CN101936725A - Optical positioning device and positioning method thereof - Google Patents
Optical positioning device and positioning method thereof Download PDFInfo
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- CN101936725A CN101936725A CN2009100408749A CN200910040874A CN101936725A CN 101936725 A CN101936725 A CN 101936725A CN 2009100408749 A CN2009100408749 A CN 2009100408749A CN 200910040874 A CN200910040874 A CN 200910040874A CN 101936725 A CN101936725 A CN 101936725A
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Abstract
The invention provides an optical positioning device and a positioning method thereof, which is used for positioning coordinate positions in the first axial direction, the second axial direction and the third axial direction of a device to be tested in a space. The optical locating device comprises a mainframe and a correcting device, wherein, the mainframe is equipped with a first optical induction unit and a second optical induction unit which are spaced from each other at a preset first distance in the first axial direction; the correcting device is spaced from the first optical induction unit and the second optical induction unit at a second distance in the second axial direction; the mainframe is further equipped with a processing unit which is electrically connected with the first optical induction unit and the second optical induction unit and calculates the first distance and the second distance to locate the device to be tested; and the first axial direction is perpendicular to the second axial direction, and an intermediate point of the first distance is taken as an origin of coordinates of the device to be tested. The optical locating device is simply set and easily used.
Description
Technical field
The present invention relates to a kind of locating device, relate in particular to a kind of optical positioning apparatus and optical positioning method.
Background technology
Current, video game and computer game have been common now amusement and recreation mode, with general computer game is example, be in the main frame of computer installation, Games Software to be installed mostly, the interfaces such as mouse, keyboard, joystick and control handle that see through computer peripheral equipment are controlled computer game, via output units such as display screen and loudspeaker process are carried out in recreation then and the recreation information of carrying out is shown to the game player.
Because the emergence of interactive entertainment, the product of each big game manufacturer develops towards interactive entertainment gradually now.Therefore, become each big electronics corporation with the closely bound up article locating device of interactive entertainment and fallen over each other to drop into the product of development.How producing the easy locating device of use is present target.
Summary of the invention
Fundamental purpose of the present invention provides a kind of the setting simply and is easy to optical positioning apparatus and optical positioning method with use.
For reaching above-mentioned purpose, optical positioning apparatus provided by the present invention is used to locate a device to be measured, and optical positioning apparatus is provided with a main frame; This main frame is provided with in one first and axially goes up the one first optical sensor unit and the one second optical sensor unit of default first distance at interval, this optical positioning apparatus also comprises one in second means for correcting of axially going up with the first optical sensor unit and the second optical sensor unit interval, one second distance, this main frame also is provided with one and electrically connects the first optical sensor unit and the second optical sensor unit and calculate this first distance and the processing unit of second distance so that device to be measured is located, first axially vertical this is second axial for this, and the intermediate point of first distance is the true origin of device to be measured.
Be used for locating one first axial, one second axial and one the 3rd an axial coordinate that is installed on the space to be measured according to the optical positioning method that above-mentioned optical positioning apparatus provided, first axially, second is axially axially perpendicular each other with the 3rd, comprise: the first optical sensor unit and the second optical sensor unit are set, make it be separated with first distance to each other on axially in first; Means for correcting is set, makes itself and the first optical sensor unit and the second optical sensor unit between second axial the going up, be separated with second distance; Utilize first, second optical sensor unit to respond to this means for correcting, to obtain one first image; The ratio of the calculation correction device physical size and first image; Utilize the first optical sensor unit and the second optical sensor unit to respond to device to be measured respectively, to produce one second image and one the 3rd image respectively; Calculate one second coordinate of device to be measured in one first coordinate of device to be measured in second image and the 3rd image; Calculating ratio, second distance and first coordinate are to obtain one first angle that the device to be measured and the first optical sensor unit constitute, calculating ratio, second distance and second coordinate are to obtain one second angle that the device to be measured and the second optical sensor unit constitute, one of the two of calculating ratio, second distance and first coordinate and second coordinate is to obtain the device to be measured and second one the 3rd angle that axially constitutes; Calculate first distance, first angle and first axial coordinate and second axial coordinate of second angle to obtain device to be measured; And second axial coordinate of calculating the 3rd angle and device to be measured is to obtain the 3rd axial coordinate of device to be measured.
