CN104154863A - Three-dimensional position detection device and detection method thereof - Google Patents
Three-dimensional position detection device and detection method thereof Download PDFInfo
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- CN104154863A CN104154863A CN201410432009.XA CN201410432009A CN104154863A CN 104154863 A CN104154863 A CN 104154863A CN 201410432009 A CN201410432009 A CN 201410432009A CN 104154863 A CN104154863 A CN 104154863A
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Abstract
The invention discloses a three-dimensional position detection device and a detection method thereof. The detection device comprises a first pull rope displacement sensing unit, a second pull rope displacement sensing unit, a third pull rope displacement sensing unit and a position resolving unit, wherein the first pull rope displacement sensing unit, the second pull rope displacement sensing unit and the third pull rope displacement sensing unit are connected with an object to be measured, the position resolving unit is in wireless communication with the first pull rope displacement sensing unit, the second pull rope displacement sensing unit and the third pull rope displacement sensing unit, and the first pull rope displacement sensing unit, the second pull rope displacement sensing unit and the third pull rope displacement sensing unit are fixed in an L shape in the space. The three-dimensional position detection device has the advantages of being high in measurement accuracy, wide in measurement range, low in measurement cost and the like. Other equipment can read the three-dimensional position detection device in real time in a serial communication mode or the like and obtain three-dimensional position information of the object to be measured in a resolving mode. The three-dimensional position detection device and the detection method thereof are suitable for carrying out three-dimensional position measurement on an underwater robot in a pool environment and obtaining the moving track of the underwater robot according to the three-dimensional position information at different moments.
Description
1. technical field
The present invention relates to a kind of position measuring system, be specifically related to a kind of three-dimensional position pick-up unit and detection method thereof.
2. background technology
In a lot of occasions, all will measure object is position or movement locus at three dimensions, the trajectory measurement problem while navigating by water under the environment of pond as underwater robot, and this detects with regard to the corresponding sensor device of needs.
Yet prior art, great majority relate to the velocity information that has adopted two displacement sensor for pull ropes to resolve underwater robot.
Only can calculate testee in the positional information of two dimensional surface, cannot carry out three-dimensional position detection.
5. summary of the invention
The object of the present invention is to provide a kind of three-dimensional position pick-up unit and detection method thereof.
This pick-up unit is provided with a plurality of stay cord displacement sensings unit, location compute unit, can make this device have the features such as measuring accuracy is high, scope is wide, cost is low.
Other equipment can read three-dimensional position pick-up unit in real time by modes such as serial communications, resolve the three dimensional local information that obtains testee.
The present invention is suitable for underwater robot and carries out three-dimensional position measuring at pond environment, according to three dimensional local information in the same time not, can obtain the movement locus of underwater robot.
In order to achieve the above object, the present invention is achieved through the following technical solutions:
A three-dimensional position pick-up unit, is characterized in, this device comprises:
The first stay cord displacement sensing unit, is connected with measured object; The second stay cord displacement sensing unit, is connected with measured object; The 3rd stay cord displacement sensing unit, is connected with measured object.
Location compute unit, carries out wireless telecommunications with above-mentioned the first stay cord displacement sensing unit, the second stay cord displacement sensing unit, the 3rd stay cord displacement sensing unit respectively.
Above-mentioned three-dimensional position pick-up unit, be characterized in, fixing above-mentioned the first stay cord displacement sensing unit, the second stay cord displacement sensing unit and the 3rd stay cord displacement sensing unit is identical stay cord displacement sensing unit in Zhong ChengLXing position, space for the first above-mentioned stay cord displacement sensing unit, the second stay cord displacement sensing unit and the 3rd stay cord displacement sensing unit.
