CN105807258B - 3-D positioning method and system - Google Patents
3-D positioning method and system Download PDFInfo
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- CN105807258B CN105807258B CN201610355495.9A CN201610355495A CN105807258B CN 105807258 B CN105807258 B CN 105807258B CN 201610355495 A CN201610355495 A CN 201610355495A CN 105807258 B CN105807258 B CN 105807258B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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Abstract
This application discloses a kind of 3-D positioning methods, for carrying out three-dimensional localization to the object to be positioned being located in interested space, wherein the three dimensional space coordinate of object to be positioned and direction reflect that this method includes by the three dimensional space coordinate of the photosensitive sensor for the positioning device assembled on it：A) multiple light sources with identical emission wavelength are timed, determine the time and scanning sequency that multiple light sources are scanned interested space；B) interested space is scanned using planar laser according to scanning sequency, to irradiate the photosensitive sensor being located in interested space；C) time data of the record about photosensitive sensor by planar laser illumination；D) judge the validity of recorded time data；E) three dimensional space coordinate of photosensitive sensor is calculated according to effective time data；And step b) to step e) is repeated, until stopping executing the method.In addition, disclosed herein as well is a kind of 3 D positioning systems.
Description
Technical field
This application involves three-dimensional localization field, more particularly to be a kind of 3-D positioning method and system.
Background technique
In recent years, one of the important form as next-generation man-machine interaction experience, virtual reality technology (VR：Virtual
Reality, also referred to as virtual reality) by more and more concerns.The principle of virtual reality technology is, utilizes computing device mould
A complete virtual three-dimensional world is drawn up, to provide the simulation on the sense organs such as vision, the sense of hearing, tactile for user, allows use
Family obtains general impression on the spot in person, and can be virtual to this three-dimensional world in generation/appearance event and scene into
Row interaction accessible in real time.
Constantly improve and improving with virtual reality technology, validity of the user for virtual reality scenario, Yi Jiyong
The requirement of the immersion impression at family is also higher and higher.Thus 3D head-mounted display, Gesture Recognition, three-dimensional localization techniques have been pushed
Etc. the relevant technologies fast development, and wherein for the promotion of man-machine interaction experience, vital is exactly accurate and real
When three-dimensional localization techniques.By the utilization of three-dimensional localization techniques, so that user is when wearing the VR helmet, in addition to that can pass through original place
Rotation is to change except the visual angle in the virtual three-dimensional world, moreover it is possible to be detected using various sensors and track user true
Movement in the world simultaneously determines corresponding displacement and movement of the user in the virtual three-dimensional world according to algorithm.As a result, can not only
Feeling of immersion preferably is provided for user, and spinning sensation can also be greatly reduced, while the picture as caused by user's displacement
Asynchronous sense can even completely disappear.
Currently a popular three-dimensional localization techniques include：Bluetooth positioning, WiFi positioning, radio-positioning, ultrasonic wave position, are red
Outer positioning, laser positioning etc..Significantly more efficient tracking is carried out in order to the slight movement to user, in virtual reality technology
Used three-dimensional localization techniques have very high requirement in locating speed and precision aspect, therefore are typically not used in practice
The above relatively apparent location technology of both sides defect, such as bluetooth positioning, WiFi positioning, radio-positioning, ultrasonic wave positioning
Etc..However, using existing infrared positioning, laser positioning technology although can satisfy virtual reality technology in locating speed and
The requirement of precision aspect, but realize that the cost of these technologies is excessively high, it is difficult to it is promoted.
Summary of the invention
Therefore, the purpose to be realized of the invention is, proposes a kind of 3-D positioning method and system.By according to this hair
Bright 3-D positioning method and system can while the validity and the immersion of user for improving virtual reality scenario are experienced,
It is effectively reduced cost.
In one embodiment, the invention proposes a kind of 3-D positioning methods, for positioned at interested space
In object to be positioned carry out three-dimensional localization, wherein the three dimensional space coordinate of object to be positioned and direction pass through in object to be positioned
The three dimensional space coordinate of the photosensitive sensor of the positioning device of upper assembly reflects that the 3-D positioning method includes the following steps：
Step 110, to identical emission wavelength λ0Multiple light sources Q1…QmTime set time, thereby determine that more
A light source Q1…QmThe time be scanned to interested space and scanning sequency；
Step 120, according to scanning sequency use by multiple light sources Q1…QmThe planar laser L of sending1…LmIt scans interested
Space, to irradiate the photosensitive sensor S of positioning device assembled on the object to be positioned being located in interested space1…
Sn, wherein i-th of planar laser LiIn t0iMoment enters interested space, and in t1iMoment is left, and wherein m is light source
Quantity, i are 1 to the integer between m；
Step 130, record is about photosensitive sensor S1…SnBy planar laser L1…LmThe time data t of irradiation2ij,
Middle photosensitive sensor S1…SnEach point to be determined is represented, n is the quantity of point to be determined and the quantity of photosensitive sensor, j 1
To the integer between n；
Step 140, to the time data t recorded2ijValidity judged, to filter out invalid time number
According to；
Step 150, according to effective time data t '2ijCalculate photosensitive sensor S1…SnThree dimensional space coordinate；With
And
Step 120 is repeated to step 150, until stopping executing this method.