As mentioned above, optical positioning apparatus of the present invention and optical positioning method use at interval and one fix the first optical sensor unit and the second optical sensor unit of first distance, after correction, and use principle of parallax to calculate the coordinate of device to be measured.Therefore, optical positioning apparatus of the present invention is provided with simple and uses easily.
Description of drawings
Fig. 1 is the synoptic diagram of a kind of embodiment of optical positioning apparatus of the present invention.
Fig. 2 is the functional-block diagram of the main frame of optical positioning apparatus shown in Figure 1.
Fig. 3, Fig. 4, Fig. 6 and Fig. 7 are the synoptic diagram of principle of parallax of the optical positioning method of optical positioning apparatus shown in Figure 1.
Fig. 5 is a schematic representation of apparatus to be measured shown in Figure 1.
Fig. 8 is the synoptic diagram of the another kind of embodiment of optical positioning apparatus of the present invention.
Fig. 9 is the functional-block diagram of control device shown in Figure 8.
Figure 10 is the process flow diagram of optical positioning method of the present invention.
The description of reference numerals of each element is as follows among the figure:
Device to be measured 6 first optical sensor unit 8
The second optical sensor unit, 10 control modules 12
Second image, 18 light emitting sources 20
The 4th optical sensor unit 24, the 3rd optical sensor unit 22
Phase-locked loop unit 26 frequency generation units 28
Change serial unit 30 buffer cells 32 side by side
Embodiment
For describing technology contents of the present invention, structural attitude, the purpose of being reached and effect in detail, described in detail below in conjunction with embodiment and conjunction with figs..
See also Fig. 1 and Fig. 2, a kind of embodiment of optical positioning apparatus of the present invention in order to locate a device 6 to be measured in the space the first axial X, the second axial Z and the coordinate of the 3rd axial Y, optical positioning apparatus is provided with main frame 2 and means for correcting 4.Main frame 2 is provided with the first optical sensor unit 8, the second optical sensor unit 10, control module 12 and processing unit 14.
See also Fig. 3 to Fig. 6, the first optical sensor unit 8 and the second optical sensor unit 10 are horizontally placed on the surface level that the first axial X and the second axial Z constituted, and the first optical sensor unit 8 in the coordinate of the first axial X and the second optical sensor unit 10 in the coordinate of the first axial X, one first distance D f at interval.The first optical sensor unit 8 and the second optical sensor unit 10 can be a kind of in CMOS (Complementary Metal Oxide Semiconductor) image sensor (CMOS) and the charge coupling device image sensor (CCD).The intermediate point of setting the first distance D f is the initial point of the first axial X, the second axial Z and the 3rd axial Y.
When optical positioning apparatus is worked, at first, open optical positioning apparatus, afterwards, carry out aligning step, last, utilize principle of parallax to position step.In aligning step, at first, means for correcting 4 is arranged in the induction range of the first optical sensor unit 8 and the second optical sensor unit 10, makes coordinate and first optical sensor unit 8 and second optical sensor unit 10 in the coordinate of second axial Z between the interval one second distance Ds (Fig. 3 only represent means for correcting 4 coordinate and first optical sensor unit 8 interval second distance Dss in second axial Z) of means for correcting 4 in the second axial Z.
See also Fig. 3, then, the first optical sensor unit 8 and the second optical sensor unit 10 are responded to means for correcting 4 respectively, to produce first image 16.Afterwards, the shared pixel of means for correcting 4 in the physical size of processing unit 14 calculation correction devices 4 and first image 16 is to produce a ratio.
The calculating formula of described ratio is as follows:
The shared pixel of ratio=physical size ÷
Means for correcting 4 is a correction plate of being made up of some black squares and some white square each intervals.The height of the black square 5 of means for correcting 4 is 10 millimeters (mm), and the height of black square is 20 pixels (Pixel) in first image 16, and according to the result of aforementioned calculation formula, ratio is 0.5 (mm/pixel).
