CN106338294A - Method and system for automatically correcting attitude measurement device - Google Patents
Method and system for automatically correcting attitude measurement device Download PDFInfo
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- CN106338294A CN106338294A CN201610867061.7A CN201610867061A CN106338294A CN 106338294 A CN106338294 A CN 106338294A CN 201610867061 A CN201610867061 A CN 201610867061A CN 106338294 A CN106338294 A CN 106338294A
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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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Abstract
The invention provides a method and system for automatically correcting an attitude measurement device. The system comprises a transmitting module, a receiving module and a processing module, wherein the transmitting module comprises the attitude measurement device, a gravity detection device and a transmitting device; the transmitting device can transmit a laser plane; the receiving module comprises at least two light induction devices. Compared with the prior art, the method and the system have the advantages that the positions of angle zero points of an x axis, a y axis and a z axis are adjusted by the method in which the transmitting device transmits the laser plane and the receiving module receives different characteristic light signals, so that influence caused by error ambulation of the attitude measurement device is reduced, the inadaptation feeling of a user is reduced, the immersion feeling is improved, and great significance on body feeling operation and virtual reality is achieved.
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 to measure angle information using attitude measuring, and the type of attitude measuring is a lot, profit
With three axle earth magnetism decouplings and three axis accelerometer, affected very big by external force acceleration, in the environment such as movement/vibration, output side
Larger 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, about a few Gauss of zero point, is highly susceptible to the interference of other magnets.Gyroscope output angle speed
Degree, is instantaneous flow, angular velocity is directly to use on posture balancing, needs angular velocity to calculate angle with time integral, obtains
The angle variable quantity arriving is added with initial angle, just obtains angle on target, and wherein time of integration dt is less, and output angle is more smart
Really, but the principle of gyroscope determines its measuring basiss is itself, the not absolute object of reference outside system, add 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.
Content of the invention
Affect the defect of angular surveying in order to solve current pose measurement apparatus cumulative errors, the present invention provides a kind of permissible
Eliminate the method and system of the attitude measuring of cumulative errors from dynamic(al) correction.
The technical solution adopted for the present invention to solve the technical problems is: provides a kind of attitude measuring from dynamic(al) correction
Method, including transmitter module, receiver module, processing module, described transmitter module includes attitude measuring, gravity detection means
And discharger, described discharger can launch lasing area, and described receiver module includes at least two Photoinduction devices, described
Attitude measuring is carried out from dynamic(al) correction by following steps:
S1: lasing area launched by described discharger, 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 and transmit which kind of control information to described processing module；
S3: described processing module is corrected to described attitude measuring according to the information that described receiver module transmits.
Preferably, described receiver module includes reflective receiving module, and described reflective receiving module includes reflective surface, described anti-
Bright finish is arranged on the end of described reflective receiving module, has reflective and printing opacity ability, and described Photoinduction device is fixed on institute
State the inside of reflective receiving module, and the direction towards described reflective surface, laser beam can be sent out on the surface of described reflective surface
Raw reflection and refraction, refracted light can make described Photoinduction device produce response, there is a critical angle, make described reflective
When face occurs the angle of incidence of the incident laser of refraction to be less than described critical angle, the intensity of refracted light is insufficient to allow described photoinduction
Device produces response；When occurring the angle of incidence of incident laser of refraction to be more than or equal to described critical angle in described reflective surface, folding
The intensity penetrating light can make described Photoinduction device produce response.
