The distance between ₃ and the midpoint _PF is D _S3F , and the distance D _S3F can be obtained by adding the width of the sensing unit between the sensing unit CS ₃ and the midpoint _PF . In addition, the distance D _FOV/2 is half the width of the image sensor 110, and the distance D _FOV/2 can be obtained by adding the widths of the sensing units located on the left side of the midpoint _PF of the image sensor 110, or It is obtained by adding the widths of the sensing units on the right side of the midpoint _PF of the image sensor 110 . Therefore, the centerline angles θ _A , θ _B and θ _C between the center line _LF and the projection lines L ₁₃₁ , L ₁₃₂ , and L ₁₃₃ respectively can be expressed by the following formula:

θ _A ＝tan ^-1 [tan(θ _FOV /2)×(D _S1F /D _FOV/2 )]...(3);

θ _B ＝tan ^-1 [tan(θ _FOV /2)×(D _S2F /D _FOV/2 )]...(4);

θ _C ＝tan ^-1 [tan(θ _FOV /2)×(D _S3F /D _FOV/2 )]...(5);

Therefore, the position calculation circuit 120 can identify the sensing units CS ₁ , CS ₂ and CS ₃ respectively corresponding to the auxiliary positioning units 131 , 132 and 133 by using the image I. Next, the position calculation circuit 120 obtains the distances D S1F , D _S2F and _{D S3F according} to the positions of the sensing units CS ₁ , CS ₂ and CS ₃ . Finally, according to formulas (3), (4) and (5), the centerline included angles θ _A , θ _B and θ _C are calculated. It can be seen from Fig. 2 that the projection angle θ ₁₂ is equal to (θ _A + θ _B ), and the projection angle θ ₂₃ is equal to (θ _C - θ _B ). Therefore, the position calculation circuit 120 can calculate the projection angles θ ₁₂ and θ ₂₃ . In this way, according to formulas (1) and (2), the position calculation circuit 120 can calculate the distance to be measured _DM and the angle to be measured θ _M .

In FIG. 3 , the method of calculating the centerline included angles θ _A , θ _B and θ _C is similar to the description in FIG. 2 . However, compared to FIG. 2 , in FIG. 3 , the midpoint _PF is between the sensing unit CS ₂ and the sensing unit CS ₃ . At this time, the projection angle θ ₁₂ is equal to (θ _A -θ _B ), and the projection angle θ ₂₃ is equal to (θ _C +θ _B ). In this way, the position calculation circuit 120 can calculate the centerline included angles θ _A , θ _B and θ _C according to equations (3), (4) and (5). Then, the distance to be measured D _M and the angle to be measured θ _M are calculated according to formulas (1) and (2).

In FIG. 4 , the method for calculating the centerline included angles θ _A , θ _B and θ _C is similar to the description in FIG. 2 . However, compared to FIG. 2 , in FIG. 4 , the sensing units CS ₁ , CS ₂ and CS ₃ are all on the left side of the midpoint _PF , and the midline angle θ _C <θ _B <θ _A . At this time, the projection angle θ ₁₂ is equal to (θ _A -θ _B ), and the projection angle θ ₂₃ is equal to (θ _B -θ _C ). In this way, the position calculation circuit 120 can calculate the centerline included angles θ _A , θ _B and θ _C according to equations (3), (4) and (5). Then, the distance to be measured D _M and the angle to be measured θ _M are calculated according to formulas (1) and (2).

In FIG. 5 , the method of calculating the centerline included angles θ _A , θ _B and θ _C is similar to that described in FIG. 2 . However, compared to FIG. 2 , in FIG. 5 , the sensing units CS ₁ , CS ₂ and CS ₃ are all on the right side of the midpoint _PF , and the midline angle θ _A <θ _B <θ _C . At this time, the projection angle θ ₁₂ is equal to (θ _B -θ _A ), and the projection angle θ ₂₃ is equal to (θ _C -θ _B ). In this way, the position calculation circuit 120 can calculate the centerline included angles θ _A , θ _B and θ _C according to equations (3), (4) and (5). Then, the distance to be measured D _M and the angle to be measured θ _M are calculated according to formulas (1) and (2).