See also Fig. 6, in positioning step, at first, device 6 to be measured is arranged in the induction range of the first optical sensor unit 8 and the second optical sensor unit 10, the device 6 to be measured and the first optical sensor unit 8 constitute the first angle theta l, the device 6 to be measured and the second optical sensor unit 10 constitute the second angle theta r, and the surface level that the device 6 to be measured and the first axial X and the second axial Z are constituted constitutes the 3rd angle theta.
See also Fig. 4, then, the first optical sensor unit 8 and the second optical sensor unit 10 are responded to device 6 to be measured respectively, to produce second image 18 and the 3rd image (only showing second image 18 among the figure) respectively.Second coordinate of device 6 shared pixels to be measured in first coordinate of device 6 shared pixels to be measured and the 3rd image in processing unit 14 calculating second image 18.Afterwards, computing unit 14 utilizes an inverse trigonometric function calculating formula to calculate ratio, second distance Ds and first coordinate, to obtain the numerical value of the first angle theta l, computing unit 14 utilizes described inverse trigonometric function calculating formula to calculate ratio, second distance Ds and second coordinate, to obtain the numerical value of the second angle theta r, computing unit 14 utilizes one of the two of the described calculating of inverse trigonometric function calculating formula ratio, second distance Ds and first coordinate and second coordinate, to obtain the numerical value of the 3rd angle theta.
See also Fig. 5, device 6 to be measured is a handgrip, the handgrip front end is provided with a light emitting source 20, the first optical sensor unit 8 and the second optical sensor unit 10 can be responded to the light emitting source 20 of handgrip respectively, in second image 18 and the 3rd image, this light emitting source 20 can be considered a luminous point, and is arranged in first coordinate of second image 18 and second coordinate of the 3rd image.
Suppose that first setting coordinate is (336,240), second coordinate is (146,240).The inverse trigonometric function calculating formula is
Angle=arctan (coordinate * ratio ÷ second distance)
Therefore, when stating calculating formula in the use and calculating the first angle theta l, coordinate should be the lateral coordinates of first coordinate, according to above-mentioned formula:
The first angle theta l=arctan (336 * 0.5 ÷ 200), therefore, the first angle theta l is 40 degree.
According to above-mentioned formula:
The second angle theta r=arctan (146 * 0.5 ÷ 200), therefore, the second angle theta r is 20 degree.
According to above-mentioned formula:
The 3rd angle theta=arctan (240 * 0.5 ÷ 200), therefore, the 3rd angle theta is 31 degree.
Afterwards, computing unit 14 uses a trigonometric function calculating formula to calculate the first distance D f, the first angle theta l and the second angle theta r, to obtain the second axial Z coordinate Dz of device 6 to be measured.When the second axial Z coordinate Dz that calculates device 6 to be measured, the induction range of the first optical sensor unit 8 and the second optical sensor unit 10 is divided into three zones, space between the first optical sensor unit 8 and the second optical sensor unit 10 is first area I, the first optical sensor unit 8 is second area II away from the space of the second optical sensor unit, 10 1 sides, and the second optical sensor unit 10 is the 3rd area I II away from the space of the first optical sensor unit, 8 one sides.
Second axial coordinate=first distance/(| tan (Yi Clip angle) |+| tan (Er Clip angle) |)
When device 6 to be measured was positioned at second area II, the trigonometric function formula of calculating was:
Second axial coordinate=first distance/(| tan (second angle) |-| tan (first angle) |)
When device 6 to be measured was positioned at the 3rd area I II, the trigonometric function formula of calculating was:
Second axial coordinate=first distance/(| tan (first angle) |-| tan (second angle) |)
Suppose that device 6 to be measured is positioned at first area I, first distance is 300mm, according to above-mentioned formula:
The second axial coordinate Dz=300/ (| tan (40) |+| tan (20) |), therefore, the second axial Z coordinate Dz of device 6 to be measured is 249.
See also Fig. 7, come, processing unit 14 uses a trigonometric function calculating formula to calculate coordinate Dz, the first angle theta l, the first distance D f of the second axial Z, to obtain the first axial X coordinate Dx of device 6 to be measured.In the present embodiment, described trigonometric function calculating formula is:
First axial coordinate=second axial coordinate * tan (first angle)-first is apart from ÷ 2
According to above-mentioned formula:
First axial coordinate Dx=249 * tan (40)-300 ÷ 2, therefore, the first axial X coordinate Dx of device 6 to be measured is 59.