Above-mentioned three-dimensional position pick-up unit, is characterized in, above-mentioned stay cord displacement sensing unit comprises:
Housing;
Torque motor, is arranged in above-mentioned housing;
Reel, centre is fixedly connected with the output shaft of above-mentioned torque motor;
Supporting roller assembly, is arranged in above-mentioned housing;
Cable, one end is wound on above-mentioned reel, and the other end is connected with measured object through above-mentioned supporting roller assembly;
Apart from resolution component, be arranged in above-mentioned housing, and be connected with above-mentioned supporting roller assembly.
Above-mentioned three-dimensional position pick-up unit, is characterized in, above-mentioned supporting roller assembly comprises:
The first circle wheel, the rotation axis of the first above-mentioned circle wheel is fixedly installed in above-mentioned housing;
The second circle wheel, with the above-mentioned tangent setting of the first circle wheel; The rotation axis of the second above-mentioned circle wheel is fixedly installed in above-mentioned housing.
14.above-mentioned three-dimensional position pick-up unit, is characterized in, the first above-mentioned circle wheel, the second circle wheel outward flange be coated Si glue-line respectively; One end of above-mentioned cable, through between the first above-mentioned circle wheel, the second circle wheel, is connected with above-mentioned measured object.
Above-mentioned three-dimensional position pick-up unit, is characterized in, above-mentioned distance resolution component comprises:
Photoelectric code disk, is arranged on the second above-mentioned circle wheel;
Apart from parsing module, be connected with above-mentioned photoelectric code disk;
Wireless serial module, is connected with above-mentioned distance parsing module.
Above-mentioned three-dimensional position pick-up unit, is characterized in, above-mentioned location compute unit comprises:
Housing;
Location compute module, is arranged in above-mentioned housing;
Wireless communication module, is arranged in above-mentioned housing, is connected, and carries out wireless telecommunications with a plurality of above-mentioned wireless serial modules respectively with above-mentioned location compute module.
A detection method for above-mentioned three-dimensional position pick-up unit, is characterized in, the method comprises:
S1, one end of measured object respectively with the cable of the cable of the first stay cord displacement sensing unit, the cable of the second stay cord displacement sensing unit and the 3rd stay cord displacement sensing unit.
18.s2, when above-mentioned location compute module is set and preserves initial time, the coordinate figure of the first stay cord displacement sensing unit, the second stay cord displacement sensing unit and the 3rd stay cord displacement sensing unit of narrating.
S3, the distance parsing module of the first above-mentioned stay cord displacement sensing unit records the distance a0 between initial time measured object and this first stay cord displacement sensing unit, the distance parsing module of the second above-mentioned stay cord displacement sensing unit records the distance b 0 between initial time measured object and this second stay cord displacement sensing unit, and the distance parsing module of the 3rd above-mentioned stay cord displacement sensing unit records the distance c 0 between initial time measured object and the 3rd stay cord displacement sensing unit; Each above-mentioned distance parsing module imports range information in above-mentioned location compute module into.
S4, when above-mentioned measured object moves, when each cable moves along with measured object, drives the second above-mentioned circle wheel to rotate, and makes photoelectric code disk output pulse signal; Each above-mentioned distance parsing module is the pulse signal of the corresponding above-mentioned photoelectric code disk of Real-Time Monitoring respectively.
S5, the distance parsing module of the first above-mentioned stay cord displacement sensing unit is according to the second circle wheel diameter size of the first stay cord displacement sensing unit, the pulse signal of above-mentioned photoelectric code disk, the cable displacement a1 of calculating from initial time to the first above-mentioned stay cord displacement sensing unit of current time, and transfer in above-mentioned location compute module;
The distance parsing module of the second above-mentioned stay cord displacement sensing unit is according to the second circle wheel diameter size of the second stay cord displacement sensing unit, the pulse signal of above-mentioned photoelectric code disk, the cable displacement b1 of calculating from initial time to the second above-mentioned stay cord displacement sensing unit of current time, and transfer in above-mentioned location compute module;
The distance parsing module of the 3rd above-mentioned stay cord displacement sensing unit, according to the second circle wheel diameter size of the 3rd stay cord displacement sensing unit, the pulse signal of above-mentioned photoelectric code disk, calculates the cable displacement c1 from initial time to the 3rd above-mentioned stay cord displacement sensing unit of current time; And transfer in above-mentioned location compute module.