Please refer to Figure 6. FIG. 6 is a schematic diagram illustrating a three-point positioning device 600 according to a second embodiment of the present invention. The structure and working principle of the three-point positioning device 600 are similar to those of the three-point positioning device 100 . However, compared with the three-point positioning device 100 , in the three-point positioning device 600 , the auxiliary positioning units 631 , 632 and 633 are not arranged on the same straight line. The auxiliary positioning straight line L 612 between the auxiliary positioning units 631 and ₆₃₂ is not parallel to the auxiliary positioning straight line L ₆₂₃ between the auxiliary positioning units 632 and 633 . The angle formed between the auxiliary positioning lines L ₆₁₂ and L ₆₂₃ is a known angle θ _Y . Since the auxiliary positioning straight lines L ₆₁₂ and L ₆₂₃ and the projection straight lines L ₆₃₁ and L ₆₃₃ form a quadrilateral, the angle θ _X between the projection straight line L ₆₃₁ and the auxiliary positioning straight line L ₆₁₂ will be equal to (2×π-θ _M -θ ₆₁₂ -θ ₆₂₃ -θ _Y ). Thus, according to the sine theorem, the relationship between the measured distance D _M , the known distances D ₆₁₂ and D ₆₂₃ , the measured angle θ _M , and the projected angles θ ₆₁₂ and θ ₆₂₃ can be expressed as follows:

D ₆₁₂ /sinθ ₆₁₂ ＝D _M /sinθ _X ＝D _M /sin(2×π-θ _M -θ ₆₁₂ -θ ₆₂₃ -θ _Y )...(6);

D ₆₂₃ /sinθ ₆₂₃ = D _M /sinθ _M = D _M /sinθ _M ... (7);

Since the angles θ ₆₁₂ and θ ₆₂₃ can be calculated by the methods illustrated in FIG. 2, FIG. 3, FIG. 4 and FIG. Step 620 to calculate the distance to be measured D _M and the angle to be measured θ _M .

In addition, when the known included angle θ _Y in the three-point positioning device 600 is equal to π, the auxiliary positioning lines L ₆₁₂ and L ₆₂₃ are parallel to each other. At this time, the structure of the three-point positioning device 600 is similar to that of the three-point positioning device 100 . And the known included angle θ _Y in formula (6) is brought into π, which will make formula (6) similar to formula (1). It can be seen that the three-point positioning device 100 is equal to the three-point positioning device 600 when the known included angle θ _Y is equal to π.

Please refer to Figure 7. FIG. 7 is a schematic diagram illustrating a three-point positioning device 700 according to a third embodiment of the present invention. The three-point positioning device 700 includes an image sensor 710 , a position calculation circuit 720 (not shown), and an auxiliary positioning module 730 . The three-point positioning device 700 is used to measure the distance D _M to be measured and the angle θ _M to be measured between the image sensor 710 and the auxiliary positioning module 730 . When the auxiliary positioning module 730 and an object MO are set at the same position, the three-point positioning device 700 can be used to measure the measured distance D _M and the measured angle θ _M between the three-point positioning device 700 and the object MO. The structure and working principle of the image sensor 710 are similar to those of the image sensors 610 and 110 , so details are not repeated here. In addition, in FIG. 7 , the lens LENS is used to condense light onto the image sensor 710 to facilitate the image sensor 710 to generate a sensing image. The auxiliary positioning module 730 includes auxiliary positioning units 731 , 732 and 733 . In this embodiment, the auxiliary positioning units 731 , 732 and 733 are set on the object MO. The lengths of the auxiliary positioning lines L ₇₁₂ and L ₇₂₃ are both equal to the known distance D _A . The auxiliary positioning units 731 , 732 and 733 are light emitting diodes (such as infrared light emitting diodes), and the lights emitted by the auxiliary positioning units 731 , 732 and 733 have the same power PW _LD . The light emitted by the auxiliary positioning units 731 , 732 and 733 is isotropic. That is to say, the auxiliary positioning units 731 , 732 and 733 emit light uniformly. In addition, in FIG. 7, since the distance between the sensing unit CS ₂ and the auxiliary positioning unit 732 is approximately equal to the distance between the intersection point _OF and the auxiliary positioning unit 732, D _M can be used to represent the sensing unit CS ₂ and the distance between the auxiliary positioning unit 732, it can also be used to indicate the distance between the intersection point _OF and the auxiliary positioning unit 732. Similarly, D ₇₃₁ can be used to represent the distance between the sensing unit CS ₁ and the auxiliary positioning unit 731, as well as the distance between the intersection point _OF and the auxiliary positioning unit 731; and D ₇₃₃ can be used to represent In addition to representing the distance between the sensing unit CS ₃ and the auxiliary positioning unit 733 , it can also be used to represent the distance between the intersection point _OF and the auxiliary positioning unit 733 . Therefore, the powers PW ₇₃₁ , PW 732 , and PW 733 of the light received by the sensing units CS ₁ , CS ₂ , and CS ₃ corresponding to the auxiliary positioning units _{731 , 732} , and ₇₃₃ are respectively related to the sensing unit CS ₁ and the auxiliary positioning unit 731. The distance D ₇₃₁ between them, the distance D _M to be measured between the sensing unit CS ₂ and the auxiliary positioning unit 732, and the distance D 733 between the sensing unit CS ₃ and the auxiliary positioning unit ₇₃₃ are related, which can be expressed by the following formula:

