CN101881611B - 3-point positioning device and method thereof - Google Patents

3-point positioning device and method thereof Download PDF

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Publication number
CN101881611B
CN101881611B CN2009102218429A CN200910221842A CN101881611B CN 101881611 B CN101881611 B CN 101881611B CN 2009102218429 A CN2009102218429 A CN 2009102218429A CN 200910221842 A CN200910221842 A CN 200910221842A CN 101881611 B CN101881611 B CN 101881611B
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angle
auxiliary positioning
sensing cell
positioning unit
straight line
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CN101881611A (en
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许恩峰
郑信基
吕志宏
高铭璨
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Pixart Imaging Inc
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Pixart Imaging Inc
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Abstract

A 3-point positioning device senses a scene including an auxiliary positioning module by means of an image sensor, and accordingly generates a sensed image. The auxiliary positioning module comprises a first, a second, and a third auxiliary positioning units. By means of the sensed image, the 3-point positioning device recognizes a first, a second, and a third sensing units of the image sensor corresponding to the first, the second, and the third auxiliary positioning units. In this way, the 3-point positioning device can calculate out an absolute location of the auxiliary positioning module according to the locations or the received power of the first, the second, and the third sensing units.

Description

Bikini locating device and method and loudspeaker
Technical field
The present invention is relevant for a kind of locating device, more particularly, and relevant for a kind of bikini locating device.
Background technology
The locating device of known technology has been applied to video game or computer game, so that the player has better interactive experience.For example; In the Wii game machine of company of Nintendo (Nintendo); Wii control joystick comprises the locating device of known technology; So that the Wii main frame can obtain displacement and moving direction that Wii control joystick is moved with respect to determinand (like display or display screen), and according to this displacement and moving direction to control the carrying out that plays.With the tennis game is example; When the user brandished Wii control joystick, the Wii main frame can be by the locating device of known technology, to obtain distance and the direction that Wii control joystick relatively moves; To let the role that the user was controlled, make the corresponding action of brandishing tennis racket and bat.For example, when the distance that relatively move of Wii main frame in the resulting unit interval was big, the strength of role's batting that the user controlled was stronger, is flown comparatively fast and make by beanball; Otherwise, when the distance that relatively move of Wii main frame in the resulting unit interval hour, the strength of role's batting that the user controlled a little less than, flown slowlyer and make by beanball.In addition, the Wii main frame can be according to the resulting direction that relatively moves, and lets the role that the user controlled make the action of forehand-stroke or backhand-stroke.
In order to let the user that better interactive experience is arranged, the present invention provides a bikini locating device, can calculate user's absolute position.So, game machine can be according to the measured absolute position of bikini locating device of the present invention, and offers user's interactive experience more true to nature.
Summary of the invention
The present invention provides a kind of bikini locating device, it is characterized in that comprising an auxiliary positioning module, an image sensor, and a position calculation circuit.This auxiliary positioning module comprises one first auxiliary positioning unit, one second auxiliary positioning unit, and one the 3rd auxiliary positioning unit.Form one first assist location straight line between this first auxiliary positioning unit and this second auxiliary positioning unit.The length of this first assist location straight line equals one first known distance.Form one second assist location straight line between this second auxiliary positioning unit and the 3rd auxiliary positioning unit.The length of this second assist location straight line equals one second known distance.Angle between this first assist location straight line and this second assist location straight line is a known angle.This image sensor is used for sensing range and contains a scene of this first auxiliary positioning unit, this second auxiliary positioning unit and the 3rd auxiliary positioning unit, to produce a sensing image according to this.The scope of this scene depends on a look-out angle of this image sensor.This position calculation circuit; Be used for receiving this sensing image; With from this sensing image, pick out one first sensing cell to this image sensor that should first auxiliary positioning unit, corresponding to one second sensing cell of this image sensor of this second auxiliary positioning unit; And corresponding to one the 3rd sensing cell of this image sensor of the 3rd auxiliary positioning unit, and according to this first sensing cell, this second sensing cell, and the position of the 3rd sensing cell; To calculate a testing distance and the angle to be measured between this auxiliary positioning module and this image sensor, to export a distance/angle signal according to this.
The present invention provides the method for a kind of bikini location in addition; It is characterized in that comprising one first auxiliary positioning unit, one second auxiliary positioning unit and one the 3rd auxiliary positioning unit that an auxiliary positioning module is provided and an image sensor, this image sensor sensing one scene; With produce a sensing image according to this, according to this sensing image; Pick out one first sensing cell to this image sensor that should first auxiliary positioning unit, corresponding to one second sensing cell of this image sensor of this second auxiliary positioning unit; And corresponding to one the 3rd sensing cell of this image sensor of the 3rd auxiliary positioning unit; And according to this first sensing cell, this second sensing cell; And the position of the 3rd sensing cell, with a testing distance and an angle to be measured that calculates this image sensor and this auxiliary positioning module.Form one first assist location straight line between this first auxiliary positioning unit and this second auxiliary positioning unit.The length of this first assist location straight line equals one first known distance.Form one second assist location straight line between this second auxiliary positioning unit and the 3rd auxiliary positioning unit.The length of this second assist location straight line equals one second known distance.Angle between this first assist location straight line and this second assist location straight line is a known angle.This first auxiliary positioning unit, this second auxiliary positioning unit and the 3rd auxiliary positioning unit are positioned at the scope of this scene.
Description of drawings
Fig. 1 is the synoptic diagram of explanation according to the bikini locating device of the first embodiment of the present invention.