S6, the displacement signal that above-mentioned location compute module is obtained the different directions cable of a plurality of stay cord displacement sensings unit transmission, calculates the movement position that obtains real-time measured object.
Above-mentioned three-dimensional position detection method, is characterized in, above-mentioned step S2 comprises following steps:
S2.1, above-mentioned location compute module setting space rectangular coordinate system OXYZ, setting the first above-mentioned stay cord displacement sensing unit is true origin.
S2.2, above-mentioned location compute module record respectively distance X B, the first stay cord displacement sensing unit and the 3rd stay cord displacement sensing unit between initial time the first stay cord displacement sensing unit and the second stay cord displacement sensing unit between distance ZC.
S2.3, when above-mentioned location compute module is preserved initial time, in rectangular coordinate system in space OXYZ, the coordinate figure of above-mentioned the first stay cord displacement sensing unit, the second stay cord displacement sensing unit and the 3rd stay cord displacement sensing unit is respectively: (0,0,0), (XB, 0,0), (0,0, ZC).
Above-mentioned three-dimensional position detection method, is characterized in, above-mentioned step S6 comprises following steps:
S6.1, above-mentioned location compute module is calculated respectively the distance between current time measured object and above-mentioned the first stay cord displacement sensing unit, the second stay cord displacement sensing unit and the 3rd stay cord displacement sensing unit, is respectively: a=a1+ a0; B=b1+ b0; C=c1+ c0.
S6.2, this location compute module is set measured object and at the real-time coordinate of rectangular coordinate system in space OXYZ is: (XG, YG, ZG), above-mentioned location compute module is resolved according to following formula:
Wherein, select the result of YG > 0 as the real-time three-dimensional position coordinates (XG, YG, ZG) of current measured object 300.
The present invention compared with prior art has the following advantages:
1. many stay cord displacement sensing unit are L-type and arrange, mutual spacing is from without fixing, and environment arrangement requirement is low.
2. cable infinite in length system, thus can realize the three-dimensional position measuring in larger region.
3. three-dimensional position measuring device is simple, cost is low.
accompanying drawing explanation
Fig. 1 is the one-piece construction schematic diagram of a kind of three-dimensional position pick-up unit of the present invention.
Fig. 2 is the structural representation of the stay cord displacement sensing unit of a kind of three-dimensional position pick-up unit of the present invention.
Fig. 3 is the structural representation of the location compute unit of a kind of three-dimensional position pick-up unit of the present invention.
embodiment
Below in conjunction with accompanying drawing, by describing a preferably specific embodiment in detail, the present invention is further elaborated.
As shown in Figure 1, a kind of three-dimensional position pick-up unit, this device comprises: the first stay cord displacement sensing unit 110, the second stay cord displacement sensing unit 120 and the 3rd stay cord displacement sensing unit 130 that are connected with measured object 300 respectively.
In the present embodiment, adopt underwater robot as measured object 300.
Location compute unit 200 and the first stay cord displacement sensing unit 110, the second stay cord displacement sensing unit 120, the 3rd stay cord displacement sensing unit 130 carry out wireless serial communication.
And the first stay cord displacement sensing unit 110, the second stay cord displacement sensing unit 120, the 3rd stay cord displacement sensing unit 130 adopt different communications protocol from 200 of location compute unit.
The first stay cord displacement sensing unit 110, the second stay cord displacement sensing unit 120 and the 3rd Zhong ChengLXing position, 130 space, stay cord displacement sensing unit are fixed.
The first stay cord displacement sensing unit 110, the second stay cord displacement sensing unit 120 and the 3rd stay cord displacement sensing unit 130 are identical stay cord displacement sensing unit.
