CN106248108A - Attitude measuring is from the method and system of dynamic(al) correction - Google Patents
Attitude measuring is from the method and system of dynamic(al) correction Download PDFInfo
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- CN106248108A CN106248108A CN201610872854.8A CN201610872854A CN106248108A CN 106248108 A CN106248108 A CN 106248108A CN 201610872854 A CN201610872854 A CN 201610872854A CN 106248108 A CN106248108 A CN 106248108A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- Manufacturing & Machinery (AREA)
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- General Physics & Mathematics (AREA)
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- Length Measuring Devices By Optical Means (AREA)
Abstract
A kind of attitude measuring is from the method for dynamic(al) correction, including transmitter module, receiver module, processing module, described receiver module includes attitude measuring and receives device, described transmitter module includes discharger, described discharger can launch lasing area, and described receiver module includes two Photoinduction devices.Compared with prior art, the present invention utilizes discharger to launch lasing area and receives device and receive the mode of different characteristic optical signal, adjust x-axis, y-axis, the position of z-axis angle zero point, reduce the impact that the error accumulation of attitude measuring brings, decrease the inadaptable sense of user and add feeling of immersion, having bigger meaning for somatosensory operation and virtual reality.
Description
Technical field
The present invention relates to attitude measurement field, more particularly, it relates to a kind of attitude measuring is from the method for dynamic(al) correction
And system.
Background technology
Attitude measurement typically uses attitude measuring to measure angle information, and the type of attitude measuring is a lot, profit
With three decoupling of axle earth magnetism and three axis accelerometers, affected very big by external force acceleration, in the environment such as movement/vibration, output side
Relatively big to angle error, geomagnetic sensor has shortcoming in addition, and its absolute object of reference is the magnetic line of force in earth's magnetic field, and the feature of earth magnetism is
Range is big, but intensity is relatively low, and about a few Gauss of zero point, is highly susceptible to the interference of other magnet.Gyroscope output angle speed
Degree, is instantaneous flow, and angular velocity is directly to use on posture balancing, needs angular velocity to calculate angle with time integral,
The angle variable quantity arrived is added with initial angle, just obtains angle on target, and wherein the time of integration, Dt was the least, and output angle is the most smart
Really, but the measuring basis that the principle of gyroscope determines it is self, not the absolute object of reference outside system, adds that Dt is not
May be infinitely small, so the cumulative error of integration can increase sharply as time go on, ultimately result in output angle with reality not
Symbol.
Summary of the invention
Affect the defect of angular surveying to solve current pose measurement apparatus cumulative errors, the present invention provides a kind of permissible
Eliminate the attitude measuring of cumulative errors from the method and system of dynamic(al) correction.
The technical solution adopted for the present invention to solve the technical problems is: provide a kind of attitude measuring from dynamic(al) correction
Method, including transmitter module, receiver module, processing module, described receiver module includes attitude measuring and receives device, institute
Stating transmitter module and include that discharger, described discharger can launch lasing area, described receiver module includes two photoinduction
Device, described attitude measuring is carried out from dynamic(al) correction by following steps:
Lasing area launched by S1: described discharger, and described receiver module is in holding state；
S2: described receiver module judges whether to transmit control information to described according to the signal that described Photoinduction device transmits
Processing module；
Described attitude measuring is corrected by the information that S3: described processing module is transmitted according to described receiver module.
Preferably, described receiver module includes that handle, described handle include that reflective surface, described reflective surface are arranged on described hands
The end of handle, has the reflective and ability of printing opacity, and described Photoinduction device is fixed on the inside of described handle, and towards described instead
The direction of bright finish, laser beam can occur reflection and refraction on the surface of described reflective surface, and refraction light can make described light
Induction installation produces response, there is a critical angle, makes to occur the angle of incidence of the incident laser reflected to be less than at described reflective surface
During described critical angle, the intensity of refraction light is not enough so that described Photoinduction device produces response；When occurring at described reflective surface
When the angle of incidence of the incident laser of refraction is more than or equal to described critical angle, the intensity of refraction light can make described Photoinduction device
Produce response.