Fig. 2, Fig. 3, Fig. 4, and Fig. 5 calculates the synoptic diagram of the method for projection angle for explanation the present invention.
Fig. 6 is the synoptic diagram of explanation bikini locating device according to a second embodiment of the present invention.
Fig. 7 is the synoptic diagram of the bikini locating device of explanation a third embodiment in accordance with the invention.
Fig. 8 is the synoptic diagram of explanation loudspeaker of the present invention.
Wherein, description of reference numerals is following:
100,600,700,801 bikini locating devices
110,610,710,810 image sensors
130,630,730,830 auxiliary positioning module
131～133,631～633, auxiliary positioning unit
731～733
800 loudspeakers
802 faders
820 position calculation circuits
CS 1～CS 3Sensing cell
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, projection straight line
L 731～L 733
L 112, L 123, L 612, L 623, the assist location straight line
L 712、L 723
L FCenter line
The LENS camera lens
The MO determinand
O FJoining
P FMid point
The SC scene
S D/ADistance/angle signal
S I1～S IMImage signal
S VC1, S VC2The volume controlling signal
SP 1, SP 2Loudspeaker
θ 12、θ 23、θ X、θ M、
θ FOV, θ A, θ B, θ C, angle
θ Y、θ 612、θ 623
Embodiment
Please refer to Fig. 1.Fig. 1 is the synoptic diagram of explanation according to the bikini locating device 100 of the first embodiment of the present invention.Bikini locating device 100 comprises an image sensor 110, a position calculation circuit 120 (not icon), and an auxiliary positioning module 130.Bikini locating device 100 is used for measuring the testing distance D between auxiliary positioning module 130 and the image sensor 110 MWith angle θ to be measured MWhen auxiliary positioning module 130 and a determinand MO were arranged at same position, bikini locating device 100 can be used to measure the testing distance D between determinand MO and the bikini locating device 100 MWith angle θ to be measured MFor example, determinand MO can be display or display screen.When image sensor 110 is positioned at same position with the user, (handing the image sensor 110 of bikini locating device 100 like the user), can obtain the distance of user and display (determinand MO) by bikini locating device 100.
Auxiliary positioning module 130 comprises auxiliary positioning unit 131,132, and 133.Auxiliary positioning unit 131,132 and 133 has the obvious characteristic that can detect.For example; The light emitting diode (like the light emitting diode of infrared light) of auxiliary positioning unit 131,132 and 133 for having specific wavelength or special frequency; Or has the object of specific pattern (pattern) or particular color, the image signal that its purpose is to let image sensor 110 can identification auxiliary positioning unit 131～133 on image sensor 110, be come out by sensing.In present embodiment, establish auxiliary positioning unit 131,132 and 133 and be arranged on the determinand MO.Wherein form assist location straight line L between the auxiliary positioning unit 131 and 132 112Assist location straight line L 112Length equal known distance D 12Form assist location straight line L between the auxiliary positioning unit 132 and 133 123Assist location straight line L 123Length equal known distance D 23Assist location straight line L 112Be parallel to and assist location straight line L 123In addition, the testing distance D in Fig. 1 MWith sensing cell CS 2And the distance between the auxiliary positioning unit 132 illustrates.Yet, testing distance D MAlso can be sensing cell CS 1And the distance between the auxiliary positioning unit 131, or sensing cell CS 3And the distance between the auxiliary positioning unit 133.In like manner, the angle θ to be measured in Fig. 1 MWith sensing cell CS 3And the line and the assist location straight line L of 133 of auxiliary positioning unit 123Between angle illustrate.Yet, angle θ to be measured MAlso can be sensing cell CS 2And the line and the assist location straight line L of 132 of auxiliary positioning unit 123, sensing cell CS 2And the line and the assist location straight line L of 132 of auxiliary positioning unit 112Between angle, or sensing cell CS 1And the line and the assist location straight line L of 131 of auxiliary positioning unit 112Between angle.
Image sensor 110 is used for sensing scene SC, to produce sensing image I according to this.Wherein sensing image I comprises image signal S I1～S IMAs shown in Figure 1, but the scope of the scene SC of image sensor 110 sensings depends on the look-out angle θ of image sensor 110 FOVThe look-out angle θ of image sensor 110 FOVCorresponding to the visual field of image sensor 110 (Field of View, FOV).Image sensor 110 comprises sensing cell CS 1～CS M, wherein M represents positive integer.Each sensing cell CS in the image sensor 110 1～CS M, the corresponding part of meeting sensing scene SC is to produce the image signal S of sensing image I I1～S IMFor example, as shown in Figure 1, auxiliary positioning module 130 is positioned at the scope of scene SC.Sensing cell CS 1 Auxiliary positioning unit 131 in the scope of sensing scene SC is to produce image signal S I1Sensing cell CS 2 Auxiliary positioning unit 132 in the scope of sensing scene SC is to produce image signal S I2Sensing cell CS 3 Auxiliary positioning unit 133 in the scope of sensing scene SC is to produce image signal S I3In addition, the camera lens LENS in Fig. 1 is used for optically focused to image sensor 110, is beneficial to image sensor 110 and produces sensing image I.
Position calculation circuit 120 is used for receiving sensing image I (image signal S I1～S IM), from sensing image I, to pick out sensing cell CS corresponding to auxiliary positioning unit 131 1, corresponding to the sensing cell CS of auxiliary positioning unit 132 2, and corresponding to the sensing cell CS of auxiliary positioning unit 133 3, and according to sensing cell CS 1, CS 2, and CS 3The position, to calculate testing distance D MWith angle θ to be measured M, to export distance/angle signal S according to this D/AThe principle of work of position calculation circuit 120 below will further be described.