In another embodiment, the invention also provides a kind of 3-D positioning methods, for interested to being located at
Object to be positioned in space carries out three-dimensional localization, wherein the three dimensional space coordinate of object to be positioned and direction pass through to be positioned
The three dimensional space coordinate of the photosensitive sensor group for the positioning device assembled on object reflects, and one of photosensitive sensor
Group includes that the multiple photosensitive sensors being mounted together are used to respond a variety of laser with different wave length, the three-dimensional
Localization method includes the following steps：
Step 210, to each other with different emission wavelength λ1…λmMultiple light sources Q1…QmIt is timed, thereby determines that
Multiple light sources Q1…QmThe time that interested space is scanned；
Step 220, using by multiple light sources Q1…QmThe planar laser L of sending1…LmInterested space is scanned, so as to
Photosensitive sensor group (the S for the positioning device assembled on the object to be positioned that irradiation is located in interested space11…S1m)、
(S21…S2m)…(Sn1…Snm), wherein i-th of planar laser LiIn t0iMoment enters interested space, and in t1iMoment
It leaves, wherein m is the quantity of light source, and i is 1 to the integer between m；
Step 230, record is about photosensitive sensor group (S11…S1m)、(S21…S2m)…(Sn1…Snm) by planar laser
L1…LmThe time data t of irradiation2ij, wherein photosensitive sensor group (S11…S1m)、(S21…S2m)…(Sn1…Snm) represent it is each
Point to be determined, n are the quantity of point to be determined and the group quantity of photosensitive sensor group, included in each photosensitive sensor group,
With different sensitive wave length λ1…λmPhotosensitive sensor quantity m from each other have different emission wavelength λ1…λmMultiple light
The quantity m in source is identical, and these sensitive wave lengths λ1…λmWith the emission wavelength λ of light source1…λmIt corresponds, wherein j is 1 to n
Between integer；
Step 240, to the time data (t recorded2ij) validity judged, to filter out the invalid time
Data；
Step 250, according to effective time data t '2ijCalculate photosensitive sensor group (S11…S1m)、(S21…S2m)…
(Sn1…Snm) three dimensional space coordinate；And
Step 220 is repeated to step 250, until stopping executing this method.
In another embodiment, the invention proposes a kind of 3 D positioning systems, for positioned at interested sky
Between in object to be positioned carry out three-dimensional localization, wherein the three dimensional space coordinate of object to be positioned and direction pass through to be positioned right
Reflect as the three dimensional space coordinate of the photosensitive sensor of upper assembly, which includes：
Multiple laser base station P1…Pm, the laser emission wavelength λ having the same of sending0, every in multiple laser base stations
One laser base station all has timing control module, planar laser source and rotating device,
Wherein timing control module receive timing signal and according to the timing signal control rotating device the starting time and
Sequentially,
Wherein planar laser source issues planar laser, and planar laser source is mounted on the spinning device and is configured such that
Plane where the planar laser that planar laser source issues is orthogonal with the direction of rotation of rotating device,
Wherein rotating device at the uniform velocity rotates so that the planar laser that the planar laser source installed on it issues can
Interested space is scanned；Positioning device, with photosensitive sensor and data record/transmission module,
The irradiation for the planar laser that wherein photosensitive sensor is issued by planar laser source simultaneously issues response signal,
Wherein data record/transmission module record issues the time data of response signal about photosensitive sensor；And
Computing device, with timing signal generator, data sink, evaluation module and computing module,
Wherein timing signal generator generates timing signal, and the timing signal is sent to multiple laser base stations,
Wherein data sink receives recorded time data from data record/transmission module of positioning device,
Wherein evaluation module to the validity of received time data assess, to filter out invalid time number
According to,
Wherein computing module calculates the three dimensional space coordinate of photosensitive sensor according to effective time data.
In another embodiment, the invention also provides a kind of 3 D positioning systems, for interested to being located at
Object to be positioned in space carries out three-dimensional localization, wherein the three dimensional space coordinate of object to be positioned and direction pass through to be positioned
The three dimensional space coordinate of the photosensitive sensor group for the positioning device assembled on object reflects, and one of photosensitive sensor
Group includes that multiple photosensitive sensors be mounted together, with different sensitive wave lengths are used for different emission wavelengths
A variety of laser are responded, which includes：
Multiple laser base station P1…Pm, the laser issued is with different emission wavelength λ1…λm, in multiple laser base stations
Each laser base station there is timing control module, planar laser source and rotating device,
Wherein timing control module receives timing signal and controls the starting time of rotating device according to timing signal,
Wherein planar laser source issues planar laser, and planar laser source is mounted on the spinning device and is configured such that
Plane where the planar laser that planar laser source issues is orthogonal with the direction of rotation of rotating device,
Wherein rotating device at the uniform velocity rotates so that the planar laser that the planar laser source installed on it issues can
Interested space is scanned；
Positioning device, with photosensitive sensor group and data record/transmission module,
Wherein photosensitive sensor group issued by planar laser source, with different emission wavelength λ1…λmPlane swash
The irradiation of light simultaneously issues response signal, photosensitive sensors included in photosensitive sensor group, with different sensitive wave lengths
Quantity is identical as the quantity of multiple laser base stations with different emission wavelengths, and these sensitive wave lengths and laser base station
Emission wavelength corresponds,
Wherein data record/transmission module record issues the time data of response signal about photosensitive sensor group；And
Computing device, with timing signal generator, data sink, evaluation module and computing module,
Wherein timing signal generator generates timing signal, and timing signal is sent to multiple laser base stations,
Wherein data sink receives recorded time data from data record/transmission module of positioning device,
Wherein evaluation module to the validity of received time data assess, to filter out invalid time number
According to,
Wherein computing module calculates the three dimensional space coordinate of photosensitive sensor group according to effective time data.