[(PW ₇₃₁ /PW _LD )/(PW ₇₃₂ /PW _LD )] = D _M ² /D ₇₃₁ ² ... (8);

[(PW ₇₃₃ /PW _LD )/(PW ₇₃₂ /PW _LD )]=D _M ² /D ₇₃₃ ² ... (9);

According to the formula (8), the distance D ₇₃₁ is equal to [D _M ×(PW ₇₃₂ /PW ₇₃₁ ) ^0.5 ], and according to the formula (9), the distance D ₇₃₃ is equal to [D _M ×(PW ₇₃₂ /PW ₇₃₃ ) ^0.5 ] . Wherein (PW ₇₃₂ /PW ₇₃₁ ) and (PW ₇₃₂ /PW ₇₃₃ ) can be obtained by sensing the image signals S _I1 , S _I2 , S _I3 corresponding to the sensing units CS ₁ , CS ₂ , CS ₃ in the image I. . For example, the image signals S _I1 , S _I2 , and S _I3 respectively represent brightness B ₇₃₁ , B ₇₃₂ , and B ₇₃₃ . Thus, (PW ₇₃₁ /PW ₇₃₂ ) is equal to (B ₇₃₁ /B ₇₃₂ ), and (PW ₇₃₃ /PW ₇₃₂ ) is equal to (B ₇₃₃ /B ₇₃₂ ). Therefore, according to the midline theorem (Apollonius'theorem) and the triangle formed by the projected straight lines L ₇₃₁ , L ₇₃₃ and the auxiliary positioning straight lines L ₇₁₂ , L ₇₂₃ , the distance D _M to be measured, the distances D ₇₃₁ and D ₇₃₃ can be expressed as the area of the triangle by the following formula :

(D ₇₃₁ ) ² +(D ₇₃₃ ) ² ＝2×[(D _A ) ² +(D _M ) ² ]...(10);

Thus, according to formulas (8), (9) and (10), the position calculation circuit 720 can calculate the distance to be measured D _M . Also according to Heron's formula and the triangle formed by the projected straight lines L ₇₃₂ , L ₇₃₃ and the auxiliary positioning straight line L ₇₂₃ , the distance to be measured D _M , the distances D ₇₃₁ and D ₇₃₃ , the known distance D _A and the to-be-measured distance can be calculated. The angle θ _M is represented by the following formula:

(1/2)×D _A ×D ₇₃₃ ×sinθ _M ＝[V×(VD _A )×(VD ₇₃₃ )×(VD _M )]...(11);

Where V is the half perimeter of the triangle formed by the projection straight lines L ₇₃₁ , L ₇₃₃ and the auxiliary positioning straight lines L ₇₁₂ , L ₇₂₃ , and V is equal to [(1/2)×(D _A +D _M +D ₇₃₃ )]. In this way, according to formula (11), the position calculation circuit 720 can calculate the angle θ _M to be measured.

In addition, when the three-point positioning device of the present invention is applied to a game machine, it can provide users with a better interactive experience. Taking the aforementioned tennis game as an example, when the user holds the game control joystick utilizing the image sensor of the three-point positioning device of the present invention, and the auxiliary positioning module of the three-point positioning device of the present invention is set in contact with the object under test (such as a display or display screen) at the same position, the game console can obtain the distance D _M to be measured and the angle θ _M to be measured between the user and the object under test (such as a display or a display screen). When the user moves the position, since the measured distance D _M will change obviously, the game host can control the movement of the character controlled by the user in the game accordingly. When the user swings the game control joystick, the angle θ _M to be measured will change obviously, so the game machine can control the character controlled by the user in the game to perform a corresponding swing action. In this way, by using the game control joystick of the three-point positioning device of the present invention, the user can simultaneously control the movement and swing of the character, so as to provide the user with a more realistic interactive experience.