Preferably, described critical angle is 85 °.
Preferably, described discharger is light source module, and described light source module includes front panel dough-making powder generating laser, institute
The face generating laser of stating is arranged on described front panel.
Preferably, the signal that described receiver module transmits according to described Photoinduction device judges correction letter by following steps
Breath:
S2.1 sets up rectangular coordinate system on the basis of described light source module, and z-axis is perpendicular to the ground, positive direction upward, x-axis with
Described front panel is vertical, and the direction that positive direction penetrates with light is identical, and y-axis is parallel with described front panel, and positive direction meets coordinate
It is that xyz becomes right-handed system；
S2.2 when the geometry axle center of described handle be perpendicular to the top of ground and described handle upward time, the x of described handle
Axle, y-axis angle are zero；When reflective surface described in the lasing area vertical incidence that described discharger is launched, the z-axis angle of described handle
Degree is zero.
S2.3 is when two described Photoinduction devices sense laser signal simultaneously, and described receiver module transmits a signal to institute
Stating processing module, described processing module is zero according to the information correction handle x-axis received, y-axis, the angle-data of z-axis.
Preferably, the parallel laser face that described generating laser can be launched, between two described Photoinduction devices
Distance is equal with the width in described parallel laser face.
Thering is provided a kind of attitude measuring automatic correction system, described receiver module includes receiving terminal wireless transport module,
Described processing module includes processing end wireless transport module, and described receiving terminal wireless transport module and described process end are wirelessly transferred
Information can be transmitted by the way of being wirelessly transferred between module.
Preferably, described reception device is handle, and described handle includes two Photoinduction devices, several when described handle
What axis perpendicular is when ground, and the line of two described Photoinduction devices is perpendicular to ground.
Preferably, described receiver module includes that array of source, described array of source include at least two face generating laser,
Described at least two, face generating laser is set up in parallel, and each described generating laser can be perpendicular to emission independently
Ground and be perpendicular to the lasing area of described front panel, the spacing between described the generating laser that each two is adjacent is more than institute
State the distance between two described Photoinduction devices that distance in handle is farthest.
Compared with prior art, the present invention utilizes discharger to launch lasing area and receives device and receive different characteristic light letter
Number mode, adjust x-axis, y-axis, the position of z-axis angle zero point, reduce the shadow that the error accumulation of attitude measuring brings
Ring, decrease the inadaptable sense of user and add feeling of immersion, having bigger meaning for somatosensory operation and virtual reality.Phase
For manually resetting the zero point of Attitute detecting device, attitude measuring of the present invention adjusts more from the method and system of dynamic(al) correction
Error that is natural and accurate, that on the one hand prevent user to bring with " sensation " zeroing, on the other hand makes user use
In journey natural and return to zero unconsciously, add feeling of immersion, decrease deliberately adjust stiff, add game, promote
Experience effect.Utilize the setting of reflective surface, it is ensured that light must is fulfilled for certain incident condition just can make photoinduction fill
The response of raw correspondence of buying property, it is achieved that the method judging receiver module attitude by photoinduction, makes the adjustment of attitude to lead to
Cross photoinduction to realize, also make the attitude zeroing of the present invention be achieved.It is permissible that the critical angle of reflective surface is set to 85 ° of one side
Reaching to correct the effect of attitude measuring error accumulation, the chance that receiver module on the other hand can be made to obtain correction greatly increases
Add, prevent from arranging critical angle the angle of incidence caused too much and be unsatisfactory for critical angle for a long time and cannot be carried out the situation of correction and send out
Raw.By arranging the irradiating angle of the next corresponding lasing area of dead-center position of x-axis, y-axis, z-axis, thus the attitude of corresponding receiver module
Method, establish relatively simple gesture recognition rule, more convenient use photoinduction correction attitude.The face laser of being set up in parallel is sent out