At least one above-mentioned technical solution that the application embodiment uses can reach following beneficial effect.
By using based on laser positioning 3-D positioning method according to the present invention and system can meet void well
Intend reality technology in the requirement of locating speed and precision aspect, to provide good feeling of immersion for user.In addition, according to this hair
Bright 3-D positioning method and system implements that cost is relatively low, and very flexibly, such as by using multiple laser base stations
Bigger area-of-interest can be covered, or more complex environment condition can be coped with.
Detailed description of the invention
It, below will be to attached needed in embodiment description in order to illustrate more clearly of the technical solution of the application
Figure is briefly described.
Fig. 1 is a kind of flow chart of 3-D positioning method according to the present invention；
Fig. 2 is the schematic diagram that photosensitive sensor position is determined using 3-D positioning method according to the present invention；
Fig. 3 is the flow chart of another 3-D positioning method according to the present invention；
Fig. 4 is a kind of schematic diagram of 3 D positioning system according to the present invention；And
Fig. 5 is the schematic diagram of another 3 D positioning system according to the present invention.
Specific embodiment
To keep the purposes, technical schemes and advantages of the application clearer, below in conjunction with the application specific embodiment
And technical scheme is clearly and completely described in corresponding attached drawing.Obviously, described embodiment is only this Shen
A part of embodiment please, rather than whole embodiments.Based on the embodiment in the application, ordinary skill
Personnel's all other embodiment obtained without making creative work belongs to the model of the application protection
It encloses.
Below in conjunction with attached drawing, the technical solution that each embodiment of the application provides is described in detail.
Embodiment 1
Presently filed embodiment 1 provides a kind of 3-D positioning method, for undetermined in interested space to being located at
Position object carries out three-dimensional localization, wherein the three dimensional space coordinate of object to be positioned and direction on object to be positioned by assembling
The three dimensional space coordinate of the photosensitive sensor of positioning device reflects.Specifically, the 3-D positioning method that embodiment 1 provides
Implementation process schematic diagram is as shown in Figure 1, include the following steps：
Step 110, to identical emission wavelength λ0Multiple light sources Q1…QmTime set time, thereby determine that more
A light source Q1…QmThe time be scanned to interested space and scanning sequency；
Step 120, according to scanning sequency use by multiple light sources Q1…QmThe planar laser L of sending1…LmIt scans interested
Space, to irradiate the photosensitive sensor S of positioning device assembled on the object to be positioned being located in interested space1…
Sn, wherein i-th of planar laser LiIn t0iMoment enters interested space, and in t1iMoment is left, and wherein m is light source
Quantity, i are 1 to the integer between m；
Step 130, record is about photosensitive sensor S1…SnBy planar laser L1…LmThe time data t of irradiation2ij,
Middle photosensitive sensor S1…SnEach point to be determined is represented, n is the quantity of point to be determined and the quantity of photosensitive sensor, j 1
To the integer between n；
Step 140, to the time data t recorded2ijValidity judged, to filter out invalid time number
According to；
Step 150, according to effective time data t '2ijCalculate photosensitive sensor S1…SnThree dimensional space coordinate；With
And
Step 120 is repeated to step 150, until stopping executing this method.
Wherein, by multiple light sources Q1…QmThe planar laser L of sending1…LmIt can be infrared light, visible light, ultraviolet light etc.
Deng.
In the step 120, the time used is non-overlapping when being executed for each scanning motion, i.e., is sent out using each light source
Planar laser out executes the period T=(t once needed in total to the scanning in interested space11-t01)+(t12-t02)
+…+(t1m-t0m), wherein t11=t02、t12=t03…t1(m-1)=t0m。
Wherein it is noted that in the present embodiment, the setting of period T can be by adjusting the scanning of planar laser
Speed conveniently realizes.And the condition that the selection of period T has to meet is that the period, T should be small enough so that
Picture shown in when the movement of object to be positioned is mapped in virtual display device is coherent enough.In existing video technique,
Usually used video frame number is 30~60fps, preferably small because the value of time period T is at least 1/30fps, i.e. 33.34ms
In 1/60fps, i.e. 16.67ms.
In step 140, to the time data t recorded2ijValidity judged, thus when filtering out invalid
Between data include according to it is certain rule to time data t2ijIt is filtered.The rule is such as, but not limited to, and will currently be recorded
Time data and before this last time record time data subtract each other to obtain the poor Δ t between the two time data2ij, should
Poor Δ t2ijWith the absolute value of the ratio of period T | Δ t2ij/ T | practical upper side represents corresponding photosensitive sensor twice
The speed of change in location occurs between positioning.I.e. if | Δ t2ij/ T | level off to 1, then it represents that corresponding photosensitive sensor is two
There is no change in location or change in location very littles between secondary positioning.And in contrast, if | Δ t2ij/ T | value it is inclined
It is remoter to move 1, then it represents that the speed that change in location occurs between positioning twice for corresponding photosensitive sensor is faster.Once this is changed
Speed change degree is more than a preset threshold value, and the time data currently recorded are judged as invalid time data, will be with current institute
The corresponding photosensitive sensor of time data of record is labeled as the photosensitive sensor of " problematic " and basis is not remembered currently
The invalid time data of record calculate the three dimensional space coordinate of the photosensitive sensor of " problematic ".Cause problems
Reason includes but is not limited to：Since photosensitive sensor failure itself causes correctly to respond planar laser；In user
Motion process in blocked, be unable to reach corresponding photosensitive sensor so as to cause planar laser；User's surrounding enviroment
In there is veiling glare, thus disturb corresponding photosensitive sensor it is correct response, etc..