In addition, in the three-point positioning device (such as 100, 600 and 700) of the present invention, the distance to be measured between the image sensor 110, 610 and 710 and the auxiliary positioning module 130, 630 and 730 is not limited to the sensing unit _CS2 The distance D _M between the auxiliary positioning units 132 , 632 and 732 . For example, the distance to be measured may be the distance between the sensing unit _CS1 and the auxiliary positioning units 131, 631, and 731, or the distance between the sensing unit _CS3 and the auxiliary positioning units 133, 633, and 733, and At this time, the method described above can still be used to calculate the distance to be measured. Similarly, the angles to be measured between the image sensors 110, 610, and 710 and the auxiliary positioning modules 130, 630, and 730 are not limited to the connection line between the sensing unit _CS3 and the auxiliary positioning units 133, 633, and 733 (projection straight line The included angle θ _M between L ₁₃₃ , L ₆₃₃ and L ₇₃₃ ) and the auxiliary positioning straight lines L ₁₂₃ , L ₆₂₃ and L ₇₂₃ . For example, the angle to be measured between the image sensors 110, 610, and 710 and the auxiliary positioning modules 130, 630, and 730 can be the connection line between the sensing unit _CS2 and the auxiliary positioning units 132, 632, and 732 (projection line L ₁₃₂ , L ₆₃₂ and L ₇₃₂ ) and the auxiliary positioning straight lines L ₁₂₃ , L ₆₂₃ and L ₇₂₃ , the connection line between the sensing unit CS ₂ and the auxiliary positioning units 132 , 632 and 732 (projection straight line L ₁₃₂ , L ₆₃₂ and L ₇₃₂ ) and the auxiliary positioning straight lines L ₁₁₂ , L ₆₁₂ and L ₇₁₂ , or the connection line between the sensing unit CS ₁ and the auxiliary positioning units 131, 631 and 731 (projection straight line L ₁₃₁ , The included angles between L ₆₃₁ and L ₇₃₁ ) and the auxiliary positioning lines L ₁₁₂ , L ₆₁₂ and L ₇₁₂ , and at this time, the method described above can still be used to calculate the angle to be measured.

Please refer to Figure 8. FIG. 8 is a schematic diagram illustrating a speaker system 800 of the present invention. The speaker system 800 includes a three-point positioning device 801 , a volume controller 802 , and speakers SP ₁ and SP ₂ . The structure and working principle of the three-point positioning device 801 are similar to those of the three-point positioning device 100 , 600 or 700 , so details are not repeated here. The auxiliary positioning module 830 is arranged between the speakers SP ₁ and _{SP 2} , and the position calculation circuit ₈₂₀ will output the distance/angle signal _{SD/ A.} The volume controller 802 is used to receive the distance/angle signal S _D/A , and output volume control signals S _VC1 and S _VC2 according to the distance to be measured _DM and the angle to be measured θ _M . The speakers SP ₁ and SP ₂ are used to output sound, and adjust the volume of the output sound according to the volume control signals S _VC1 and S _VC2 respectively. For example, the position of the image sensor 810 is the same as that of the user (for example, the user holds a remote controller corresponding to the speaker system 800, and the image sensor 810 is disposed in the remote controller), so when the user's position changes, the volume controller The volume output by the speakers _SP1 and _SP2 can be adjusted according to the user's position (the position of the image sensor 810 ). When the distance _DM to be measured between the user and the loudspeaker is longer, the volume controller 802 will increase the output volume of the speakers SP ₁ and SP ₂ ; otherwise, when the distance _DM to be measured between the user and the speaker When it is shorter, the volume controller 802 will decrease the output volume of the speakers _SP1 and _SP2 . In this way, the volume felt by the user will not change due to the position of the user. In addition, the volume controller 802 can determine the position of the user (image sensor 810) relative to the auxiliary positioning module 830 according to the distance D _M to be measured and the angle D _M to be measured, and the position of the speaker relative to the auxiliary positioning module 830. The same side or different sides (as shown in FIG. 8 , the user and the speaker are on the same side relative to the auxiliary positioning module 830 ). When the volume controller 802 determines that the user and the speaker are on the same side relative to the auxiliary positioning module 830, it means that the distance between the user and the speaker _SP1 is shorter than the distance between the user and the speaker _SP2 . 802 reduces the volume of the sound output by the speaker SP ₁ and increases the volume of the sound output by the speaker SP ₂ to maintain the stereo effect of the speaker system 800; otherwise, when the volume controller 802 judges that the user and the speaker When they are on different sides relative to _the auxiliary positioning module 830, it means that the distance between the user and the speaker _SP1 is longer than the distance between the user and the speaker _SP2 . The volume is increased, and the volume of the sound output by the speaker SP ₂ is decreased, so as to maintain the stereo effect of the speaker system 800 .

In addition, as shown in FIG. 8 , in the three-point positioning device 801 , the image sensor 810 and the position calculation circuit 820 can be integrated in the same chip or implemented in different chips. Similarly, in the three-point positioning devices 100 , 600 and 700 , the image sensors 110 , 610 and 710 and the position calculation circuits 120 , 620 and 720 can be integrated in the same chip or implemented in different chips.