As shown in Figure 2, each stay cord displacement sensing unit comprises: housing 10, torque motor 20, reel 30, supporting roller assembly 40, cable 50 and apart from resolution component 60.
Torque motor 20 is arranged in housing 10; The centre of reel 30 is fixedly connected with the output shaft of torque motor 20; Supporting roller assembly 40 is arranged in housing 10; One end of cable 50 is wound on above-mentioned reel 30, and the other end of cable 50 is connected with measured object 300 through supporting roller assembly 40; Apart from resolution component 60, be arranged in housing 10, and be connected with supporting roller assembly 40.
Supporting roller assembly 40 comprises: first circle wheel the 41, second circle wheel 42.
The rotation axis of the first circle wheel 41 is fixedly installed in housing 10; Second circle wheel the 42 and first circle wheel 41 tangent settings, the rotation axis of the second circle wheel 42 is fixedly installed in housing 10.
45.first circle wheel the 41, second circle wheel 42 outward flanges are coated Si glue-line respectively; One end of cable 50, through between first circle wheel the 41, second circle wheel 42, is connected with measured object 300.
Apart from resolution component 60, comprise: photoelectric code disk 61, apart from parsing module 62 and wireless serial module 63.
Photoelectric code disk 61 is arranged on the second circle wheel 42; Apart from parsing module 62, be connected with photoelectric code disk 61; Wireless serial module 63 with apart from parsing module 62, be connected.
In the present embodiment, adopt single-chip microcomputer to be used as apart from parsing module 62; Adopt the serial ports transceiver module that model is YL-800IL to be used as wireless serial module 63.
In real work, each stay cord displacement sensing unit relies on the friction force of its cable 50 and first circle wheel the 41, second circle wheel 42 outer peripheral layer of silica gel, and first circle wheel the 41, second circle wheel 42 is rotated with the movement of cable 50; When the second circle wheel 42 rotates, photoelectric code disk 61 output pulse signals, according to photoelectric code disk 61 output pulse signals, calculate the displacement information of cable 50 apart from parsing module 62.
As shown in Figure 3, location compute unit 200 comprises: housing 210, location compute module 220 and wireless communication module 230.
Location compute module 220 is arranged in housing 210; Wireless communication module 230 is arranged in housing 210, is connected, and carries out wireless telecommunications with a plurality of wireless serial modules 63 respectively with location compute module 220.
In the present embodiment, adopt PC104 board to build and form location compute module 220; Adopt the serial ports transceiver module that model is YL-800IL to be used as wireless communication module 230.
For a detection method for above-mentioned three-dimensional position pick-up unit, the method comprises:
S1, one end of measured object 300 is connected with cable 50, the cable 50 of the second stay cord displacement sensing unit 120 and the cable 50 of the 3rd stay cord displacement sensing unit 130 of the first stay cord displacement sensing unit 110 respectively.
54.s2, when location compute module 220 is set and preserves initial time, the coordinate figure of the first stay cord displacement sensing unit 110, the second stay cord displacement sensing unit 120 and the 3rd stay cord displacement sensing unit 130.
This step also comprises following steps:
S2.1, as shown in Figure 2, location compute module 220 setting space rectangular coordinate system OXYZ, setting the first stay cord displacement sensing unit is true origin.
S2.2 location compute module 220 record respectively distance X B, the first stay cord displacement sensing unit 110 and the 3rd stay cord displacement sensing unit 130 between initial time the first stay cord displacement sensing unit 110 and the second stay cord displacement sensing unit 120 between distance ZC.
S2.3, when location compute module 220 is preserved initial time, in rectangular coordinate system in space OXYZ, the coordinate figure of the first stay cord displacement sensing unit 110, the second stay cord displacement sensing unit 120 and the 3rd stay cord displacement sensing unit 130 is respectively: (0,0,0), (XB, 0,0), (0,0, ZC).