Emitter can ensure that receiver module has more chance to correct attitude measuring.Two Photoinduction devices are set in the handle
And make the line of two Photoinduction devices and the geometry axis parallel of handle can ensure that the correction to x-axis and z-axis.Parallel sharp
Spacing between the spacing of bright finish with two Photoinduction devices is equal, makes receiver module must be fulfilled for x-axis, y-axis, z-axis be when being zero
It is possible to make two Photoinduction devices produce response, it is ensured that the degree of accuracy of correction simultaneously.In array of source, it is set up in parallel
Face generating laser between distance two Photoinduction devices farthest more than distance in handle between distance, be possible to prevent
Adjacent face generating laser is radiated on Photoinduction device simultaneously and measurement result is produced interference.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the attitude measuring of the present invention system module schematic diagram from dynamic(al) correction；
Fig. 2 is the transmitter module schematic diagram with light source module as example；
Fig. 3 is the reception device schematic diagram with handle as example；
Fig. 4 is the attitude measuring of the present invention system zeroing x-axis, y-axis, z-axis schematic diagram from dynamic(al) correction；
Fig. 5 is that attitude measuring of the present invention does not send one of zeroing instruction schematic diagram from the system of dynamic(al) correction；
Fig. 6 is that attitude measuring of the present invention does not send the two of zeroing instruction schematic diagram from the system of dynamic(al) correction；
Fig. 7 is the discharger schematic diagram with array of source as example；
Fig. 8 is the attitude measuring of the present invention working-flow schematic diagram from dynamic(al) correction.
Detailed description of the invention
Affect the defect of angular surveying to solve current pose measurement apparatus cumulative errors, the present invention provides a kind of permissible
Eliminate the attitude measuring of cumulative errors from the method and system of dynamic(al) correction.
In order to be more clearly understood from the technical characteristic of the present invention, purpose and effect, now comparison accompanying drawing describes in detail
The detailed description of the invention of the present invention.
Referring to Fig. 1, attitude measuring automatic correction system of the present invention includes transmitter module 1, receiver module 2 and processes
Module 3.Transmitter module 1 includes discharger 11, transmitting terminal embedded type control module 13, and discharger 11 and transmitting terminal are embedded
Control module 13 is electrically connected with.Receiver module 2 includes receiving device 21, receiving terminal embedded type control module 22, attitude measurement dress
Put 23, power module 24, operation device 27 and receiving terminal wireless transport module 29, wherein, receiving terminal embedded type control module 22
Be electrically connected with power module 24, receiving terminal embedded type control module 22 and power module 24 respectively with receive device 21, attitude
Measurement apparatus 23, operation device 27 and receiving terminal wireless transport module 29 are electrically connected with.Processing module 3 includes processing the wireless biography of end
Defeated module 31 and arithmetic processor 33, process end wireless transport module 31 and arithmetic processor 33 is electrically connected with, arithmetic processor
33 are electrically connected with transmitting terminal embedded type control module 13, process end wireless transport module 31 and can be wirelessly transferred mould with receiving terminal
Block 29 transmits information by the way of wireless connections.Receive device 21 and be mainly used in the light that receiving and transmitting unit 11 is launched, and
The light information received is delivered to receiving terminal embedded type control module 22 process, receiving terminal embedded type control module 22
The result that can be processed to is sent to processing module 3 by receiving terminal wireless transport module 29 and is further processed.Attitude
Measurement apparatus 23 can measure the receiver module 2 attitude in space and angle information, can measure receiver module 2 and gravity direction
Angle information and angle direction, operation device 27 can be operated and send command information, attitude measuring 23 by user
It is embedding that the command information that the related data recorded and operation device 27 send can be delivered to receiving terminal by the way of the signal of telecommunication
Entering formula control module 22, above-mentioned information can be passed by receiving terminal embedded type control module 22 by receiving terminal wireless transport module 29
Being delivered to process end wireless transport module 31, processing end wireless transport module 31 can be by the data that the receive side by the signal of telecommunication
Formula is delivered to arithmetic processor 33 and processes.