In Fig. 1, sensing cell CS 1And form projection straight line L between the auxiliary positioning unit 131 131Sensing cell CS 2And form projection straight line L between the auxiliary positioning unit 132 132Sensing cell CS 3And form projection straight line L between the auxiliary positioning unit 133 133Testing distance D MBe sensing cell CS 2And the distance between the auxiliary positioning unit 132, and angle θ to be measured MBe projection straight line L 133With assist location straight line L 123Between angle.Projection straight line L 131, L 132With L 133Intersect at a joining O FJoining O wherein FThe position approximately be positioned at the center of camera lens LENS.Joining O FAnd the distance between the image sensor 110 is D FIn addition, because sensing cell CS 2And distance between the auxiliary positioning unit 132 and joining O FAnd the distance between the auxiliary positioning unit 132 is equal generally, so testing distance D MExcept can be used to represent sensing cell CS 2And outside the distance between the auxiliary positioning unit 132, also can be used to represent joining O FAnd the distance between the auxiliary positioning unit 132.Projection straight line L 131With L 132Between folded angle be the projection angle theta 12Projection straight line L 132With L 133Between folded angle be the projection angle theta 23Because projection straight line L 131, L 132With determinand MO (or assist location straight line L 112With L 123) form a triangle, so projection straight line L 131With determinand MO (or assist location straight line L 112With L 123) between angle theta XSize can equal (π-θ M-θ 12-θ 23), wherein π represents the summation of leg-of-mutton three interior angles.
According to sine (sine theorem), testing distance D M, known distance D 12With D 23And angle θ to be measured M, the projection angle theta 12And θ 23Between the pass can represent by following formula:
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 position calculation circuit 120 can obtain the projection angle theta 12With θ 23Size, can calculate testing distance D according to formula (1) and (2) MWith angle θ to be measured M
Please refer to Fig. 2, Fig. 3, Fig. 4, and Fig. 5.Fig. 2, Fig. 3, Fig. 4, and Fig. 5 calculates the projection angle theta for explanation the present invention 12With θ 23The synoptic diagram of method.Joining O FThe end points that is projected on the image sensor 110 is the mid point P of image sensor 110 FJoining O FWith mid point P FBetween form center line L F, and center line L FLength equal known distance D FCenter line L FVertical with the plane of image sensor 110.
In Fig. 2, mid point P FBetween sensing cell CS 1With CS 2Between.Sensing cell CS 1With mid point P FBetween distance be D S1F, and distance B S1FCan be by addition sensing cell CS 1With mid point P FBetween sensing cell width and get; Sensing cell CS 2With mid point P FBetween distance be D S2F, and distance B S2FCan be by addition sensing cell CS 2With mid point P FBetween sensing cell width and get; Sensing cell CS 3With mid point P FBetween distance be D S3F, and distance B S3FCan be by addition sensing cell CS 3With mid point P FBetween sensing cell width and get.In addition, distance B FOV/2Half the for the width of image sensor 110, and distance B FOV/2Can be positioned at the mid point P of image sensor 110 by addition FThe left side sensing cell width and get, or be positioned at the mid point P of image sensor 110 by addition FThe right side sensing cell width and get.Therefore, center line L FRespectively with projection straight line L 131, L 132, L 133Between folded center line angle theta A, θ BWith θ CCan represent by 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, position calculation circuit 120 can be by image I to pick out the sensing cell CS that corresponds respectively to auxiliary positioning unit 131,132 and 133 1, CS 2With CS 3Then, position calculation circuit 120 is according to sensing cell CS 1, CS 2With CS 3The position to learn distance B S1F, D S2FAnd D S3FAt last according to formula (3), (4) and (5), to calculate the center line angle theta A, θ BWith θ CCan find out the projection angle theta by Fig. 2 again 12Equal (θ A+ θ B), and the projection angle theta 23Equal (θ C-θ B).Therefore, position calculation circuit 120 can calculate the projection angle theta 12With θ 23Thus, according to formula (1) and (2), position calculation circuit 120 can calculate testing distance D MWith angle θ to be measured M
In Fig. 3, calculate the center line angle theta A, θ BWith θ CThe explanation of method and Fig. 2 similar.Yet, compared to Fig. 2, in Fig. 3, mid point P FBetween sensing cell CS 2With sensing cell CS 3Between.At this moment, projection angle theta 12Equal (θ A-θ B), and the projection angle theta 23Equal (θ C+ θ B).So, position calculation circuit 120 can be according to formula (3), (4) and (5), to calculate the center line angle theta A, θ BWith θ CThen, calculate testing distance D according to formula (1) and (2) again MWith angle θ to be measured M
In Fig. 4, calculate the center line angle theta A, θ BWith θ CThe explanation of method and Fig. 2 similar.Yet, compared to Fig. 2, in Fig. 4, sensing cell CS 1, CS 2With CS 3All at mid point P FThe left side, and center line angle theta C＜θ B＜θ AAt this moment, projection angle theta 12Equal (θ A-θ B), and the projection angle theta 23Equal (θ B-θ C).So, position calculation circuit 120 can be according to formula (3), (4) and (5), to calculate the center line angle theta A, θ BWith θ CThen, calculate testing distance D according to formula (1) and (2) again MWith angle θ to be measured M
In Fig. 5, calculate the center line angle theta A, θ BWith θ CThe explanation of method and Fig. 2 similar.Yet, compared to Fig. 2, in Fig. 5, sensing cell CS 1, CS 2With CS 3All at mid point P FThe right side, and center line angle theta A＜θ B＜θ CAt this moment, projection angle theta 12Equal (θ B-θ A), and the projection angle theta 23Equal (θ C-θ B).So, position calculation circuit 120 can be according to formula (3), (4) and (5), to calculate the center line angle theta A, θ BWith θ CThen, calculate testing distance D according to formula (1) and (2) again MWith angle θ to be measured M