Preferably, threshold value can be according to area-of-interest and light source Q1…QmRelative positional relationship determine.This determination can
To automatically determine, such as it can be and independently selected according to its exercise habit by user.
Preferably, if equipped with the position between multiple photosensitive sensors and these photosensitive sensors on object to be positioned
Relationship be it is known and be it is fixed, then can by with it is being recorded before, corresponding with other photosensitive sensors
Time data judge the time data t currently recorded2ijWhether effectively.
By to time data t2ijValidity judged, caused by can finding in time the failure because of equipment itself
Influence, and the movement that can effectively filter user itself and surrounding enviroment are to influence caused by photosensitive sensor, thus
Making the three dimensional space coordinate obtained in subsequent calculating step is not in abnormal mutation, thereby ensures that the practical body of user
It tests.
In step 150, according to effective time data t '2ijCalculate photosensitive sensor S1…SnThree-dimensional space sit
Mark, such as, but not limited in the following way：
For the purpose of simple declaration, three light source Q are used only herein1、Q2、Q3With a photosensitive sensor L1.It is interested
Space be long L wide W high H known to ideal cuboid, three light source Q1、Q2、Q3Position as shown in Fig. 2, its corresponding three-dimensional sit
Mark is respectively Q1(0,0,0)、Q2(L,0,0)、Q3(0,W,0).In addition, by these three light sources Q1、Q2、Q3The planar laser of sending
L1、L2、L3With same angular velocity omega according to specified sequence in t0Moment initially enters interested space and in t1Moment is most
Interested space is left eventually, wherein light source Q1The planar laser L of sending1It is rotated in the counterclockwise direction using x-axis as rotary shaft,
Light source Q2The planar laser L of sending2It is rotated in the counterclockwise direction using y-axis as rotary shaft, light source Q3The planar laser L of sending3With
X-axis rotates in the clockwise direction for rotary shaft, and respectively in t211、t221And t231Moment reaches photosensitive sensor S1。
According to conditions above, by calculating it is found that photosensitive sensor S1Three dimensional space coordinate be：
X=L-tan α * tan γ * W/ (tan β * (tan α+tan γ))；
Y=tan γ * W/ (tan α+tan γ)；
Z=-tan α * tan γ * W/ (tan α+tan γ)；
Wherein α=ω * (t211-t0)；β=ω * (t221-t0-t211)；γ=ω * (t231-t0-t211-t221)。
Although present embodiment is only come with three light sources and a photosensitive sensor for example, and three light sources sendings
Planar laser interested space is entered and left in a designated order with same angular speed by specified ideal rotary shaft.So
And those of skill in the art can also understand, more light sources can be used, and can be with unrestricted choice light source
Scanning direction so as to no dead angle to be located at interested space in object to be positioned be scanned, thus guarantee setting to
Position sensor on object always can by from quantity more than or equal to three, planar laser in different directions
Irradiation, and therefore ensure that photosensitive sensor can be positioned always.
Preferably, if there is the photosensitive sensor for being marked as " problematic ", and in the light sensor of " problematic "
The three dimensional space coordinate of the photosensitive sensor on device periphery can be determined, and be somebody's turn to do photosensitive sensor and its periphery of " problematic "
Other photosensitive sensors between positional relationship be it is known and be it is fixed, then can according to the positional relationship come really
It is somebody's turn to do the three dimensional space coordinate of the photosensitive sensor of " problematic " calmly.
It preferably, can be in advance to the position of light source and scanning direction before executing method disclosed in the present embodiment
It is calibrated, thus the speed and precision of optimum position.
Embodiment 2
Presently filed embodiment 2 also provides a kind of 3-D positioning method, for be located at interested space in
It positions object and carries out three-dimensional localization, wherein the three dimensional space coordinate of object to be positioned and direction on object to be positioned by assembling
Positioning device n photosensitive sensor group (S11…S1m)、(S21…S2m)…(Sn1…Snm) three dimensional space coordinate reflect,
And one of photosensitive sensor group (Si1…Sim) it include multiple (such as m) the photosensitive sensor S being mounted togetheri1、
Si2…Sim(wherein i is 1 to the integer between m) is for responding a variety of laser with different wave length.Specifically, real
The implementation process schematic diagram of the 3-D positioning method of the offer of mode 2 is applied as shown in figure 3, including the following steps：
Step 210, to each other with different emission wavelength λ1…λmMultiple light sources Q1…QmIt is timed, thereby determines that
Multiple light sources Q1…QmThe time that interested space is scanned；
Step 220, using by multiple light sources Q1…QmThe planar laser L of sending1…LmInterested space is scanned, so as to
Photosensitive sensor group (the S for the positioning device assembled on the object to be positioned that irradiation is located in interested space11…S1m)、
(S21…S2m)…(Sn1…Snm), wherein i-th of planar laser LiIn t0iMoment enters interested space, and in t1iMoment
It leaves, wherein m is the quantity of light source, and i is 1 to the integer between m；
Step 230, record is about photosensitive sensor group (S11…S1m)、(S21…S2m)…(Sn1…Snm) by planar laser
L1…LmThe time data t of irradiation2ij, wherein photosensitive sensor group (S11…S1m)、(S21…S2m)…(Sn1…Snm) represent it is each
Point to be determined, n are the quantity of point to be determined and the group quantity of photosensitive sensor group, included in each photosensitive sensor group,
With different sensitive wave length λ1…λmPhotosensitive sensor quantity m from each other have different emission wavelength λ1…λmMultiple light
The quantity m in source is identical, and these sensitive wave lengths λ1…λmWith the emission wavelength λ of light source1…λmIt corresponds, wherein j is 1 to n
Between integer；
Step 240, to the time data t recorded2ijValidity judged, to filter out invalid time number
According to；
Step 250, according to effective time data t '2ijCalculate photosensitive sensor group (S11…S1m)、(S21…S2m)…
(Sn1…Snm) three dimensional space coordinate；And
Step 220 is repeated to step 250, until stopping executing this method.