Refer to Fig. 2 Fig. 3, Fig. 2 Fig. 3 and schematically illustrate the receiver module with handle 201 as first embodiment
2, in this embodiment, the top of handle 201 is circular flat 2011, the geometry axle center L of handle 2011Pass through circular flat
The center of circle of 2011 is also perpendicular to circular flat 2011, and handle 201 includes reflective surface 2115 and two Photoinduction devices 2113, two
Photoinduction device 2113 is fixed on the inside of handle 201, and towards the direction of reflective surface 2115.Two Photoinduction devices 2113 it
Between distance be d.Reflective surface 2115 is arranged on the end of handle 201, and light can inject handle 201 by reflective surface 2115
Internal.Reflective surface 2115 is optically transparent medium, has the ability of stronger reflection light.When the angle of incidence of light is less than 85 °
Time, reflective surface 2115 can reflect away most incident illumination, photoinduction cannot be made to fill through being refracted into the light of handle 201
Put 2113 generation responses；When the angle of incidence of light is between 85 ° to 90 °, it is believed that light vertical incidence reflective surface 2115,
There is reflection and refraction in light, the intensity of refraction light is relatively strong, and Photoinduction device 2113 can be made to produce on reflective surface 2115 surface
Raw response, our angle of incidence of 85 ° is called critical angle.Generally, as the geometry axle center L of handle 2011It is perpendicular to ground
Time, two Photoinduction devices 2113 are perpendicular to ground in a vertical linear array, the line of two Photoinduction devices 2113.Figure
3 schematically illustrate the discharger 11 with light source module 101 as first embodiment, in this embodiment, discharger 11
Including face generating laser 1113 and front panel 1115, face generating laser 1113 is arranged on front panel 1115, and face laser is sent out
Emitter 1113 includes that lasing light emitter 2115, lasing light emitter 2115 can launch the parallel laser face not dissipated, parallel laser face and ground
Perpendicular and perpendicular with front panel 1115.The width in parallel laser face is d, and between two Photoinduction devices 2113 away from
From equal.
Refer to Fig. 4 Fig. 6, Fig. 4 schematically illustrate light source module 101 and return to zero a kind of feelings of attitude measuring 23
Condition.We set up rectangular coordinate system on the basis of light source module 101, and z-axis is perpendicular to the ground, and positive direction is upward；X-axis and front panel
1115 is vertical, and the direction that positive direction penetrates with light is identical, and y-axis is parallel with front panel 1115, and positive direction meets coordinate system xyz
Right-handed system.Being provided with attitude measuring 23 in handle 201, attitude measuring 23 can add up by mistake during measuring
Difference, makes the error between measurement result and legitimate reading increasing.Attitude measuring 23 can become according to the attitude of handle 201
Change, it is provided that handle 201 changes in the angle of x-axis, y-axis, and z-axis.We can arrange the x-axis of handle 201, y-axis, z-axis in advance
The position of angle zero point, as a kind of set-up mode therein, as the geometry axle center L of handle 2011It is perpendicular to ground and handle
The top of 201 upward time, we remember that the x-axis of handle 201, y-axis angle are zero；The lasing area launched when light source module 101 is vertical
During incident reflective surface 2115, we remember that the z-axis angle of handle 201 is 0.Handle 201 is gripped by user, in use,
As handle 201 geometry axle center L1When being perpendicular to the lasing area vertical incidence reflective surface 2115 of ground and light source module 101 transmitting, light
The optical signal detected is delivered to receiving terminal embedded type control module 22, receiving terminal embedded type control module by induction installation 2113
22 pairs of information received process.When two Photoinduction devices 2113 sense laser signal simultaneously, receiving terminal embeds
After formula control module 22 receives the information that two Photoinduction device 2113 transmission come, by receiving terminal wireless transport module 29
The number of delivering letters arrives processing module 3, and processing module 3 is zero according to the information replacement handle x-axis received, y-axis, the angle-data of z-axis.