To sum up, the three-point positioning device provided by the present invention uses the sensing range of the image sensor to cover the scene of the auxiliary positioning module to generate a sensing image. Then, the sensing unit corresponding to the auxiliary positioning module is identified by sensing the image. Therefore, the present invention can calculate the absolute position of the auxiliary positioning module according to the position of the sensing unit corresponding to the auxiliary positioning module or the power received by the sensing unit corresponding to the auxiliary positioning module. In addition, by using the three-point positioning device provided by the present invention, the game machine can provide the user with a more realistic interactive experience according to the measured distance and angle to be measured. In addition, the speaker system provided by the present invention can adjust the volume output by the speaker according to the position of the user, so as to maintain the stereo effect of the speaker system, and the volume felt by the user will not change with the user. The location changes, bringing greater convenience to users.

The above descriptions are only preferred embodiments of the present invention, and all equivalent changes and modifications made according to the claims of the present invention shall fall within the scope of the present invention.

Claims (13)

1. A three-point positioning device, characterized in that it comprises: An auxiliary positioning module, including: a first auxiliary positioning unit; a second auxiliary positioning unit; and - a third auxiliary positioning unit; Wherein a first auxiliary positioning line is formed between the first auxiliary positioning unit and the second auxiliary positioning unit; Wherein the length of the first auxiliary positioning straight line is equal to a first known distance; A second auxiliary positioning line is formed between the second auxiliary positioning unit and the third auxiliary positioning unit; Wherein the length of the second auxiliary positioning straight line is equal to a second known distance; Wherein the angle between the first auxiliary positioning straight line and the second auxiliary positioning straight line is a known angle; an image sensor, used for sensing a scene covering the first auxiliary positioning unit, the second auxiliary positioning unit and the third auxiliary positioning unit, so as to generate a sensing image; wherein the extent of the scene depends on a known viewing angle of the image sensor; and A position calculation circuit, used to receive the sensing image, to identify a first sensing unit of the image sensor corresponding to the first auxiliary positioning unit, a first sensing unit corresponding to the second auxiliary positioning unit from the sensing image A second sensing unit of the image sensor, and a third sensing unit of the image sensor corresponding to the third auxiliary positioning unit, and according to the first sensing unit, the second sensing unit, and the The position of the third sensing unit is used to calculate a distance to be measured and an angle to be measured between the auxiliary positioning module and the image sensor, so as to output a distance/angle signal. 2. The three-point positioning device according to claim 1, wherein the first auxiliary positioning unit, the second auxiliary positioning unit, and the third auxiliary positioning unit are light-emitting diodes with specific wavelengths or specific frequency bands, Or an object with a specific pattern or a specific color; the distance to be measured is the distance between the first sensing unit and the first auxiliary positioning unit, the distance between the second sensing unit and the second auxiliary positioning unit distance, or the distance between the third sensing unit and the third auxiliary positioning unit; the angle to be measured is the connection line formed between the second sensing unit and the second auxiliary positioning unit and the first The included angle between the auxiliary positioning straight lines, the included angle between the line formed between the second sensing unit and the second auxiliary positioning unit and the second auxiliary positioning straight line, the first sensing unit and the second auxiliary positioning The angle between the line formed between an auxiliary positioning unit and the first auxiliary positioning straight line, or the connection line formed between the third sensing unit and the third auxiliary positioning unit and the second auxiliary positioning The angle between the lines. 3. The three-point positioning device according to claim 1, wherein a first projection line is formed between the first sensing unit and the first auxiliary positioning unit; the second sensing unit and the second A second projection line is formed between the auxiliary positioning units; a third projection line is formed between the third sensing unit and the third auxiliary positioning unit; the first projection line, the second projection line, and the third projection The straight lines can co-intersect at an intersection point; the intersection point is projected on a midpoint of the image sensor; a midline is formed between the intersection point and the midpoint of the image sensor; the center line is perpendicular to a plane of the image sensor; Wherein the position calculation circuit calculates the distance to be measured and the angle to be measured according to the following equation: D ₆₁₂ /sin θ ₆₁₂ =D _M /sin(2×π-θ _M -θ ₆₁₂ -θ ₆₂₃ -θ _Y ); and D ₆₂₃ /sinθ ₆₂₃ = D _M /sinθ _M ; Where D ₆₁₂ represents the first known distance, D ₆₂₃ represents the second known distance, D _M represents the distance to be measured, θ _M represents the angle to be measured, π represents the sum of the three interior angles of a triangle, θ ₆₁₂ represents a first projection angle between the first projection line and the second projection line, θ ₆₂₃ represents a second projection angle between the second projection line and the third projection line, and θ _Y represents the known angle Wherein the position calculating circuit calculates a first midline angle between the first projected straight line and the midline, a second midline angle between the second projected straight line and the midline, and the third A third median angle between the projection line and the median: θ _A ＝tan ^-1 [tan(θ _FOV /2)×(D _S1F /D _FOV/2 )]; θ _B =tan ⁻¹ [tan(θ _FOV /2)×(D _S2F /D _FOV/2 )]; and θ _C ＝tan ^-1 [tan(θ _FOV /2)×(D _S3F /D _FOV/2 )]; Among them, θ _A represents the angle between the first center line, θ _B represents the angle between the second center line, θ _C represents the angle between the third center line, θ _FOV represents the known angle of view, and D _S1F represents the distance between the center point and the first sensory angle. D _S2F represents the distance between the midpoint and the second sensing unit, D _S3F represents the distance between the midpoint and the third sensing unit, D _FOV/2 represents the image half the width of the sensor. 4. The three-point positioning device according to claim 3, wherein when the midpoint is between the first sensing unit and the second sensing unit, the position calculation circuit calculates according to the following formula Find the angle between the first projection and the angle between the second projection: θ ₆₁₂ = θ _A + θ _B ; and θ ₆₂₃ = θ _C - θ _B ; Wherein when the midpoint is between the second sensing unit and the third sensing unit, the position calculating circuit calculates the first projected included angle and the second projected included angle according to the following formula: θ ₆₁₂ = θ _A - θ _B ; and θ ₆₂₃ = θ _C + θ _B ; Wherein when the first sensing unit, the second sensing unit and the third sensing unit are located on the same side of the midpoint, and the first centerline included angle is greater than the second centerline included angle, the second centerline included angle When the angle is greater than the third centerline angle, the position calculation circuit calculates the first projection angle and the second projection angle according to the following formula: θ ₆₁₂ = θ _A - θ _B ; and θ ₆₂₃ = θ _B - θ _C ; Wherein when the first sensing unit, the second sensing unit and the third sensing unit are located on the same side of the midpoint, and the third centerline angle is greater than the second centerline angle, the second centerline angle When the angle is greater than the first centerline angle, the position calculation circuit calculates the first projection angle and the second projection angle according to the following formula: θ ₆₁₂ = θ _B - θ _A ; and θ ₆₂₃ = θ _C - θ _B . 5. The three-point positioning device according to claim 1, wherein the first known distance is equal to the second known distance; the known included angle is equal to the sum of three interior angles of a triangle; The first auxiliary positioning unit, the second auxiliary positioning unit and the third auxiliary positioning unit are light emitting diodes, and the light emitted by the first auxiliary positioning unit, the second auxiliary positioning unit and the third auxiliary positioning unit has the same power; Wherein the position calculation circuit obtains the distance to be measured and the angle to be measured according to the following equation: PW ₇₃₂ /PW ₇₃₁ = (D ₇₃₁ ) ² /(D _M ) ² ; PW ₇₃₂ /PW ₇₃₃ = (D ₇₃₃ ) ² /(D _M ) ² ; (D ₇₃₁ ) ² +(D ₇₃₃ ) ² =2×[(D _A ) ² +(D _M ) ² ]; (1/2)×D _A ×D ₇₃₃ ×sinθ _M ＝[V×(VD _A )×(VD ₇₃₃ )×(VD _M )]; as well as V=(1/2)×(D _A +D ₇₃₃ +D _M ); Where _DM represents the distance to be measured, θ _M represents the angle to be measured, _DA represents the first known distance or the second known distance, and D ₇₃₁ represents the first sensing unit and the first auxiliary positioning unit D ₇₃₃ represents the distance between the third sensing unit and the third auxiliary positioning unit, V is the area surrounded by the second auxiliary positioning line, the second projection line and the third projection line The half perimeter of the triangle, PW ₇₃₁ is the power corresponding to the light received by the first sensing unit, PW ₇₃₂ is the power corresponding to the light received by the second sensing unit, PW ₇₃₃ is the power corresponding to the third sensing unit The power of the light received by the measuring unit. 6. A speaker system having a first speaker and a second speaker, the first speaker is used to output sound according to a first volume control signal, and the second speaker is used to output sound according to a second volume control signal to output sound, the speaker system is characterized by comprising: The three-point positioning device as claimed in claim 1; and a volume controller, used to receive the distance/angle signal, and output the first volume control signal and the second volume control signal according to the distance to be measured and the angle to be measured, to adjust the first speaker and the The volume of the sound output by the second speaker. 