In a step 220, using each other with different emission wavelength λ1…λmMultiple light sources Q1…QmThe plane of sending swashs
Light L1…LmScanning interested space in a period T while can for example carry out, i.e. t01=t02=t03...=t0mAnd t11=
t12=t13...=t1m；Such as can be sequentially carried out in certain sequence in a period T, and execute each scanning motion
Time used is non-overlapping, i.e. T=(t11-t01)+(t12-t02)+…+(t1m-t0m), wherein t11=t02、t12=t03…
t1(m-1)=t0m；Such as can be sequentially carried out in certain sequence in a period T, and execute used in each scanning motion
Time have overlapping, i.e. T<(t11-t01)+(t12-t02)+…+(t1m-t0m), wherein t11≠t0i(i=2 ... m), t12≠t0i(i=
3…m)…t1(m-1)≠t0m。
Preferably, in a step 220, using each other with different emission wavelength λ1…λmMultiple light sources Q1…QmIt issues
Planar laser L1…LmScanning interested space can repeatedly carry out in a period T, such as T=k* (t11-t01),
Middle k is the integer greater than 1, t01=t02=t03...=t0mAnd t11=t12=t13...=t1m.It therefore, in this way can be
The multiple groups three dimensional space coordinate value about same photosensitive sensor group is obtained in period T, by seeking these group of three-dimensional space
The average value of coordinate value can effectively reduce random error.
Other technical characteristics documented by the embodiment 1 are equally applicable to present embodiment, and details are not described herein.
By using the technical solution disclosed in embodiment 2, can be effectively prevented from for example due to planar laser height
More than one planar laser caused by light source vibration caused by speed rotation reaches same photosensitive sensor simultaneously, due to these
Emission wavelength λ possessed by planar laser0It is identical so that the photosensitive sensor can not be distinguished correctly to send out which light source
The problem of planar laser out is responded.In addition, enabling to be mapped in by the above-mentioned method averaged virtual aobvious
Movement more smooth flow in showing device.Although having been used at same anchor point in the embodiment multiple with different quick
Feel the photosensitive sensor of wavelength, this increases cost to a certain extent, but with the continuous development of sensor technology, it is this
The increase of cost has been efficiently controlled in the range that a user is subjected to.
Embodiment 3
Presently filed embodiment 3 provides a kind of 3 D positioning system, for undetermined in interested space to being located at
Position object carries out three-dimensional localization, wherein the three dimensional space coordinate of object to be positioned and direction on object to be positioned by assembling
The three dimensional space coordinate of photosensitive sensor reflects.Specifically, the 3 D positioning system that embodiment 3 provides was as shown in figure 4, should
3 D positioning system includes：
Multiple laser base station P1…Pm, the laser emission wavelength λ having the same of sending0, every in multiple laser base stations
One laser base station all has timing control module, planar laser source and rotating device,
Wherein timing control module receive timing signal and according to the timing signal control rotating device the starting time and
Sequentially,
Wherein planar laser source issues planar laser, and planar laser source is mounted on the spinning device and is configured such that
Plane where the planar laser that planar laser source issues is orthogonal with the direction of rotation of rotating device,
Wherein rotating device at the uniform velocity rotates so that the planar laser that the planar laser source installed on it issues can
Interested space is scanned；
Positioning device, with photosensitive sensor and data record/transmission module,
The irradiation for the planar laser that wherein photosensitive sensor is issued by planar laser source simultaneously issues response signal,
Wherein data record/transmission module record issues the time data of response signal about photosensitive sensor；And
Computing device, with timing signal generator, data sink, evaluation module and computing module,
Wherein timing signal generator generates timing signal, and the timing signal is sent to multiple laser base stations,
Wherein data sink receives recorded time data from data record/transmission module of positioning device,
Wherein evaluation module to the validity of received time data assess, to filter out invalid time number
According to,
Wherein computing module calculates the three dimensional space coordinate of photosensitive sensor according to effective time data.
Preferably, mountable multiple planar laser sources spaced each other, these planar lasers on a rotating device
Plane where source is configured to the planar laser for keeping it respectively to issue is orthogonal with the direction of rotation of rotating device.Wherein, it puts down
The quantity of face laser source and interval can be adjusted as needed.By using multiple planar laser sources, rotation can be greatly reduced
The rotation speed of rotary device, to be effectively reduced since the high speed rotation of rotating device is vibrated to laser base station bring.