Due to this calibration user use during occur unintentionally, so, in operating process the most deliberately and use
Person just can complete the calibration to handle x-axis, y-axis and z-axis in the case of having no to discover, and prevents error persistent accumulation from causing measuring
Error is excessive, significantly enhances the feeling of immersion of user simultaneously.Due to the characteristic of human body wrist, handle 201 is in use
Essentially without the geometry axle center L that handle 201 occurs1It is perpendicular to the top of ground and handle 201 situation down, so we
This situation is not considered.
Fig. 5 schematically illustrates handle 201 and responds unsuccessful a kind of situation, when handle 201 geometry axle center L1 not
When being perpendicular to the lasing area vertical incidence reflective surface 2115 of ground and light source module 101 transmitting, the most at most there is a photoinduction
Device 2113 can receive laser signal, and processing module 3 does not carry out zeroing operation.
Fig. 6 schematically illustrates handle 201 and responds unsuccessful another kind of situation, when handle 201 geometry axle center with
The angle of gravity direction be zero and light source module 101 launch lasing area out of plumb incidence reflective surface 2115 time, now laser without
Method makes Photoinduction device 2113 produce response by reflective surface 2115.Processing module 3 does not carry out zeroing operation.
Refer to Fig. 7, Fig. 7 schematically illustrate with the discharger 11 that array of source 102 is the second embodiment, light source
Array 102 includes that at least two face generating laser 1113, at least two face generating laser 1113 are set up in parallel, each two phase
Between two Photoinduction devices 2113 that the adjacent spacing between face generating laser 1113 is farthest more than distance in handle 201
Distance.Each generating laser 1113 can be perpendicular to ground to emission independently and be perpendicular to swashing of front panel 1115
Bright finish.When in handle 201, at least two Photoinduction device 2113 senses laser beam and produces response, and transmit the electrical signal to
Receiving terminal embedded type control module 22, receiving terminal embedded type control module 22 transmits signal to transmitting terminal wireless transport module 29,
Coherent signal is delivered to processing module 3 by the way of being wirelessly transferred by transmitting terminal wireless transport module 29, and resets handle x
Axle, y-axis, the angle-data of z-axis are zero.It is set up in parallel face generating laser 1113 and can ensure that processing module 3 has more machine
Attitude measuring 23 can be corrected.
Referring to Fig. 8, when attitude measuring automatic correction system of the present invention is started working, transmitter module 1 is launched sharp
Bright finish, receiver module 2 is in holding state simultaneously.The Photoinduction device 2113 receiving device 21 monitors laser reactive in real time, when
When in reception device 21, two Photoinduction devices 2113 produce response simultaneously, information is sent by receiving terminal embedded type control module 22
To processing module 3, processing module 3 returns to zero x-axis, y-axis, z-axis data immediately；Photoinduction device 2113 is not had when receiving in device 21
Producing response or only one of which Photoinduction device 2113 produces when responding, processing module 3 does not carry out zeroing process.
Compared with prior art, the present invention utilizes discharger 11 to launch lasing area and receive device 21 and receive different characteristic
The mode of optical signal, adjusts x-axis, y-axis, the position of z-axis angle zero point, and the error accumulation reducing attitude measuring 23 brings
Impact, decrease the inadaptable sense of user and add feeling of immersion, having bigger meaning for somatosensory operation and virtual reality
Justice.Relative to manually resetting the zero point of Attitute detecting device 23, attitude measuring 23 of the present invention is from the method for dynamic(al) correction and is
Tracking is whole more natural and accurate, on the one hand prevents the error that user brings, on the other hand use with " sensation " zeroing
Person is in use natural and returns to zero unconsciously, adds feeling of immersion, decreases deliberately adjust stiff, adds trip
Play property, improves experience effect.Utilize the setting of reflective surface 2115, it is ensured that light must is fulfilled for certain incident condition and just may be used
So that Photoinduction device 2113 produces the response of correspondence, it is achieved that the method judging receiver module 2 attitude by photoinduction, make
The adjustment of attitude can be realized by photoinduction, also makes the attitude zeroing of the present invention be achieved.Reflective surface 2115 critical