S3, the distance parsing module 62 of the first stay cord displacement sensing unit 110 records the distance a0 between initial time measured object 300 and the first stay cord displacement sensing unit 110, the distance parsing module 62 of the second stay cord displacement sensing unit 120 records the distance b 0 between initial time measured object 300 and the second stay cord displacement sensing unit 120, and the distance parsing module 62 of the 3rd stay cord displacement sensing unit 130 records the distance c 0 between initial time measured object 300 and the 3rd stay cord displacement sensing unit 130; Each imports range information in the location compute module 220 of location compute unit 200 into apart from parsing module 62.
S4, when measured object 300 motion, when each cable 50 moves along with measured object 300, the second circle wheel 42 of upper correspondence rotates, and makes corresponding photoelectric code disk 61 output pulse signals; A plurality of pulse signals apart from the corresponding photoelectric code disk 61 of parsing module 62 difference Real-Time Monitoring.
During measured object 300 motion, each reel 30 rotates under 20 effects of corresponding force torque motor, makes around the cable 50 on reel 30 always in tight state.
When measured object 300 drives 50 motion of many cables, rely on every cable 50 and first circle wheel the 41, second circle of corresponding stay cord displacement sensing unit to take turns the friction force of 42 outer peripheral layer of silica gel, first circle wheel the 41, second circle wheel 42 is rotated with the movement of cable 50.
When the second circle wheel 42 of the first stay cord displacement sensing unit 110 rotates, photoelectric code disk 61 output pulse signals of the first stay cord displacement sensing unit 110, the distance parsing module 62 of the first stay cord displacement sensing unit 110 calculates the displacement of the cable 50 of corresponding the first stay cord displacement sensing unit 110 according to photoelectric code disk 61 output pulse signals, the second circle wheel 42 diameter.
By that analogy, the distance parsing module 62 of the second stay cord displacement sensing unit 120 calculates the displacement of the cable 50 of the second stay cord displacement sensing unit 120, and the distance parsing module 62 of the 3rd stay cord displacement sensing unit 130 calculates the displacement of the cable 50 of the 3rd stay cord displacement sensing unit 130.
S5, the distance parsing module 62 of the first stay cord displacement sensing unit 110, according to the second circle wheel 42 diameter of the first stay cord displacement sensing unit 110, the pulse signal of photoelectric code disk 61, calculates the cable 50 displacement a1 from initial time to current time the first stay cord displacement sensing unit 110; The wireless serial module 63 of the first stay cord displacement sensing unit 110 is obtained after cable 50 displacement a1, and this displacement a1 is transferred in location compute module 220.
The distance parsing module 62 of the second stay cord displacement sensing unit 120 is according to the second circle wheel 42 diameter of the second stay cord displacement sensing unit 120, the pulse signal of photoelectric code disk 61, the cable 50 displacement b1s of calculating from initial time to current time the second stay cord displacement sensing unit 120; The wireless serial module 63 of the second stay cord displacement sensing unit 120 is obtained after cable 50 displacement b1, and this displacement b1 is transferred in location compute module 220.
The distance parsing module 62 of the 3rd stay cord displacement sensing unit 130, according to the second circle wheel 42 diameter of the 3rd stay cord displacement sensing unit 130, the pulse signal of photoelectric code disk 61, calculates the cable 50 displacement c1 of the 3rd stay cord displacement sensing unit 130 from initial time to current time; ; The wireless serial module 63 of the 3rd stay cord displacement sensing unit 130 is obtained after cable 50 displacement c1, and this displacement c1 is transferred in location compute module 220.
S6, the displacement signal that location compute module 220 is obtained the different directions cable 50 of a plurality of stay cord displacement sensings unit transmission, calculates the movement position that obtains real-time measured object 300.
This step comprises following steps:
S6.1, location compute module 220 is calculated respectively the distance between current time measured object 300 and the first stay cord displacement sensing unit 110, the second stay cord displacement sensing unit 120 and the 3rd stay cord displacement sensing unit 130, is respectively: a=a1+ a0; B=b1+ b0; C=c1+ c0.