Please refer to Fig. 6.Fig. 6 is the synoptic diagram of explanation bikini locating device 600 according to a second embodiment of the present invention.The structure of bikini locating device 600 and principle of work and bikini locating device 100 are similar.Yet compared to bikini locating device 100, among bikini locating device 600, auxiliary positioning unit 631,632 and 633 is not to be arranged at same straight line.Assist location straight line L between the auxiliary positioning unit 631 and 632 612Be not parallel to the assist location straight line L between auxiliary positioning unit 632 and 633 623Assist location straight line L 612With L 623Between folded angle be known angle θ YBecause assist location straight line L 612With L 623And projection straight line L 631With L 633Form a quadrilateral, so projection straight line L 631With assist location straight line L 612Between angle theta XSize can equal (2 * π-θ M-θ 612-θ 623-θ Y).So, according to sine (sine theorem), testing distance D M, known distance D 612With D 623And angle θ to be measured M, the projection angle theta 612And θ 623Between relation can represent by following formula:
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)；
Because angle θ 612With θ 623Can be by the illustrated method of Fig. 2, Fig. 3, Fig. 4 and Fig. 5 to calculate, therefore according to formula (6) and (7), bikini locating device 600 can be by position calculation circuit 620 to calculate testing distance D MWith angle θ to be measured M
In addition, the known angle theta in bikini locating device 600 YWhen equaling π, assist location straight line L 612With L 623Parallel to each other.At this moment, the structure of bikini locating device 600 and bikini locating device 100 are similar.And the known angle theta in formula (6) YBring π into, can make that then formula (6) and formula (1) are similar.Hence one can see that, and bikini locating device 100 equals known angle theta Y Bikini locating device 600 when equaling π.
Please refer to Fig. 7.Fig. 7 is the synoptic diagram of the bikini locating device 700 of explanation a third embodiment in accordance with the invention.Bikini locating device 700 comprises an image sensor 710, a position calculation circuit 720 (not icon), and an auxiliary positioning module 730.Bikini locating device 700 is used for measuring the testing distance D between image sensor 710 and the auxiliary positioning module 730 MWith angle θ to be measured MWhen auxiliary positioning module 730 and a determinand MO were arranged at same position, bikini locating device 700 can be used to measure the testing distance D between bikini locating device 700 and the determinand MO MWith angle θ to be measured MThe structure of image sensor 710 and principle of work and image sensor 610,110 are similar, so repeat no more.In addition, in Fig. 7, camera lens LENS is used for optically focused to image sensor 710, is beneficial to image sensor 710 and produces sensing images.Auxiliary positioning module 730 comprises auxiliary positioning unit 731,732 and 733.In present embodiment, establish auxiliary positioning unit 731,732 and 733 and be arranged on the determinand MO.Assist location straight line L 712With L 723Length all equal known distance D AAuxiliary positioning unit 731,732 and 733 is light emitting diode (like the light emitting diode of infrared light), and the light that auxiliary positioning unit 731,732 and 733 is launched has identical power P W LDThe light that auxiliary positioning unit 731,732 and 733 is launched is etc. to (isotropic).That is to say that auxiliary positioning unit 731,732 and 733 is luminous equably.In addition, in Fig. 7, because sensing cell CS 2And distance between the auxiliary positioning unit 732 and joining O FAnd the distance between the auxiliary positioning unit 732 is equal generally, so D MExcept can be used to represent sensing cell CS 2And outside the distance between the auxiliary positioning unit 732, also can be used to represent joining O FAnd the distance between the auxiliary positioning unit 732.In like manner, D 731Except can be used to represent sensing cell CS 1And outside the distance between the auxiliary positioning unit 731, also can be used to represent joining O FAnd the distance between the auxiliary positioning unit 731; And D 733Except can be used to represent sensing cell CS 3And outside the distance between the auxiliary positioning unit 733, also can be used to represent joining O FAnd the distance between the auxiliary positioning unit 733.Therefore, corresponding to the sensing cell CS of auxiliary positioning unit 731,732 and 733 1, CS 2With CS 3The power P W of the light that is received 731, PW 732, PW 733Respectively with sensing cell CS 1And the distance B between the auxiliary positioning unit 731 731, sensing cell CS 2And the testing distance D between the auxiliary positioning unit 732 M, sensing cell CS 3And the distance B between the auxiliary positioning unit 733 733Relevant, can formula represent:
[(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)；
Can obtain distance B according to formula (8) 731Equal [D M* (PW 732/ PW 731) 0.5], and can obtain distance B according to formula (9) 733Equal [D M* (PW 732/ PW 733) 0.5].(PW wherein 732/ PW 731) and (PW 732/ PW 733) can be corresponding to sensing cell CS in the sensing image I 1, CS 2, CS 3Image signal S I1, S I2, S I3And get.For example, image signal S I1, S I2, S I3Represent brightness B respectively 731, B 732, B 733So, (PW 731/ PW 732) equal (B 731/ B 732), and (PW 733/ PW 732) equal (B 733/ B 732).Therefore according to center line theorem (Apollonius ' theorem) and projection straight line L 731, L 733With assist location straight line L 712, L 723Formed triangle, testing distance D M, distance B 731With D 733Can represent leg-of-mutton area by following formula:
(D 731) 2+(D 733) 2＝2×[(D A) 2+(D M) 2]…(10)；
So according to formula (8), (9) and (10), position calculation circuit 720 can calculate testing distance D MAgain according to sea otter formula (Heron ' s formula) and projection straight line L 732, L 733With assist location straight line L 723Formed triangle can be with testing distance D M, distance B 731With D 733, known distance D AAnd angle θ to be measured MRepresent with following formula:
(1/2)×D A×D 733×sinθ M＝[V×(V-D A)×(V-D 733)×(V-D M)]…(11)；