Preferably, two or more laser base stations can be combined, such as two laser base stations is combined
So that the rotary shaft of the rotating device in the two laser base stations is orthogonal.
Preferably, data sink can be remembered by wire transmission or wireless transmission method from the data of positioning device
Record/transmission module receives recorded time data.
Embodiment 4
Presently filed embodiment 4 provides a kind of 3 D positioning system, for undetermined in interested space to being located at
Position object carries out three-dimensional localization, wherein the three dimensional space coordinate of object to be positioned and direction on object to be positioned by assembling
The three dimensional space coordinate of the photosensitive sensor group of positioning device reflects, and one of photosensitive sensor group includes being mounted
Together, multiple photosensitive sensors with different sensitive wave lengths are used to carry out a variety of laser with different emission wavelengths
Response.Specifically, the 3 D positioning system which provides is as shown in figure 5, the 3 D positioning system includes：
Multiple laser base station P1…Pm, the laser issued is with different emission wavelength λ1…λm, in multiple laser base stations
Each laser base station there is timing control module, planar laser source and rotating device,
Wherein timing control module receives timing signal and controls the starting time of rotating device according to timing signal,
Wherein planar laser source issues planar laser, and planar laser source is mounted on the spinning device and is configured such that
Plane where the planar laser that planar laser source issues is orthogonal with the direction of rotation of rotating device,
Wherein rotating device at the uniform velocity rotates so that the planar laser that the planar laser source installed on it issues can
Interested space is scanned；
Positioning device, with photosensitive sensor group and data record/transmission module,
Wherein photosensitive sensor group issued by planar laser source, with different emission wavelength λ1…λmPlane swash
The irradiation of light simultaneously issues response signal, included in photosensitive sensor group, have different sensitive wave length λ1…λmLight sensor
The quantity m of device from have different emission wavelength λ1…λmMultiple laser base stations quantity m it is identical, and these sensitive wave lengths
λ1…λmWith the emission wavelength λ of laser base station1…λmIt corresponds；
Wherein data record/transmission module record issues the time data of response signal about photosensitive sensor group；And
Computing device, with timing signal generator, data sink, evaluation module and computing module,
Wherein timing signal generator generates timing signal, and timing signal is sent to multiple laser base stations,
Wherein data sink receives recorded time data from data record/transmission module of positioning device,
Wherein evaluation module to the validity of received time data assess, to filter out invalid time number
According to,
Wherein computing module calculates the three dimensional space coordinate of photosensitive sensor group according to effective time data.
Documented others technical characteristic is equally applicable to present embodiment in embodiment 3, and details are not described herein.
It will be understood by those skilled in the art that presently filed embodiment can provide as method, apparatus (equipment) or calculate
Machine program product.Therefore, the application can be used complete hardware embodiment, complete software embodiment or in conjunction with software and firmly
The form of embodiment in terms of part.Moreover, it wherein includes computer available programs that the application, which can be used in one or more,
Implement in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of code
The form of computer program product.
The application is process of the reference according to method, apparatus (equipment) and computer program product of the application embodiment
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions can also be loaded into computer or other programmable data processing devices, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although the preferred embodiment of the application has been described, once a person skilled in the art knows basic wounds
The property made concept can then make other change and modification to these embodiments.It is wrapped so the following claims are intended to be interpreted as
It includes preferred embodiment and falls into all change and modification of the application range.
Obviously, those skilled in the art can carry out various modification and variations without departing from the essence of the application to the application
Mind and range.In this way, if these modifications and variations of the application belong to the range of the claim of this application and its equivalent technologies
Within, then the application is also intended to include these modifications and variations.
Claims (17)
1. a kind of 3-D positioning method, for carrying out three-dimensional localization to the object to be positioned being located in interested space, wherein
The three dimensional space coordinate of the object to be positioned and direction are photosensitive by the positioning device assembled on the object to be positioned
The three dimensional space coordinate of sensor reflects that the 3-D positioning method includes the following steps：
A) to identical emission wavelength λ0Multiple light sources Q1…QmIt is timed, thereby determines that the multiple light source Q1…QmIt is right
The time and scanning sequency that interested space is scanned；
B) according to the scanning sequency use by the multiple light source Q1…QmThe planar laser L of sending1…LmIt is emerging to scan the sense
The space of interest, to irradiate the light sensor for the positioning device assembled on the object to be positioned being located in the interested space
Device S1…Sn；
C) record is about the photosensitive sensor S1…SnBy the planar laser L1…LmThe time data t of irradiation2ij；
D) based on the time data currently recorded and the time data of last time record and the multiple light source before this
The period that Q1 ... Qm needs in total according to interested space described in the scanning sequency run-down, to the time recorded
Data t2ijValidity judged, to filter out invalid time data；
E) according to effective time data t '2ijCalculate the photosensitive sensor S1…SnThree dimensional space coordinate；And
Step b) to step e) is repeated, until stopping executing the method.