S6.2, this location compute module 220 is set measured object 300 and at the real-time coordinate of rectangular coordinate system in space OXYZ is: (XG, YG, ZG), above-mentioned location compute module 220 is resolved according to following formula:
Wherein, select the result of YG > 0 as the real-time three-dimensional position coordinates (XG, YG, ZG) of current measured object 300.
Although content of the present invention has been done detailed introduction by above preferred embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.Those skilled in the art, read after foregoing, for multiple modification of the present invention with to substitute will be all apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (10)
1. a three-dimensional position pick-up unit, is characterized in that, this device comprises:
The first stay cord displacement sensing unit (110), is connected with measured object (300);
The second stay cord displacement sensing unit (120), is connected with measured object (300);
The 3rd stay cord displacement sensing unit (130), is connected with measured object (300);
Location compute unit (200), carries out wireless telecommunications with described the first stay cord displacement sensing unit (110), the second stay cord displacement sensing unit (120), the 3rd stay cord displacement sensing unit (130).
2. three-dimensional position pick-up unit as claimed in claim 1, it is characterized in that, the first described stay cord displacement sensing unit (110), the second stay cord displacement sensing unit (120) and the 3rd stay cord displacement sensing unit (130) are fixed in Zhong ChengLXing position, space;
The first described stay cord displacement sensing unit (110), the second stay cord displacement sensing unit (120) and the 3rd stay cord displacement sensing unit (130) are identical stay cord displacement sensing unit.
3. three-dimensional position pick-up unit as claimed in claim 2, is characterized in that, the stay cord displacement sensing unit described in each comprises:
Housing (10);
Torque motor (20), is arranged in described housing (10);
Reel (30), centre is fixedly connected with the output shaft of described torque motor (20);
Supporting roller assembly (40), is arranged in described housing (10);
Cable (50), it is upper that one end is wound on described reel (30), and the other end is connected with measured object (300) through described supporting roller assembly (40);
Apart from resolution component (60), be arranged in described housing (10), and be connected with described supporting roller assembly (40).
4. three-dimensional position pick-up unit as claimed in claim 3, is characterized in that, described supporting roller assembly (40) comprises:
The first circle wheel (41), the rotation axis of the first described circle wheel (41) is fixedly installed in described housing (10);
The second circle wheel (42), with first described circle wheel (41) tangent setting; The rotation axis of the second described circle wheel (42) is fixedly installed in described housing (10).
5. three-dimensional position pick-up unit as claimed in claim 4, is characterized in that, the first described circle wheel (41), second circle wheel (42) outward flange be coated Si glue-line respectively; One end of described cable (50), through between the first described circle wheel (41), the second circle wheel (42), is connected with described measured object (300).
6. three-dimensional position pick-up unit as claimed in claim 4, is characterized in that, described distance resolution component (60) comprises:
Photoelectric code disk (61), is arranged on the second described circle wheel (42);
Apart from parsing module (62), be connected with described photoelectric code disk (61);
Wireless serial module (63), is connected with described distance parsing module (62).
7. three-dimensional position pick-up unit as claimed in claim 6, is characterized in that, described location compute unit (200) comprises:
Housing (210);
Location compute module (220), is arranged in described housing (210);
Wireless communication module (230), is arranged in described housing (210), is connected, and carries out wireless telecommunications with a plurality of described wireless serial modules (63) respectively with described location compute module (220).