7. The speaker system according to claim 6, wherein when the distance to be measured is longer, the volume controller increases the volume of the sound output by the first speaker and the second speaker; When the distance to be measured is shorter, the volume controller reduces the volume of the sound output by the first speaker and the second speaker; the auxiliary positioning module is arranged between the first speaker and the second speaker; when the volume When the controller judges that the image sensor and the first speaker are on the same side relative to the auxiliary positioning module according to the distance to be measured and the angle to be measured, the volume controller reduces the volume of the sound output by the first speaker, and increasing the volume of the sound output by the second speaker; when the volume controller judges that the image sensor and the first speaker are on different sides relative to the auxiliary positioning module according to the distance to be measured and the angle to be measured, the volume The controller increases the volume of the sound output by the first speaker, and decreases the volume of the sound output by the second speaker. 8. A method for three-point positioning, characterized in that it comprises: A first auxiliary positioning unit, a second auxiliary positioning unit, a third auxiliary positioning unit and an image sensor of an auxiliary positioning module are provided; Wherein a first auxiliary positioning line is formed between the first auxiliary positioning unit and the second auxiliary positioning unit; Wherein the length of the first auxiliary positioning straight line is equal to a first known distance; A second auxiliary positioning line is formed between the second auxiliary positioning unit and the third auxiliary positioning unit; Wherein the length of the second auxiliary positioning straight line is equal to a second known distance; Wherein the angle between the first auxiliary positioning straight line and the second auxiliary positioning straight line is a known angle; The image sensor senses a scene to generate a sensing image; Wherein the first auxiliary positioning unit, the second auxiliary positioning unit and the third auxiliary positioning unit are located within the range of the scene; According to the sensing image, a first sensing unit corresponding to the image sensor of the first auxiliary positioning unit, a second sensing unit corresponding to the image sensor of the second auxiliary positioning unit, and a second sensing unit corresponding to the image sensor of the second auxiliary positioning unit are identified. a third sensing unit of the image sensor of the third auxiliary positioning unit; and According to the positions of the first sensing unit, the second sensing unit, and the third sensing unit, a measured distance and a measured angle between the image sensor and the auxiliary positioning module are calculated. 9. The method according to claim 8, wherein the first auxiliary positioning unit, the second auxiliary positioning unit, and the third auxiliary positioning unit are light-emitting diodes with specific wavelengths or specific frequency bands, or an object with a specific pattern or a specific color; the distance to be measured is the distance between the first sensing unit and the first auxiliary positioning unit, the distance between the second sensing unit and the second auxiliary positioning unit, or the distance between the third sensing unit and the third auxiliary positioning unit; the angle to be measured is the connection line formed between the second sensing unit and the second auxiliary positioning unit and the first auxiliary positioning unit The angle between the straight lines, the angle between the line formed between the second sensing unit and the second auxiliary positioning unit and the second auxiliary positioning line, the first sensing unit and the first auxiliary positioning unit The angle between the connection line formed between the positioning units and the first auxiliary positioning straight line, or the angle between the connection line formed between the third sensing unit and the third auxiliary positioning unit and the second auxiliary positioning straight line angle between. 10. The method according to claim 8, wherein a first projection line is formed between the first sensing unit and the first auxiliary positioning unit; the second sensing unit and the second auxiliary positioning unit A second projection line is formed between the units; a third projection line is formed between the third sensing unit and the third auxiliary positioning unit; the first projection line, the second projection line, and the third projection line can be co-intersect at an intersection point; the intersection point is projected on a midpoint of the image sensor; a midline is formed between the intersection point and the midpoint of the image sensor; the midline is perpendicular to a plane of the image sensor; the scene The range depends on a known viewing angle of the image sensor. 