Wherein V is projection straight line L 731, L 733With assist location straight line L 712, L 723Formed leg-of-mutton semi-perimeter, and V equals [(1/2) * (D A+ D M+ D 733)].So, according to formula (11), position calculation circuit 720 can calculate angle θ to be measured M
In addition, when bikini locating device of the present invention is applied to game machine, can offer the preferable interactive experience of user.With aforesaid tennis game is example; Hold the game control joystick of the image sensor that utilizes bikini locating device of the present invention as the user; And during the auxiliary positioning module setting of bikini locating device of the present invention and determinand (like display or display screen) same position, game host can obtain the testing distance D between user and the determinand (like display or display screen) MWith angle θ to be measured MWhen the user shift position, because testing distance D MObvious variation can be arranged thereupon, so game host can be controlled in moving of the user controlled in the recreation role according to this.And when the user brandishes the game control joystick, because angle θ to be measured MObvious variation can be arranged thereupon, so game machine can be controlled the user controlled in the recreation role according to this and does corresponding racked swing.So, by the game control joystick of using bikini locating device of the present invention, can let the user control moving and racked swing of role simultaneously, to offer user's interactive experience more true to nature.
In addition, in bikini locating device of the present invention (as 100,600 and 700), image sensor 110,610 and 710 and auxiliary positioning module 130,630 and 730 between testing distance be not defined as sensing cell CS 2And the distance B between auxiliary positioning unit 132,632 and 732 MFor example, testing distance can be sensing cell CS 1And the distance between auxiliary positioning unit 131,631 and 731, or sensing cell CS 3And the distance between auxiliary positioning unit 133,633 and 733, and this moment aforementioned illustrated method still capable of using to calculate testing distance.In like manner, image sensor 110,610 and 710 and auxiliary positioning module 130,630 and 730 between angle to be measured be not defined as sensing cell CS 3And line (the projection straight line L of 133,633 and 733 of auxiliary positioning unit 133, L 633And L 733) and assist location straight line L 123, L 623And L 723Between angle theta MFor example, image sensor 110,610 and 710 and auxiliary positioning module 130,630 and 730 between angle to be measured can be sensing cell CS 2And line (the projection straight line L of 132,632 and 732 of auxiliary positioning unit 132, L 632And L 732) and assist location straight line L 123, L 623And L 723Between angle, sensing cell CS 2And line (the projection straight line L of 132,632 and 732 of auxiliary positioning unit 132, L 632And L 732) and assist location straight line L 112, L 612And L 712Between angle, or sensing cell CS 1And line (the projection straight line L of 131,631 and 731 of auxiliary positioning unit 131, L 631And L 731) and assist location straight line L 112, L 612And L 712Between angle, and this moment aforementioned illustrated method still capable of using to calculate angle to be measured.
Please refer to Fig. 8.Fig. 8 is the synoptic diagram of explanation loudspeaker 800 of the present invention.Loudspeaker 800 comprises a bikini locating device 801, a fader 802, and loudspeaker SP 1With SP 2The structure of bikini locating device 801 and principle of work and bikini locating device 100,600 or 700 are similar, so repeat no more.Wherein auxiliary positioning module 830 is arranged at loudspeaker SP 1With SP 2Between, and position calculation circuit 820 can be according to the testing distance D that is calculated MWith angle θ to be measured M, to export distance/angle signal S according to this D/AFader 802 is used for receiving range/angle signal S D/A, and according to testing distance D MWith angle θ to be measured M, with output volume controlling signal S VC1With S VC2Loudspeaker SP 1With SP 2, be used for output sound, and respectively according to volume controlling signal S VC1With S VC2, with the size of the volume of the sound exported of adjustment.For example; Image sensor 810 is identical with user's position (like the hand-held telepilot corresponding to loudspeaker 800 of user; And image sensor 810 is arranged in the telepilot); Therefore when user's position change, fader can be according to user's position (position of image sensor 810), with adjustment loudspeaker SP 1With SP 2The volume of being exported.Testing distance D between user and loudspeaker MWhen long more, fader 802 can be with loudspeaker SP 1With SP 2The volume of being exported increases; Otherwise, the testing distance D between user and loudspeaker MMore in short-term, fader 802 can be with loudspeaker SP 1With SP 2The volume of being exported reduces.So, the volume that the user experienced can not change because of user's position.In addition, fader 802 can be according to testing distance D MWith angle D to be measured M, with the position of judging user's (image sensor 810) with respect to auxiliary positioning module 830, with loudspeaker be the same side or homonymy (as shown in Figure 8, user and loudspeaker are the same side with respect to auxiliary positioning module 830) not with respect to auxiliary positioning module 830.When fader 802 judges that user and loudspeaker are the same side with respect to auxiliary positioning module 830, expression user and loudspeaker SP 1Between distance than user and loudspeaker SP 2Between distance short, this moment, fader 802 was with loudspeaker SP 1The volume of the sound of being exported reduces, and with loudspeaker SP 2The volume of the sound of being exported increases, with the effect of the stereo sound effect of keeping loudspeaker 800; Otherwise, judge users and loudspeaker when fader 802 and during for homonymy not, represent user and loudspeaker SP with respect to auxiliary positioning module 830 1Between distance than user and loudspeaker SP 2Between distance, this moment fader 802 with loudspeaker SP 1The volume of the sound of being exported increases, and with loudspeaker SP 2The volume of the sound of being exported reduces, with the effect of the stereo sound effect of keeping loudspeaker 800.