Angle is set to 85 ° of one side can reach to correct the effect of attitude measuring 23 error accumulation, on the other hand can make reception
Module 2 obtains the chance of correction and greatly increases, and prevents that critical angle arranges the angle of incidence caused too much and is unsatisfactory for for a long time facing
Angle, boundary and cannot be carried out correction situation occur.By arranging the irradiation of the next corresponding lasing area of dead-center position of x-axis, y-axis, z-axis
Angle, thus the method for the attitude of corresponding receiver module 2, establish relatively simple gesture recognition rule, and more convenient making is used up
Sensing correction attitude.It is set up in parallel face generating laser 1113 and can ensure that receiver module 2 has more chance to correct attitude
Measurement apparatus 23.Handle 201 is arranged two Photoinduction devices 2113 and make the line of two Photoinduction devices 2113 with
The geometry axis parallel of handle 201 can ensure that the correction to x-axis and z-axis.The spacing in parallel laser face and two photoinduction dresses
Put the spacing between 2113 equal, make receiver module 2 must be fulfilled for x-axis, y-axis, z-axis are to it is possible to when zero make two photoinduction
Device 2113 produces response simultaneously, it is ensured that the degree of accuracy of correction.In array of source 102, the face Laser emission being set up in parallel
Distance between two Photoinduction devices 2113 that distance between device 1113 is farthest more than distance in handle 201, is possible to prevent
Adjacent face generating laser 1113 is radiated on Photoinduction device 2113 simultaneously and measurement result is produced interference.
Above in conjunction with accompanying drawing, embodiments of the invention are described, but the invention is not limited in above-mentioned concrete
Embodiment, above-mentioned detailed description of the invention is only schematic rather than restrictive, those of ordinary skill in the art
Under the enlightenment of the present invention, in the case of without departing from present inventive concept and scope of the claimed protection, it may also be made that a lot
Form, within these belong to the protection of the present invention.
Claims (9)
1. an attitude measuring is from the method for dynamic(al) correction, it is characterised in that include transmitter module, receiver module, process mould
Block, described receiver module includes attitude measuring and receives device, and described transmitter module includes discharger, and described transmitting fills
Putting and can launch lasing area, described receiver module includes two Photoinduction devices, and described attitude measuring passes through following steps
Carry out from dynamic(al) correction:
Lasing area launched by S1: described discharger, and described receiver module is in holding state；
S2: described receiver module judges whether to transmit control information to described process according to the signal that described Photoinduction device transmits
Module；
Described attitude measuring is corrected by the information that S3: described processing module is transmitted according to described receiver module.
Attitude measuring the most according to claim 1 is from the method for dynamic(al) correction, it is characterised in that described receiver module bag
Including handle, described handle includes that reflective surface, described reflective surface are arranged on the end of described handle, has the reflective and energy of printing opacity
Power, described Photoinduction device is fixed on the inside of described handle, and towards the direction of described reflective surface, laser beam can be in institute
The surface stating reflective surface occurs reflection and refraction, refraction light described Photoinduction device can be made to produce response, have one and face
Angle, boundary, makes when described reflective surface occurs the angle of incidence of the incident laser reflected less than described critical angle, the intensity of refraction light
It is not enough so that described Photoinduction device produces response；When the angle of incidence of the incident laser that refraction occurs at described reflective surface is more than
When described critical angle, the intensity of refraction light can make described Photoinduction device produce response.
Attitude measuring the most according to claim 2 is from the method for dynamic(al) correction, it is characterised in that described critical angle is
85°。
Attitude measuring the most according to claim 2 is from the method for dynamic(al) correction, it is characterised in that described discharger is
Light source module, described light source module includes that front panel dough-making powder generating laser, described generating laser are arranged on before described
On plate.