Preferably, described receiver module judges correction letter according to the signal that described Photoinduction device transmits by following steps
Breath:
S2.1 sets up rectangular coordinate system on the basis of described reflective surface, and z-axis is perpendicular to the ground, and x-axis is hung down with described reflective surface
Directly, y-axis is parallel with described reflective surface；
S2.2 arranges the x-axis of described attitude measuring, z-axis dead-center position, when the laser of described transmitter module transmitting shines
When penetrating on described reflective surface, it is zero that at least one described Photoinduction device responds successfully then z-axis angle；Light described at least two
It is zero that induction installation responds successfully then x-axis angle；
, when described Photoinduction device responds successfully, described receiver module is to described processing module transmission zeroing letter for s2.3
Breath, when at least one described Photoinduction device responds successfully, described receiver module to described processing module transmission z-axis angle is
Zero information；When described at least two, Photoinduction device responds successfully, described receiver module transmits x-axis to described processing module
Angle is zero information.
Preferably, described transmitter module is handle, when the geometry axle center of described handle is perpendicular to ground and described handle
Top upward when, the x-axis of described handle, y-axis angle are zero；Reflective surface described in lasing area vertical incidence when the transmitting of described handle
When, the z-axis angle of described handle is zero.
Preferably, described transmitter module includes transmitting terminal embedded type control module, described transmitting terminal embedded type control module
Described gravity detection means and the data of described attitude measuring transmission can be received, and by the data transfer receiving to institute
State processing module.
Preferably, described transmitting terminal embedded type control module is receiving described attitude measuring and the detection of described gravity
After the data message that device is sent, data message is stamped and is sent to described processing module after timestamp and is processed.
Preferably, after described processing module receives the correction signal that described receiver module transmission comes, described process mould
Block verification receives the moment t of correction signal2, and detect the data message with timestamp receiving, when described process mould
Block detects the time point that the timestamp of the data message with timestamp shows and is later than or is equal to t2During the moment, described processing module
According to control information, the angle information of described attitude measuring is corrected, after the completion of correction, described arithmetic processor exists
Receive the timestamp of no longer Monitoring Data information before the correction signal that the transmission of described receiver module comes again.
There is provided a kind of attitude measuring automatic correction system, described transmitter module includes transmitting terminal wireless transport module,
Described processing module includes processing end wireless transport module, and described transmitting terminal wireless transport module and described process end are wirelessly transferred
Between module can by way of being wirelessly transferred transmission information.
Preferably, described transmitter module is handle, and described handle includes emission port dough-making powder generating laser, described transmitting
Port is rectangular slot shape, and the laser of described face laser transmitter projects injects space outerpace by emission port, forms laser
Face.
Preferably, described receiver module includes reflective reception integration module, and described reflective reception integration module includes reflective
Plate.
Compared with prior art, using discharger transmitting lasing area, receiver module receives different characteristic light letter to the present invention
Number mode, adjustment x-axis, the position of z-axis angle zero point, reduce the impact that the error accumulation of attitude measuring brings, subtract
Lack the inadaptable of user to feel and increased feeling of immersion, have larger meaning for somatosensory operation and virtual reality.With respect to
Reset the zero point of Attitute detecting device manually, attitude measuring of the present invention adjusts more natural from the method and system of dynamic(al) correction
With error that is accurate, on the one hand preventing user to bring with " sensation " zeroing, on the other hand make user in use
Natural and unconsciously return to zero, increased feeling of immersion, decrease deliberately adjust stiff, increased game, improve body
Test effect.Setting using reflective surface just can make Photoinduction device produce it is ensured that light must is fulfilled for certain incident condition
Life is corresponding to respond the method it is achieved that judge transmitter module attitude by photoinduction, makes the adjustment of attitude can pass through light
Sensing, to realize, also makes the attitude of the present invention return to zero and is achieved.Gravity detection means can detect transmitter module for gravity
The deflection angle in direction, the method for cooperation photoinduction zeroing achieves the x-axis of attitude measuring, y-axis, the angle of z-axis three axle
Adjustment, makes attitude measuring can be corrected in the accumulation of error of x-axis, y-axis, z-axis.The critical angle of reflective surface is set to
85 ° of one side can reach the effect of correction attitude measuring error accumulation, and transmitter module on the other hand can be made to obtain school
Positive chance greatly increases, and prevents from for critical angle arranging the angle of incidence leading to too much being unsatisfactory for critical angle for a long time and cannot enter
The situation of row correction occurs.The irradiating angle of lasing area is corresponded to by the dead-center position of setting x-axis, z-axis, thus corresponding transmitting
The method of the attitude of module, establishes relatively simple gesture recognition rule, is more convenient to correct attitude using photoinduction.Handle
Emission port is arranged to narrow and long rectangular shape it is ensured that the laser of outgoing is formed than relatively thin lasing area without dissipating, and protects
Demonstrate,prove the realization of photoinduction zeroing.It is set up in parallel reflective receiving module and can ensure that transmitter module has more chances to correct appearance
State measurement apparatus.The setting of reflector not only can ensure that transmitter module has more chances to correct attitude measuring, more
Reduce further the difficulty installed and make.