The intermediate point of the first distance D f is made as initial point, and to set initial point be the negative sense of the first axial X towards the direction of first optical induction device 8, and relatively, initial point is the forward of the first axial X towards the direction of second optical induction device 10, so can get the aforementioned calculation formula.
When real enforcement, can set first axial forward and the negative sense arbitrarily, utilizing triangle to contain the number calculating formula, calculate the side-play amount of device 6 to be measured apart from initial point, if side-play amount is being for just, promptly the coordinate of the first axial X is for just, side-play amount is for negative, and promptly the coordinate of the first axial X is for negative.
At last, computing unit 14 uses a trigonometric function calculating formula to calculate the coordinate of the second axial Z of the 3rd angle theta and device to be measured 6, with the coordinate of the 3rd axial Y that obtains device 6 to be measured.Described trigonometric function calculating formula is
The 3rd axial coordinate=second axial coordinate * tan (the 3rd angle)
According to above-mentioned formula:
The 3rd axial coordinate=249 * tan (31), therefore, the 3rd axial Y coordinate of device 6 to be measured is 149.Therefore, the coordinate of device 6 to be measured is (59,249,149).
See also Fig. 8 and Fig. 9, the main frame 2 of another embodiment of optical positioning apparatus of the present invention also comprises one the 3rd optical sensor unit 22 and one the 4th optical sensor unit 24.The first optical sensor unit 8 and the second optical sensor unit 10 are first group of sensing unit, and the 3rd optical sensor unit 22 and the 4th optical sensor unit 24 are second group of sensing unit.
The 3rd optical sensor unit 22 and the 4th optical sensor unit 24 are arranged at the first optical sensor unit 8 and the second optical sensor unit, 10 1 sides respectively, one first distance D f at interval between the 3rd optical sensor unit 22 and the 4th optical sensor unit 24, and be horizontally placed on the surface level that the first axial X and the second axial Z constituted.
Therefore second group of sensing unit being constituted of first group of sensing unit being constituted of the first optical sensor unit 8 and the second optical sensor unit 10 and the 3rd optical sensor unit 22 and the 4th optical sensor unit 24 can provide the output of first group of coordinate and the second group of coordinate and per second 30 width of cloth (Frame) of device 6 to be measured respectively; so first group of sensing unit and second group of sensing unit can provide the output of per second 60 width of cloth under home; when the environment deepening; the output of per second 30 width of cloth also can be provided, improve the correct location rate that band is surveyed device 6 by this.
In addition, because first group of sensing unit and second group of sensing unit can provide the output of per second 60 width of cloth, the sampling coordinate of device 6 promptly to be measured doubles, and therefore, optical positioning apparatus can directly calculate the acceleration of device 6 to be measured.Compare with existing skill, thereby can save the acceleration inductor.The 3rd optical sensor unit 22 and the 4th optical sensor unit 24 can be CMOS (Complementary Metal Oxide Semiconductor) image sensor or charge coupling device image sensor.
Buffer cell 32 connects changes serial unit 30 side by side, change the data that serial unit 30 is received side by side in order to temporary transient storage, make commentaries on classics serial unit 30 arranged side by side can be once the data of the first optical sensor unit 8, the second optical sensor unit 10, the 3rd optical sensor unit 22 and the 4th optical sensor unit 24 be sent to processing unit 14.Control module 12 is field programmable gate array (FPGA).