In addition, as shown in Figure 8, among bikini locating device 801, image sensor 810 can be integrated in same chip (chip) with position calculation circuit 820 or in different chips, implement.In like manner, among bikini locating device 100,600 and 700, image sensor 110,610 and 710 can be integrated in same chip (chip) with position calculation circuit 120,620 and 720 or in different chips, implement.
In sum, bikini locating device provided by the present invention is contained the scene of auxiliary positioning module by the image sensor sensing range, to produce sensing image according to this.Relend by sensing image, pick out sensing cell corresponding to auxiliary positioning module.Therefore, the present invention can be according to corresponding to the position of the sensing cell of auxiliary positioning module or corresponding to the power that sensing cell received of auxiliary positioning module, to calculate the absolute position of auxiliary positioning module.In addition, utilize bikini locating device provided by the present invention, game machine can be according to measured testing distance and angle to be measured, and offers user's interactive experience more true to nature.In addition, loudspeaker provided by the present invention can be according to user's position; To adjust the volume that loudspeaker is exported; And keep the effect of the stereo sound effect of loudspeaker, and let the volume that the user experienced can not change with user's position, bring the user bigger convenience.
The above is merely the preferred embodiments of the present invention, and all equalizations of doing according to claim of the present invention change and modify, and all should belong to covering scope of the present invention.

Claims (13)

1. bikini locating device is characterized in that comprising:
One auxiliary positioning module comprises:
One first auxiliary positioning unit;
One second auxiliary positioning unit; And
One the 3rd auxiliary positioning unit;
Wherein form one first assist location straight line between this first auxiliary positioning unit and this second auxiliary positioning unit;
Wherein the length of this first assist location straight line equals one first known distance;
Wherein form one second assist location straight line between this second auxiliary positioning unit and the 3rd auxiliary positioning unit;
Wherein the length of this second assist location straight line equals one second known distance;
Wherein the angle between this first assist location straight line and this second assist location straight line is a known angle;
One image sensor, being used for sensing range contains a scene of this first auxiliary positioning unit, this second auxiliary positioning unit and the 3rd auxiliary positioning unit, to produce a sensing image according to this;
Wherein the scope of this scene depends on a look-out angle of this image sensor; And
One position calculation circuit; Be used for receiving this sensing image; With from this sensing image, pick out one first sensing cell to this image sensor that should first auxiliary positioning unit, corresponding to one second sensing cell of this image sensor of this second auxiliary positioning unit; And corresponding to one the 3rd sensing cell of this image sensor of the 3rd auxiliary positioning unit, and according to this first sensing cell, this second sensing cell, and the position of the 3rd sensing cell; To calculate a testing distance and the angle to be measured between this auxiliary positioning module and this image sensor, to export a distance/angle signal according to this.
2. bikini locating device as claimed in claim 1; It is characterized in that; Wherein this first auxiliary positioning unit, this second auxiliary positioning unit; And the 3rd auxiliary positioning unit be light emitting diode with specific wavelength or special frequency, or have the object of specific pattern or particular color; This testing distance is the distance between distance, this second sensing cell and this second auxiliary positioning unit between this first sensing cell and this first auxiliary positioning unit, or the distance between the 3rd sensing cell and the 3rd auxiliary positioning unit; This angle to be measured is the angle between formed line and this first assist location straight line between angle, this first sensing cell and this first auxiliary positioning unit between formed line and this second assist location straight line between angle, this second sensing cell and this second auxiliary positioning unit between formed line and this first assist location straight line between this second sensing cell and this second auxiliary positioning unit, or the angle between formed line and this second assist location straight line between the 3rd sensing cell and the 3rd auxiliary positioning unit.
3. bikini locating device as claimed in claim 1 is characterized in that, wherein forms one first projection straight line between this first sensing cell and this first auxiliary positioning unit; Form one second projection straight line between this second sensing cell and this second auxiliary positioning unit; Form one the 3rd projection straight line between the 3rd sensing cell and the 3rd auxiliary positioning unit; This first projection straight line, this second projection straight line, and the 3rd projection straight line can meet at a joining altogether; This joining projection is in a mid point of this image sensor; Form a center line between this mid point of this joining and this image sensor;
This center line is perpendicular to a plane of this image sensor;
Wherein this position calculation circuit is according to following equation, to calculate this testing distance and this angle to be measured:
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；
D wherein 612Represent this first known distance, D 623Represent this second known distance, D MRepresent this testing distance, θ MRepresent this angle to be measured, π to represent summation, the θ of leg-of-mutton three interior angles 612Represent one first projection angle, θ between this first projection straight line and this second projection straight line 623Represent one second projection angle, θ between this second projection straight line and the 3rd projection straight line YRepresent this known angle;
Wherein this position calculation circuit according to formula to calculate one second center line angle and one the 3rd center line angle between the 3rd projection straight line and this center line between one first center line angle, this second projection straight line and this center line between this first projection straight line and this center line:
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)]；
θ wherein ARepresent this first center line angle, θ BRepresent this second center line angle, θ CRepresent the 3rd center line angle, θ FOVRepresent this look-out angle, D S1FRepresent distance, D between this mid point and this first sensing cell S2FRepresent distance, D between this mid point and this second sensing cell S3FRepresent distance, D between this mid point and the 3rd sensing cell FOV/2Represent a width half the of this image sensor.