Brief description
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the system module schematic diagram from dynamic(al) correction for the attitude measuring of the present invention；
Fig. 2 is the transmitter module schematic diagram with handle as example；
Fig. 3 is the reception device schematic diagram with reflective receiving module as example；
Fig. 4 is reflective receiving module zeroing x-axis, z-axis schematic diagram；
Fig. 5 is reflective receiving module zeroing z-axis schematic diagram；
Fig. 6 is that reflective receiving module does not send zeroing instruction schematic diagram；
Fig. 7 is the reception device schematic diagram with reflective receiving array as example；
Fig. 8 is to integrate the reception device schematic diagram as example for the module with reflective reception；
Fig. 9 is the working-flow schematic diagram from dynamic(al) correction for the attitude measuring of the present invention.
Specific embodiment
Affect the defect of angular surveying in order to solve current pose measurement apparatus cumulative errors, the present invention provides a kind of permissible
Eliminate the method and system of the attitude measuring of cumulative errors from dynamic(al) correction.
In order to be more clearly understood to the technical characteristic of the present invention, purpose and effect, now comparison accompanying drawing describes in detail
The specific embodiment of the present invention.
Refer to Fig. 1, attitude measuring automatic correction system of the present invention includes receiver module 1, transmitter module 2 and processes
Module 3.Receiver module 1 includes reception device 11, receiving terminal embedded type control module 13, and reception device 11 and receiving terminal are embedded
Control module 13 is electrically connected with.Transmitter module 2 includes discharger 21, transmitting terminal embedded type control module 22, attitude measurement dress
Put 23, power module 24, gravity detection means 25, operation device 27 and transmitting terminal wireless transport module 29, wherein, transmitting terminal is embedding
Enter formula control module 22 to be electrically connected with power module 24, transmitting terminal embedded type control module 22 and power module 24 respectively with send out
Injection device 21, attitude measuring 23, gravity detection means 25, operation device 27 and transmitting terminal wireless transport module 29 electrically connect
Connect.Processing module 3 includes processing end wireless transport module 31 and arithmetic processor 33, processes end wireless transport module 31 and computing
Processor 33 is electrically connected with, and arithmetic processor 33 is electrically connected with receiving terminal embedded type control module 13, processes end and is wirelessly transferred
Module 31 can with transmitting terminal wireless transport module 29 by way of being wirelessly connected transmission information.Reception device 11 is mainly used in
The light of receiving and transmitting unit 21 transmitting, and the light information receiving is delivered to receiving terminal embedded type control module 13 carries out
Process, the result that receiving terminal embedded type control module 13 can be processed to is sent to arithmetic processor 33 and is located further
Reason.Attitude measuring 23 can measure the attitude in space for the transmitter module 2 and angle information, and gravity detection means 25 can be surveyed
The angle information of amount transmitter module 2 and gravity direction and angle direction, operation device 27 can be operated by user and send life
Make the related data that information, attitude measuring 23 and gravity detection means 25 record and the order that operation device 27 sends letter
Breath can be delivered to transmitting terminal embedded type control module 22 by way of the signal of telecommunication, and transmitting terminal embedded type control module 22 is permissible
Above- mentioned information is delivered to process end wireless transport module 31 by transmitting terminal wireless transport module 29, processes end and be wirelessly transferred mould
Block 31 can by by the data receiving by the signal of telecommunication in the way of be delivered to arithmetic processor 33 and processed.