See also Figure 10, the flow chart of steps of optical positioning method of the present invention comprises:
At first, the first optical sensor unit 8 and the second optical sensor unit 10 are set, make it on the first axial X, be separated with one first distance D f to each other;
Secondly, a means for correcting 4 is set, makes means for correcting 4 between the coordinate on the second axial Z, be separated with a second distance Dz in the coordinate on the second axial Z and the first optical sensor unit 8 and the second optical sensor unit 10;
Afterwards, the first optical sensor unit 8 and the second optical sensor unit 10 are responded to means for correcting 4 respectively, to obtain first image 16;
Moreover, make the ratio of processing unit 14 calculation correction devices, 4 physical sizes and first image 16;
Afterwards, first optical sensor 8 and second optical sensor 10 are responded to device 6 to be measured respectively, to produce second image 18 and the 3rd image respectively;
Then, processing unit 14 calculates first coordinate and to be measured device 6 second coordinate in three image of device 6 to be measured in second image 18;
Afterwards, processing unit 14 calculating ratios, second distance Dz and first coordinate are to obtain the first angle theta l that the device 6 to be measured and the first optical sensor unit 8 are constituted; Processing unit 14 calculating ratios, second distance Dz and second coordinate are to obtain the second angle theta r that the device 6 to be measured and the second optical sensor unit 10 are constituted; One of the two of processing unit 14 calculating ratios, second distance Dz and first coordinate and second coordinate is to obtain the 3rd angle theta that the device 6 to be measured and the second axial Z are constituted;
Come, processing unit 14 calculates the first distance D f, the first angle theta l and the second angle theta r, to obtain the second axial Z coordinate of device 6 to be measured again;
Then, processing unit 14 calculates the first distance D f, the first angle theta l or the second angle theta r, to obtain the first axial X coordinate of device 6 to be measured; And
At last, use the second axial Z coordinate of processing unit 14 calculating the 3rd angle theta and device to be measured 6, to obtain the 3rd axial Y coordinate of device 6 to be measured.Mat above-mentioned steps and obtain the first axial X, the second axial Z of device 6 to be measured and the coordinate of the 3rd axial Y respectively.
By after the above-mentioned explanation as can be known, be separated with the first optical sensor unit 8 and the second optical sensor unit 10 of one first distance D f between optical positioning apparatus of the present invention and optical positioning method utilization, after means for correcting 4 corrections, and use principle of parallax, calculate in device to be measured 6 spaces three axial coordinates, therefore, optical positioning apparatus of the present invention is provided with simply, uses easily.In addition, this optical positioning apparatus can use first group of sensing unit and second group of sensing unit so that the speed of per second 60 width of cloth to be provided simultaneously, thereby can save the acceleration inductor, directly calculate the acceleration of device 6 to be measured, and in relatively poor environment, also can provide the speed of per second 30 width of cloth at least, to improve correct localization.
Claims (10)
1. optical positioning apparatus, it is used to locate a device to be measured, and described optical positioning apparatus is provided with a main frame; It is characterized in that: this main frame is provided with in one first and axially goes up the one first optical sensor unit and the one second optical sensor unit of default first distance at interval, this optical positioning apparatus also comprises one in second means for correcting of axially going up with the first optical sensor unit and the second optical sensor unit interval, one second distance, this main frame also is provided with one and electrically connects the first optical sensor unit and the second optical sensor unit and calculate this first distance and the processing unit of second distance so that device to be measured is located, first axially vertical this is second axial for this, and the intermediate point of first distance is the true origin of device to be measured.
2. optical positioning apparatus according to claim 1 is characterized in that: further comprise being electrically connected to this processing unit and first axially going up one the 3rd optical sensor unit and one the 4th optical sensor unit of this first distance at interval in this.
3. optical positioning apparatus according to claim 2 is characterized in that: described main frame comprises that further one is electrically connected at the control module between the first optical sensor unit, the second optical sensor unit, the 3rd optical sensor unit and the 4th optical sensor unit and the processing unit.
4. optical positioning apparatus according to claim 3 is characterized in that: described control module is a field programmable gate array.
5. optical positioning apparatus according to claim 3 is characterized in that: described control module is provided with one and connects the phase-locked loop unit that first to fourth optical sensor also sequentially activates first to fourth optical sensor unit, one connects first to fourth optical sensor unit and the frequency generation unit of frequency of operation is provided, one connects first to fourth optical sensor unit and sequentially receives first, the second optical sensor unit and the 3rd, the commentaries on classics serial unit arranged side by side and one that the data that the 4th optical sensor unit sends also are sent to these data processing unit connects the buffer cell that commentaries on classics serial unit arranged side by side also temporarily stores commentaries on classics serial unit received data arranged side by side.
6. optical positioning apparatus according to claim 1 is characterized in that: described device to be measured is provided with a light emitting source.