2. 3-D positioning method according to claim 1, which is characterized in that the time data t recorded2ijIt is effective
Property is judged, so that invalid time data are filtered out, including：
The time data currently recorded and the time data of last time record before this are subtracted each other to obtain the two time data
Poor Δ t2ij, as the poor Δ t2ijWith the multiple light source Q1…QmAccording to interested described in the scanning sequency run-down
The absolute value of the ratio of period T that needs in total of space | Δ t2ij/ T | when more than a preset threshold value, will currently it be recorded
Time data be judged as invalid time data, by photosensitive sensor corresponding with the time data currently recorded mark
For " problematic " photosensitive sensor and do not calculate according to the invalid time data currently recorded " problematic "
Photosensitive sensor three dimensional space coordinate.
3. 3-D positioning method according to claim 2, which is characterized in that the threshold value automatically determines, or by
User independently selects according to the exercise habit of its own.
4. 3-D positioning method according to claim 2, which is characterized in that according to effective time data t '2ijIt calculates
Photosensitive sensor S1…SnThree dimensional space coordinate, including：
If there is the photosensitive sensor for being marked as " problematic ", and the light on " problematic " the photosensitive sensor periphery
The three dimensional space coordinate of dependent sensor can be determined, and other light of " problematic " photosensitive sensor and its periphery
Positional relationship between dependent sensor be it is known and be it is fixed, then can be determined according to the positional relationship described
The three dimensional space coordinate of the photosensitive sensor of " problematic ".
5. a kind of 3-D positioning method, for carrying out three-dimensional localization to the object to be positioned being located in interested space, wherein
The three dimensional space coordinate of the object to be positioned and direction are photosensitive by the positioning device assembled on the object to be positioned
The three dimensional space coordinate of sensor group reflects, and one of photosensitive sensor group is mounted together, has
Multiple photosensitive sensors of different sensitive wave lengths are for responding a variety of laser with different emission wavelengths, the three-dimensional
Localization method includes the following steps：
A) to each other with different emission wavelength λ1…λmMultiple light sources Q1…QmIt is timed, thereby determines that the multiple light source
Q1…QmThe time that interested space is scanned；
B) use is by the multiple light source Q1…QmThe planar laser L of sending1…LmThe interested space is scanned, to irradiate
Photosensitive sensor group (the S for the positioning device assembled on the object to be positioned in the interested space11…S1m)、
(S21…S2m)…(Sn1…Snm)；
C) record is about the photosensitive sensor group (S11…S1m)、(S21…S2m)…(Sn1…Snm) by the planar laser
L1…LmThe time data t of irradiation2ij；
D) based on the time data currently recorded and the time data of last time record and the multiple light source before this
The period that interested space described in Q1 ... Qm run-down needs in total, to the time data t recorded2ijValidity
Judged, to filter out invalid time data；
E) according to effective time data t '2ijCalculate the photosensitive sensor group (S11…S1m)、(S21…S2m)…(Sn1…
Snm) three dimensional space coordinate, and
Step b) to step e) is repeated, until stopping executing the method.
6. 3-D positioning method according to claim 5, which is characterized in that using each other with different emission wavelength λ1…
λmThe multiple light source Q1…QmThe planar laser L of sending1…LmScanning the interested space can be in a period T
It carries out simultaneously；Alternatively, can be sequentially carried out in certain sequence in the period T, and execute used in each scanning motion
Time is non-overlapping；Alternatively, can be sequentially carried out in certain sequence in the period T, and execute used in each scanning motion
Time between have overlapping.
7. 3-D positioning method according to claim 6, which is characterized in that the time data t recorded2ijIt is effective
Property is judged, so that invalid time data are filtered out, including：
The time data currently recorded and the time data of last time record before this are subtracted each other to obtain the two time data
Poor Δ t2ij, as the poor Δ t2ijWith the absolute value of the ratio of the period T | Δ t2ij/ T | more than a preset threshold value
When, the time data currently recorded are judged as invalid time data, it will be corresponding with the time data currently recorded
Photosensitive sensor group echo for " problematic " photosensitive sensor group and not according to the invalid time number that is currently recorded
According to come the three dimensional space coordinate that calculates the photosensitive sensor of " problematic ".
8. 3-D positioning method according to claim 7, which is characterized in that the threshold value automatically determines, or by
User independently selects according to the exercise habit of its own.
9. 3-D positioning method according to claim 7, which is characterized in that according to effective time data t '2ijIt calculates
Photosensitive sensor group (S11…S1m)、(S21…S2m)…(Sn1…Snm) three dimensional space coordinate, including：
If there is the photosensitive sensor group for being marked as " problematic ", and on " problematic " the photosensitive sensor group periphery
The three dimensional space coordinate of photosensitive sensor group can be determined, and " problematic " the photosensitive sensor group and its periphery
Other photosensitive sensor groups between positional relationship be it is known and be it is fixed, then can according to the positional relationship come
The three dimensional space coordinate of the photosensitive sensor group of " problematic " described in determination.