4. bikini locating device as claimed in claim 3; It is characterized in that; Wherein when this mid point is between this first sensing cell and this second sensing cell, this position calculation circuit according to formula to calculate this first projection angle and this second projection angle:
θ 612=θ A+ θ BAnd
θ 623＝θ C-θ B；
Wherein when this mid point is between this second sensing cell and the 3rd sensing cell, this position calculation circuit according to formula to calculate this first projection angle and this second projection angle:
θ 612=θ A-θ BAnd
θ 623＝θ C+θ B；
Wherein be positioned at the same side of this mid point when this first sensing cell, this second sensing cell and the 3rd sensing cell; And this first center line angle is greater than this second center line angle, this second center line angle during greater than the 3rd center line angle, this position calculation circuit according to formula to calculate this first projection angle and this second projection angle:
θ 612=θ A-θ BAnd
θ 623＝θ B-θ C；
Wherein be positioned at the same side of this mid point when this first sensing cell, this second sensing cell and the 3rd sensing cell; And the 3rd center line angle is greater than this second center line angle, this second center line angle during greater than this first center line angle, this position calculation circuit according to formula to calculate this first projection angle and this second projection angle:
θ 612=θ B-θ AAnd
θ 623＝θ C-θ B。
5. bikini locating device as claimed in claim 1 is characterized in that, wherein this first known distance equals this second known distance; This known angle equals the summation of leg-of-mutton three interior angles;
This first auxiliary positioning unit, this second auxiliary positioning unit and the 3rd auxiliary positioning unit are light emitting diode, and the light that this first auxiliary positioning unit, this second auxiliary positioning unit and the 3rd auxiliary positioning unit are launched has identical power;
Wherein this position calculation circuit is according to following equation, to draw this testing distance and this angle to be measured:
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×(V-D A)×(V-D 733)×(V-D M)]；
And
V＝(1/2)×(D A+D 733+D M)；
D wherein MRepresent this testing distance, θ MRepresent this angle to be measured, D ARepresent this first known distance or this second known distance, D 731Represent distance, D between this first sensing cell and this first auxiliary positioning unit 733Represent the distance between the 3rd sensing cell and the 3rd auxiliary positioning unit, leg-of-mutton semi-perimeter, the PW that V is surrounded for this second assist location straight line, this second projection straight line and the 3rd projection straight line 731Power, PW for the light that received corresponding to this first sensing cell 732Power, PW for the light that received corresponding to this second sensing cell 733Power for the light that received corresponding to the 3rd sensing cell.
6. loudspeaker; Have one first loudspeaker, and one second loudspeaker, this first loudspeaker is used for according to one first volume controlling signal with output sound; This second loudspeaker is used for according to one second volume controlling signal with output sound, and this loudspeaker is characterized in that comprising:
Bikini locating device as claimed in claim 1; And
One fader; Be used for receiving this distance/angle signal; And,, adjust the size of the volume of the sound that this first loudspeaker and this second loudspeaker export to export this first volume controlling signal and this second volume controlling signal according to this testing distance and this angle to be measured.
7. loudspeaker as claimed in claim 6 is characterized in that, wherein when testing distance is long more, this fader increases the volume of the sound that this first loudspeaker and this second loudspeaker export;
When testing distance more in short-term, this fader reduces the volume of the sound that this first loudspeaker and this second loudspeaker export; This auxiliary positioning module is arranged between this first loudspeaker and this second loudspeaker; When this fader according to this testing distance and this angle to be measured; Judge when this image sensor and this first loudspeaker are the same side with respect to this auxiliary positioning module; This fader reduces the volume of the sound that this first loudspeaker exports, and increases the volume of the sound that this second loudspeaker exports; When this fader according to this testing distance and this angle to be measured; Judge that this image sensor and this first loudspeaker are with respect to this auxiliary positioning module during for homonymy not; This fader increases the volume of the sound that this first loudspeaker exports, and reduces the volume of the sound that this second loudspeaker exports.
8. the method for bikini location is characterized in that comprising:
One first auxiliary positioning unit, one second auxiliary positioning unit and one the 3rd auxiliary positioning unit and an image sensor of one auxiliary positioning module are provided;
Wherein form one first assist location straight line between this first auxiliary positioning unit and this second auxiliary positioning unit;
Wherein the length of this first assist location straight line equals one first known distance;
Wherein form one second assist location straight line between this second auxiliary positioning unit and the 3rd auxiliary positioning unit;
Wherein the length of this second assist location straight line equals one second known distance;
Wherein the angle between this first assist location straight line and this second assist location straight line is a known angle;
This image sensor sensing one scene is to produce a sensing image according to this;
Wherein this first auxiliary positioning unit, this second auxiliary positioning unit and the 3rd auxiliary positioning unit are positioned at the scope of this scene;
According to this sensing image; Pick out one first sensing cell to this image sensor that should first auxiliary positioning unit, corresponding to one second sensing cell of this image sensor of this second auxiliary positioning unit, and corresponding to one the 3rd sensing cell of this image sensor of the 3rd auxiliary positioning unit; And
According to this first sensing cell, this second sensing cell, and the position of the 3rd sensing cell, with a testing distance and an angle to be measured that calculates this image sensor and this auxiliary positioning module.