Attitude measuring the most according to claim 4 is from the method for dynamic(al) correction, it is characterised in that described receiver module root
The signal transmitted according to described Photoinduction device judges control information by following steps:
S2.1 sets up rectangular coordinate system on the basis of described light source module, and z-axis is perpendicular to the ground, and upward, x-axis is with described for positive direction
Front panel is vertical, and the direction that positive direction penetrates with light is identical, and y-axis is parallel with described front panel, and positive direction meets coordinate system xyz
Become right-handed system；
S2.2 when the geometry axle center of described handle be perpendicular to the top of ground and described handle upward time, the x-axis of described handle, y
Shaft angle degree is zero；When reflective surface described in the lasing area vertical incidence that described discharger is launched, the z-axis angle of described handle is
Zero.
S2.3 is when two described Photoinduction devices sense laser signal simultaneously, and described receiver module transmits a signal to described place
Reason module, described processing module is zero according to the information correction handle x-axis received, y-axis, the angle-data of z-axis.
Attitute detecting device the most according to claim 5 is from the method for dynamic(al) correction, it is characterised in that described Laser emission
The parallel laser face that device can be launched, the width phase in the distance between two described Photoinduction devices and described parallel laser face
Deng.
7. an attitude measuring according to claim 1 is from the attitude of the method correction attitude measuring of dynamic(al) correction
Measurement apparatus automatic correction system, it is characterised in that described receiver module includes receiving terminal wireless transport module, described process mould
Block includes processing end wireless transport module, can between described receiving terminal wireless transport module and described process end wireless transport module
By by transmitting information in the way of being wirelessly transferred.
Attitute detecting device automatic correction system the most according to claim 7, it is characterised in that described reception device is hands
Handle, described handle includes two Photoinduction devices, when the geometry axle center of described handle is perpendicular to ground, two described light sensations
The line answering device is perpendicular to ground.
Attitute detecting device automatic correction system the most according to claim 8, it is characterised in that described receiver module includes
Array of source, described array of source includes at least two face generating laser, and face generating laser described at least two sets side by side
Putting, each described generating laser can be perpendicular to ground to emission independently and be perpendicular to the laser of described front panel
Face, two described light sensations that the spacing between described the generating laser that each two is adjacent is farthest more than distance in described handle
Answer the distance between device.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610872854.8A CN106248108A (en) | 2016-09-30 | 2016-09-30 | Attitude measuring is from the method and system of dynamic(al) correction |
| PCT/CN2017/073670 WO2018058882A1 (en) | 2016-09-30 | 2017-02-15 | Method and system for automatic correction of attitude measurement device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610872854.8A CN106248108A (en) | 2016-09-30 | 2016-09-30 | Attitude measuring is from the method and system of dynamic(al) correction |
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|---|---|
| CN106248108A true CN106248108A (en) | 2016-12-21 |
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| CN201610872854.8A Pending CN106248108A (en) | 2016-09-30 | 2016-09-30 | Attitude measuring is from the method and system of dynamic(al) correction |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018058882A1 (en) * | 2016-09-30 | 2018-04-05 | 深圳市虚拟现实科技有限公司 | Method and system for automatic correction of attitude measurement device |
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|---|---|---|---|---|
| JPH0942992A (en) * | 1995-07-26 | 1997-02-14 | Shimadzu Corp | Correction device for position detection device |
| CN102519908A (en) * | 2011-12-12 | 2012-06-27 | 天津大学 | Imaging optical microfluid sensing device and method thereof |
| CN105824004A (en) * | 2016-04-29 | 2016-08-03 | 深圳市虚拟现实科技有限公司 | Method and system for positioning interactive space |
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2016
- 2016-09-30 CN CN201610872854.8A patent/CN106248108A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0942992A (en) * | 1995-07-26 | 1997-02-14 | Shimadzu Corp | Correction device for position detection device |
| CN102519908A (en) * | 2011-12-12 | 2012-06-27 | 天津大学 | Imaging optical microfluid sensing device and method thereof |
| CN105824004A (en) * | 2016-04-29 | 2016-08-03 | 深圳市虚拟现实科技有限公司 | Method and system for positioning interactive space |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018058882A1 (en) * | 2016-09-30 | 2018-04-05 | 深圳市虚拟现实科技有限公司 | Method and system for automatic correction of attitude measurement device |
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Application publication date: 20161221 |