10. a kind of 3 D positioning system, for carrying out three-dimensional localization to the object to be positioned being located in interested space, wherein
The three dimensional space coordinate of the object to be positioned and direction pass through the three of the photosensitive sensor assembled on the object to be positioned
Dimension space coordinate reflects that the 3 D positioning system includes：
Multiple laser base station P1...Pm, the laser emission wavelength λ having the same of the multiple laser base station sending0, described more
Each of a laser base station laser base station all has timing control module, planar laser source and rotating device,
Wherein the timing control module receives timing signal and controls the starting of the rotating device according to the timing signal
Time and sequence,
Wherein the planar laser source issues planar laser, and the planar laser source is installed on the rotating device and is set
Be set to so that the planar laser source issue planar laser where plane it is orthogonal with the direction of rotation of the rotating device,
Wherein the rotating device at the uniform velocity rotates so that the planar laser that the planar laser source installed on it issues
The interested space can be scanned；
Positioning device, the positioning device have photosensitive sensor and data record/transmission module,
The irradiation for the planar laser that wherein photosensitive sensor is issued by the planar laser source simultaneously issues response signal,
Wherein the data record/transmission module record issues the time data of response signal about the photosensitive sensor；With
And
Computing device, the computing device have timing signal generator, data sink, evaluation module and calculate mould
Block,
Wherein the timing signal generator generates the timing signal, and the timing signal is sent to and the multiple is swashed
Optical base station,
Wherein the data sink receives recorded time number from data record/transmission module of the positioning device
According to,
Wherein the evaluation module to the validity of received time data assess, to filter out invalid time number
According to,
Wherein the computing module calculates the three dimensional space coordinate of the photosensitive sensor according to effective time data.
11. 3 D positioning system according to claim 10, which is characterized in that can be installed on a rotating device
This spaced multiple planar laser source, multiple planar laser sources spaced each other are configured to that it is kept respectively to issue
Planar laser where plane it is orthogonal with the direction of rotation of one rotating device.
12. 3 D positioning system according to claim 10, which is characterized in that can be by two or more laser base stations
It is grouped together.
13. 3 D positioning system according to claim 10, which is characterized in that the data sink can be by having
Line transmission or wireless transmission method receive recorded time data from the data record of the positioning device/transmission module.
14. a kind of 3 D positioning system, for carrying out three-dimensional localization to the object to be positioned being located in interested space, wherein
The three dimensional space coordinate of the object to be positioned and direction are photosensitive by the positioning device assembled on the object to be positioned
The three dimensional space coordinate of sensor group reflects, and one of photosensitive sensor group is mounted together, has
Multiple photosensitive sensors of different sensitive wave lengths are for responding a variety of laser with different emission wavelengths, the three-dimensional
Positioning system includes：
Multiple laser base station P1...Pm, the laser that the multiple laser base station issues is with different emission wavelength λ1...λm, institute
Stating each of multiple laser base stations laser base station all has timing control module, planar laser source and rotating device,
Wherein the timing control module receives timing signal and controls the starting of the rotating device according to the timing signal
Time,
Wherein the planar laser source issues planar laser, and the planar laser source is installed on the rotating device and is set
Be set to so that the planar laser source issue planar laser where plane it is orthogonal with the direction of rotation of the rotating device,
Wherein the rotating device at the uniform velocity rotates so that the planar laser that the planar laser source installed on it issues
The interested space can be scanned；
Positioning device, the positioning device have photosensitive sensor group and data record/transmission module,
Wherein the photosensitive sensor group issued by the planar laser source, it is flat with different emission wavelength λ 1 ... λ m
The irradiation of face laser simultaneously issues response signal,
Wherein the data record/transmission module record issues the time data of response signal about the photosensitive sensor group；
And
Computing device, the computing device have timing signal generator, data sink, evaluation module and calculate mould
Block,
Wherein the timing signal generator generates the timing signal, and the timing signal is sent to and the multiple is swashed
Optical base station,
Wherein the data sink receives recorded time number from data record/transmission module of the positioning device
According to,
Wherein the evaluation module to the validity of received time data assess, to filter out invalid time number
According to,
Wherein the computing module calculates the three dimensional space coordinate of the photosensitive sensor group according to effective time data.
15. 3 D positioning system according to claim 14, which is characterized in that can be installed on a rotating device
This spaced multiple planar laser source, multiple planar laser sources spaced each other are configured to that it is kept respectively to issue
Planar laser where plane it is orthogonal with the direction of rotation of the rotating device.
16. 3 D positioning system according to claim 14, which is characterized in that can be by two or more laser
Group of base stations is combined together.
17. 3 D positioning system according to claim 14, which is characterized in that the data sink can be by having
Line transmission or wireless transmission method receive recorded time data from the data record of the positioning device/transmission module.
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| CN106383337A (en) * | 2016-10-28 | 2017-02-08 | 成都理想境界科技有限公司 | Positioning base station, positioning system and positioning method |
| CN106483492A (en) * | 2016-12-15 | 2017-03-08 | 北京国承万通信息科技有限公司 | Positioning beam emission equipment, system and alignment system |
| CN106680773A (en) * | 2016-12-15 | 2017-05-17 | 四川长虹电器股份有限公司 | Virtual reality spatial positioning device and virtual reality spatial positioning method |
| CN106646342A (en) * | 2016-12-29 | 2017-05-10 | 成都理想境界科技有限公司 | Positioning base station and positioning system |
| CN106959762B (en) * | 2017-04-24 | 2019-12-31 | 英华达（上海）科技有限公司 | Virtual reality system and method |
| CN110228379B (en) * | 2019-07-10 | 2024-05-28 | 美钻深海能源科技研发（上海）有限公司 | Wireless intelligent energy trolley for water well and energy supply system |
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| US8811767B2 (en) * | 2011-03-15 | 2014-08-19 | Mitsubishi Electric Research Laboratories, Inc. | Structured light for 3D shape reconstruction subject to global illumination |
| CN104748679A (en) * | 2015-03-19 | 2015-07-01 | 中国矿业大学(北京) | Space point three dimension coordinate measuring method based on rotation sector laser angle measurement |
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