Refer to Fig. 2, Fig. 2 schematically illustrates the transmitter module 2 with handle 201 as first embodiment, in this enforcement
In example, the top of handle 201 is circular flat 2011, the geometry axle center l of handle 2011By the center of circle of circular flat 2011 simultaneously
Perpendicular to circular flat 2011, discharger 21 includes face generating laser 211, and face generating laser 211 includes emission port
2113 and lasing light emitter 2115, the emission port 2113 of face generating laser 211 is rectangular slot shape, four rectangles of rectangular slot
The geometry axle center l of Bian Zhong, the longer rectangular edges of two being parallel to each other and handle 2011Parallel, what lasing light emitter 2115 was launched swashs
Light can be transmitted in the space outerpace of handle 201 by the emission port 2113 of slit-shaped, forms fan laser face, wherein,
Fan-shaped region is by light l2With light l3Delimit.Geometry axle center l when handle 2011Perpendicular to ground when, fan laser face with
Ground is perpendicular.
Refer to Fig. 3, Fig. 3 schematically illustrates the reception device 11 with reflective receiving module 101 as first embodiment,
In this embodiment, reflective receiving module 101 includes reflective surface 1011, Photoinduction device 1013, and reflective receiving module 101 is fixing
Setting, at least two Photoinduction devices 1013 are fixed on the inside of reflective receiving module 101, and the side towards reflective surface 1011
To.Reflective surface 1011 is arranged on the end of reflective receiving module 101, and light can inject reflective reception mould by reflective surface 1011
The inside of group 101.Reflective surface 1011 is optically transparent medium, has the ability of stronger reflection light.Angle of incidence when light
During less than 85 °, reflective surface 1011 can reflect away most incident illumination, through being refracted into the light of reflective receiving module 101
Line cannot make Photoinduction device 1013 produce response；When the angle of incidence of light is between 85 ° to 90 ° it is believed that light hangs down
Directly incident reflective surface 1011, there is reflection on reflective surface 1011 surface and reflect in light, the intensity of refracted light is stronger, can make
Photoinduction device 1013 produces response, and our 85 ° of angle of incidence are called critical angle.Generally, when reflective receiving module 101
After the completion of fixation, at least two Photoinduction devices 1013 are in straight line arrangement, the line of at least two Photoinduction devices 1013
Perpendicular to ground.
Refer to Fig. 4 Fig. 6, Fig. 4 schematically illustrates the one of reflective receiving module 101 zeroing attitude measuring 23
The situation of kind.We set up rectangular coordinate system on the basis of the reflective surface 1011 of reflective receiving module 101, and z-axis is perpendicular to the ground, just
Direction is upward；X-axis is vertical with reflective surface 1011, positive direction along " Photoinduction device 1013 reflective surface 1011 " direction, y-axis with anti-
Bright finish 1011 is parallel, and positive direction meets coordinate system xyz and becomes right-handed system.It is provided with attitude measuring 23, attitude in handle 201
Measurement apparatus 23 meeting cumulative errors during measurement, make the error between measurement result and legitimate reading increasing.Appearance
State measurement apparatus 23 can provide handle 201 in the angle change of x-axis, y-axis, and z-axis according to the attitudes vibration of handle 201.Handle
201 further include gravity detection means 25, gravity detection means 25 can with the change of the y-axis angle of real-time detection handle 201,
And the y-axis measurement result of real time correction attitude measuring 23 measurement.We can arrange the x-axis of handle 201, y-axis, z in advance
The position of shaft angle degree zero point, when so that the laser that transmitter module 2 is launched is radiated on reflective surface 1011, at least one Photoinduction device
1013 respond successfully then z-axis angle be 0；It is 0 that at least two Photoinduction devices 1013 respond successfully then x-axis angle, so permissible