11. The method according to claim 10, wherein, according to the first sensing unit, the second sensing unit, and the third sensing unit, the image sensor and the auxiliary positioning module are calculated The distance to be measured and the angle to be measured include: According to the known viewing angle, the center line, the first sensing unit, the second sensing unit, and the third sensing unit, a first center line clip between the first projected straight line and the center line is calculated angle, a second median angle between the second projected straight line and the center line, and a third median line angle between the third projected straight line and the center line; According to the first centerline angle, the second centerline angle and the third centerline angle, a first projected angle and the second projected angle between the first projected straight line and the second projected straight line are calculated a second projected angle between the straight line and the third projected straight line; and calculating the distance to be measured and the angle to be measured according to the known angle, the first known distance, the second known distance, the first projected angle and the second projected angle; Wherein the distance to be measured and the angle to be measured are calculated according to the following formula: D ₆₁₂ /sin θ ₆₁₂ =D _M /sin(2×π-θ _M -θ ₆₁₂ -θ ₆₂₃ -θ _Y ); and D ₆₂₃ /sinθ ₆₂₃ = D _M /sinθ _M ; Where D ₆₁₂ represents the first known distance, D ₆₂₃ represents the second known distance, D _M represents the distance to be measured, θ _M represents the angle to be measured, π represents the sum of the three interior angles of a triangle, θ ₆₁₂ represents a first projection angle between the first projection line and the second projection line, θ ₆₂₃ represents a second projection angle between the second projection line and the third projection line, and θ _Y represents the known angle The included angle of the first center line, the included angle of the second center line and the included angle of the third center line are calculated according to the following formula: θ _A ＝tan ^-1 [tan(θ _FOV /2)×(D _S1F /D _FOV/2 )]; θ _B =tan ⁻¹ [tan(θ _FOV /2)×(D _S2F /D _FOV/2 )]; and θ _C ＝tan ^-1 [tan(θ _FOV /2)×(D _S3F /D _FOV/2 )]; Among them, θ _A represents the angle between the first center line, θ _B represents the angle between the second center line, θ _C represents the angle between the third center line, θ _FOV represents the known angle of view, and D _S1F represents the distance between the center point and the first sensory angle. D _S2F represents the distance between the midpoint and the second sensing unit, D _S3F represents the distance between the midpoint and the third sensing unit, D _FOV/2 represents the image half the width of the sensor. 12. The method according to claim 11, wherein when the midpoint is between the first sensing unit and the second sensing unit, the first projection clip is calculated according to the following formula angle with this second projection: θ ₆₁₂ = θ _A + θ _B ; and θ ₆₂₃ = θ _C - θ _B ; Wherein when the midpoint is between the second sensing unit and the third sensing unit, the first projection angle and the second projection angle are calculated according to the following formula: θ ₆₁₂ = θ _A - θ _B ; and θ ₆₂₃ = θ _C + θ _B ; Wherein when the first sensing unit, the second sensing unit and the third sensing unit are located on the same side of the midpoint, and the first centerline included angle is greater than the second centerline included angle, the second centerline included angle When the angle is greater than the third midline angle, the first projection angle and the second projection angle are calculated according to the following formula: θ ₆₁₂ = θ _A - θ _B ; and θ ₆₂₃ = θ _B - θ _C ; Wherein when the first sensing unit, the second sensing unit and the third sensing unit are located on the same side of the midpoint, and the third centerline angle is greater than the second centerline angle, the second centerline angle When the angle is greater than the first midline angle, the first projection angle and the second projection angle are calculated according to the following formula: θ ₆₁₂ = θ _B - θ _A ; and θ ₆₂₃ = θ _C - θ _B . 13. The method according to claim 8, wherein the first known distance is equal to the second known distance; the known angle is equal to the sum of three interior angles of a triangle; the first auxiliary positioning The unit, the second auxiliary positioning unit and the third auxiliary positioning unit are light emitting diodes, and the light emitted by the first auxiliary positioning unit, the second auxiliary positioning unit and the third auxiliary positioning unit has the same power; Wherein the distance to be measured and the angle to be measured are calculated according to the following equation: PW ₇₃₂ /PW ₇₃₁ ＝(D ₇₃₁ ) ² /(D _M ) ² PW ₇₃₂ /PW ₇₃₃ = (D ₇₃₃ ) ² /(D _M ) ² ; (D ₇₃₁ ) ² +(D ₇₃₃ ) ² =2×[(D _A ) ² +(D _M ) ² ]; (1/2)×D _A ×D ₇₃₃ ×sinθ _M ＝[V×(VD _A )×(VD ₇₃₃ )×(VD _M )]; as well as V=(1/2)×(D _A +D ₇₃₃ +D _M ); Where _DM represents the distance to be measured, θ _M represents the angle to be measured, _DA represents the first known distance or the second known distance, and D ₇₃₁ represents the first sensing unit and the first auxiliary positioning unit D ₇₃₃ represents the distance between the third sensing unit and the third auxiliary positioning unit, V is the area surrounded by the second auxiliary positioning line, the second projection line and the third projection line The half perimeter of the triangle, PW ₇₃₁ is the power corresponding to the light received by the first sensing unit, PW ₇₃₂ is the power corresponding to the light received by the second sensing unit, PW ₇₃₃ is the power corresponding to the third sensing unit The power of the light received by the measuring unit.

Images