8. for a detection method for above-mentioned three-dimensional position pick-up unit, it is characterized in that, the method comprises:
S1, one end of described measured object (300) is connected with the cable (50) of the cable (50) of the first stay cord displacement sensing unit (110), the cable (50) of the second stay cord displacement sensing unit (120) and the 3rd stay cord displacement sensing unit (130) respectively;
S2, when described location compute module (220) is set and preserves initial time, the coordinate figure of the first described stay cord displacement sensing unit (110), the second stay cord displacement sensing unit (120) and the 3rd stay cord displacement sensing unit (130);
S3, the distance parsing module (62) of the first described stay cord displacement sensing unit (110) records the distance a0 between initial time measured object (300) and this first stay cord displacement sensing unit (110), the distance parsing module (62) of the second described stay cord displacement sensing unit (120) records the distance b 0 between initial time measured object (300) and this second stay cord displacement sensing unit (120), the distance parsing module (62) of the 3rd described stay cord displacement sensing unit (130) records the distance c 0 between initial time measured object (300) and the 3rd stay cord displacement sensing unit (130), distance parsing module (62) described in each imports range information in described location compute module (220) into,
S4, when described measured object (300) moves, when the cable described in every (50) moves along with measured object (300), drives the second described circle wheel (42) to rotate, and makes described photoelectric code disk (61) output pulse signal; Distance parsing module (62) described in each is the pulse signal of the corresponding described photoelectric code disk of Real-Time Monitoring (61) respectively;
S5, the distance parsing module (62) of the first described stay cord displacement sensing unit (110) is according to second circle wheel (42) diameter of the first stay cord displacement sensing unit (110), the pulse signal of described photoelectric code disk (61), cable (50) the displacement a1 of calculating from initial time to the first stay cord displacement sensing unit (110) described in current time, and transfer in described location compute module (220);
The distance parsing module (62) of the second described stay cord displacement sensing unit (120) is according to second circle wheel (42) diameter of the second stay cord displacement sensing unit (120), the pulse signal of described photoelectric code disk (61), cable (50) the displacement b1 of calculating from initial time to the second stay cord displacement sensing unit (120) described in current time, and transfer in described location compute module (220);
The distance parsing module (62) of the 3rd described stay cord displacement sensing unit (130), according to second circle wheel (42) diameter of the 3rd stay cord displacement sensing unit (130), the pulse signal of described photoelectric code disk (61), calculates cable (50) the displacement c1 from initial time to the 3rd stay cord displacement sensing unit (130) described in current time; And transfer in described location compute module (220);
S6, the displacement signal that described location compute module (220) is obtained cable (50) described in the different directions of a plurality of stay cord displacement sensings unit transmission, calculates the movement position that obtains real-time measured object (300).
9. three-dimensional position detection method as claimed in claim 8, is characterized in that, described step S2 comprises following steps:
S2.1, described location compute module (220) setting space rectangular coordinate system OXYZ, setting the first described stay cord displacement sensing unit (110) is true origin;
S2.2, described location compute module (220) record respectively distance X B, the first stay cord displacement sensing unit (110) and the 3rd stay cord displacement sensing unit (130) between initial time the first stay cord displacement sensing unit (110) and the second stay cord displacement sensing unit (120) between distance ZC;
S2.3, when described location compute module (220) is preserved initial time, in rectangular coordinate system in space OXYZ, the coordinate figure of the first described stay cord displacement sensing unit (110), the second stay cord displacement sensing unit (120) and the 3rd stay cord displacement sensing unit (130) is respectively: (0,0,0), (XB, 0,0), (0,0, ZC).
10. three-dimensional position detection method as claimed in claim 8, is characterized in that, described step S6 comprises following steps:
S6.1, described location compute module (220) is calculated respectively the distance between current time measured object (300) and described the first stay cord displacement sensing unit (110), the second stay cord displacement sensing unit (120) and the 3rd stay cord displacement sensing unit (130), is respectively: a=a1+ a0; B=b1+ b0; C=c1+ c0;
S6.2, this location compute module (220) is set measured object (300) and at the real-time coordinate of rectangular coordinate system in space OXYZ is: (XG, YG, ZG), described location compute module (220) is resolved according to following formula:
Wherein, select the result of YG > 0 as the real-time three-dimensional position coordinates (XG, YG, ZG) of current measured object (300).
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