9. method as claimed in claim 8; It is characterized in that; Wherein this first auxiliary positioning unit, this second auxiliary positioning unit, and the 3rd auxiliary positioning unit is the light emitting diode with specific wavelength or special frequency, or have the object of specific pattern or particular color; This testing distance is the distance between distance, this second sensing cell and this second auxiliary positioning unit between this first sensing cell and this first auxiliary positioning unit, or the distance between the 3rd sensing cell and the 3rd auxiliary positioning unit; This angle to be measured is the angle between formed line and this first assist location straight line between angle, this first sensing cell and this first auxiliary positioning unit between formed line and this second assist location straight line between angle, this second sensing cell and this second auxiliary positioning unit between formed line and this first assist location straight line between this second sensing cell and this second auxiliary positioning unit, or the angle between formed line and this second assist location straight line between the 3rd sensing cell and the 3rd auxiliary positioning unit.
10. method as claimed in claim 8 is characterized in that, wherein forms one first projection straight line between this first sensing cell and this first auxiliary positioning unit; Form one second projection straight line between this second sensing cell and this second auxiliary positioning unit; Form one the 3rd projection straight line between the 3rd sensing cell and the 3rd auxiliary positioning unit; This first projection straight line, this second projection straight line, and the 3rd projection straight line can meet at a joining altogether; This joining projection is in a mid point of this image sensor; Form a center line between this mid point of this joining and this image sensor; This center line is perpendicular to a plane of this image sensor; The scope of this scene depends on a look-out angle of this image sensor.
11. method as claimed in claim 10; It is characterized in that; Wherein according to this first sensing cell, this second sensing cell, and the 3rd sensing cell, comprise with this testing distance and this angle to be measured that calculates this image sensor and this auxiliary positioning module:
Based on this look-out angle, this center line, this first sensing cell, this second sensing cell; And the 3rd sensing cell, to calculate one second center line angle and one the 3rd center line angle between the 3rd projection straight line and this center line between one first center line angle, this second projection straight line and this center line between this first projection straight line and this center line;
According to this first center line angle, this second center line angle and the 3rd center line angle, to calculate one first projection angle and the one second projection angle between this second projection straight line and the 3rd projection straight line between this first projection straight line and this second projection straight line; And
According to this known angle, this first known distance, this second known distance, this first projection angle and this second projection angle, to calculate this testing distance and this angle to be measured;
Wherein this testing distance and this angle to be measured based on formula with calculating:
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；
D wherein 612Represent this first known distance, D 623Represent this second known distance, D MRepresent this testing distance, θ MRepresent this angle to be measured, π to represent summation, the θ of leg-of-mutton three interior angles 612Represent one first projection angle, θ between this first projection straight line and this second projection straight line 623Represent one second projection angle, θ between this second projection straight line and the 3rd projection straight line YRepresent this known angle;
Wherein this first center line angle, this second center line angle and the 3rd center line angle according to formula to calculate:
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)]；
θ wherein ARepresent this first center line angle, θ BRepresent this second center line angle, θ CRepresent the 3rd center line angle, θ FOVRepresent this look-out angle, D S1FRepresent distance, D between this mid point and this first sensing cell S2FRepresent distance, D between this mid point and this second sensing cell S3FRepresent distance, D between this mid point and the 3rd sensing cell FOV/2Represent a width half the of this image sensor.
12. method as claimed in claim 11 is characterized in that, wherein when this mid point is between this first sensing cell and this second sensing cell, according to formula to calculate this first projection angle and this second projection angle:
θ 612=θ A+ θ BAnd
θ 623＝θ C-θ B；
Wherein when this mid point is between this second sensing cell and the 3rd sensing cell, according to formula to calculate this first projection angle and this second projection angle:
θ 612=θ A-θ BAnd
θ 623＝θ C+θ B；
Wherein be positioned at the same side of this mid point when this first sensing cell, this second sensing cell and the 3rd sensing cell; And this first center line angle is greater than this second center line angle, this second center line angle during greater than the 3rd center line angle, according to formula to calculate this first projection angle and this second projection angle:
θ 612=θ A-θ BAnd
θ 623＝θ B-θ C；
Wherein be positioned at the same side of this mid point when this first sensing cell, this second sensing cell and the 3rd sensing cell; And the 3rd center line angle is greater than this second center line angle, this second center line angle during greater than this first center line angle, according to formula to calculate this first projection angle and this second projection angle:
θ 612=θ B-θ AAnd
θ 623＝θ C-θ B。
13. method as claimed in claim 8 is characterized in that, wherein this first known distance equals this second known distance; This known angle equals the summation of leg-of-mutton three interior angles; This first auxiliary positioning unit, this second auxiliary positioning unit and the 3rd auxiliary positioning unit are light emitting diode, and the light that this first auxiliary positioning unit, this second auxiliary positioning unit and the 3rd auxiliary positioning unit are launched has identical power;
Wherein this testing distance and this angle to be measured based on following equation with calculating:
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×(V-D A)×(V-D 733)×(V-D M)]；
And
V＝(1/2)×(D A+D 733+D M)；
D wherein MRepresent this testing distance, θ MRepresent this angle to be measured, D ARepresent this first known distance or this second known distance, D 731Represent distance, D between this first sensing cell and this first auxiliary positioning unit 733Represent the distance between the 3rd sensing cell and the 3rd auxiliary positioning unit, leg-of-mutton semi-perimeter, the PW that V is surrounded for this second assist location straight line, this second projection straight line and the 3rd projection straight line 731Power, PW for the light that received corresponding to this first sensing cell 732Power, PW for the light that received corresponding to this second sensing cell 733Power for the light that received corresponding to the 3rd sensing cell.
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