7. optical positioning apparatus according to claim 5 is characterized in that: the described first optical sensor unit, the second optical sensor unit, the 3rd optical sensor unit and the 4th optical sensor unit are a CMOS (Complementary Metal Oxide Semiconductor) image sensor or a charge-coupled original paper image sensor.
8. optical positioning apparatus according to claim 1 is characterized in that: described means for correcting is a correction plate of being made up of some black squares and some white square each intervals.
9. optical positioning method, be used for locating one to be measured be installed on the space one first axially, one second axially with one the 3rd axial coordinate, first axially, second axially axially perpendicular each other, it is characterized in that with the 3rd:
One first optical sensor unit and one second optical sensor unit are set, make it first be separated with one first distance to each other on axially in this;
One means for correcting is set, makes itself and the first optical sensor unit and the second optical sensor unit between this second axial going up, be separated with a second distance;
Utilize first, second optical sensor unit to respond to this means for correcting, to obtain one first image;
Calculate the ratio of this means for correcting physical size and this first image;
Utilize the first optical sensor unit and the second optical sensor unit to respond to device to be measured respectively, to produce one second image and one the 3rd image respectively;
Calculate one second coordinate of this device to be measured in one first coordinate of this device to be measured in second image and the 3rd image;
Calculate this ratio, this second distance and this first coordinate to obtain one first angle that this device to be measured and this first optical sensor unit constitute, calculate this ratio, this second distance and this second coordinate to obtain one second angle that this device to be measured and this second optical sensor unit constitute, calculate this ratio, this second distance and this first coordinate and this second coordinate the two one of, to obtain one the 3rd angle that this device to be measured and this second axially constitutes;
Calculate this first distance, this first angle and first axial coordinate and second axial coordinate of this second angle to obtain this device to be measured; And
Second axial coordinate of calculating the 3rd angle and this device to be measured is to obtain the 3rd axial coordinate of this device to be measured.
10. the optical positioning method of stating according to claim 9, it is characterized in that: described calculating first axial coordinate comprises;
The space of setting between the first optical sensor unit and the second optical sensor unit is a first area;
Setting the first optical sensor unit is a second area away from the space of the second optical sensor unit, one side;
Setting the second optical sensor unit is one the 3rd zone away from the space of the first optical sensor unit, one side;
Judge that device to be measured is positioned at first area, second area or the 3rd zone; And
Use a calculating formula to calculate second axial coordinate of device to be measured according to the position of device to be measured.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009100408749A CN101936725B (en) | 2009-06-30 | 2009-06-30 | Optical positioning device and positioning method thereof |
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| CN2009100408749A CN101936725B (en) | 2009-06-30 | 2009-06-30 | Optical positioning device and positioning method thereof |
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| CN101936725A true CN101936725A (en) | 2011-01-05 |
| CN101936725B CN101936725B (en) | 2012-04-04 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104111059A (en) * | 2014-07-16 | 2014-10-22 | 宇龙计算机通信科技(深圳)有限公司 | Distance measuring and locating device and method and terminal |
| CN105516251A (en) * | 2015-11-26 | 2016-04-20 | 阿坝师范学院 | Positioning calibration method and position service pushing system thereof |
-
2009
- 2009-06-30 CN CN2009100408749A patent/CN101936725B/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104111059A (en) * | 2014-07-16 | 2014-10-22 | 宇龙计算机通信科技(深圳)有限公司 | Distance measuring and locating device and method and terminal |
| CN105516251A (en) * | 2015-11-26 | 2016-04-20 | 阿坝师范学院 | Positioning calibration method and position service pushing system thereof |
| CN105516251B (en) * | 2015-11-26 | 2020-04-10 | 阿坝师范学院 | Positioning calibration method and position service pushing system thereof |
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| Publication number | Publication date |
|---|---|
| CN101936725B (en) | 2012-04-04 |
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Effective date of registration: 20140129 Address after: Jinxi town Wei Road Kunshan City, Jiangsu province 215324 No. 6 Patentee after: Fushineng Electronic (Kunshan) Co., Ltd. Patentee after: Zhengwei Precision Industry Co., Ltd. Address before: 523455 Guangdong province Dongguan Dongkeng Industrial Avenue Patentee before: Foxlink Electronics (Dongguan) Co., Ltd. Patentee before: Zhengwei Precision Industry Co., Ltd. |
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