Judge the attitude of handle 201 by the quantity responding successful Photoinduction device 1013.As a kind of set-up mode therein,
Geometry axle center l when handle 2011Perpendicular to ground and handle 201 top upward when, we remember the x-axis of handle 201, y-axis angle
Degree is zero；When the lasing area vertical incidence reflective surface 1011 of handle 201 transmitting, we remember that the z-axis angle of handle 201 is 0.Handss
Handle 201 is gripped by user, in use, as the geometry axle center l of handle 2011Perpendicular to ground and handle 201 transmitting
During lasing area vertical incidence reflective surface 1011, at least two Photoinduction devices 1013 sense laser beam and produce response, and
Transmit the electrical signal to receiving terminal embedded type control module 13, receiving terminal embedded type control module 13 transmission signal is to arithmetic processor
33, and reset handle x-axis, the angle-data of z-axis is zero, gravity detection means 25 detects y-axis angle and calibrates the y of handle simultaneously
Shaft angle degrees of data.Because this calibration occurs unintentionally during user use, so, in not operation deliberately
The calibration to handle x-axis, y-axis and z-axis just can be completed in the case of having no to discover with user in journey, prevent error from persistently amassing
Tiring out leads to measurement error excessive, significantly enhances the feeling of immersion of user simultaneously.Due to the characteristic of human body wrist, handle 201 exists
Essentially without the geometry axle center l that handle 201 occurs during use1Perpendicular to ground and handle 201 top feelings directed downwardly
Condition, so we do not consider to this situation.
Fig. 5 schematically illustrates another kind of situation of reflective receiving module 101 zeroing attitude measuring 23, works as handle
201 geometry axle center l1Be not orthogonal to ground and handle 201 transmitting lasing area vertical incidence reflective surface 1011 when, now due to
At least two Photoinduction device 1013 be located straight line not on lasing area, at least two Photoinduction device 1013 be located straight line
At most there is an intersection point with lasing area.When in all Photoinduction devices 1013, only one of which Photoinduction device 1013 can receive
During laser signal, illustrate that the x-axis of now handle 201 is not zero, z-axis is zero.Reflective receiving module 101 transmits a signal to receiving terminal
Embedded type control module 13, the z-axis of zeroing attitude measuring.During attitude orientation, it is easiest to make one to produce untrue
Experience be exactly z-axis angular error, the present embodiment, by the adjustment of z-axis is added significantly to the feeling of immersion of user, increases
The suitability of equipment.
Fig. 6 schematically illustrates reflective receiving module 101 and responds a kind of unsuccessful situation, when handle 201 transmitting
During lasing area out of plumb incidence reflective surface 1011, now reflective surface 1011 can reflect away most incident laser, through folding
The light injecting reflective receiving module 101 cannot make Photoinduction device 1013 produce response, now, reflective receiving module 101
Do not transmit a signal to receiving terminal embedded type control module 13, reflective receiving module 101 responds unsuccessful.
Refer to Fig. 7, Fig. 7 schematically illustrates the reception device 11 with reflective receiving array 102 as second embodiment,
Reflective receiving array 102 includes at least two reflective receiving modules 101, and at least two reflective reception devices 101 are set up in parallel, extremely
The reflective surface 1011 of few two reflective reception devices 101 is being parallel to each other.Every group of reflective receiving module 101 can be independently to connecing
Receiving end embedded type control module 13 sends the signal of telecommunication.When at least two Photoinduction devices in the reflective receiving module of one of which 101
1013 when detecting laser signal, and the reflective receiver module of this group 101 sends to receiving terminal embedded type control module 13 and responds successfully
Signal.It is set up in parallel reflective receiving module 101 and can ensure that processing module 3 has more chances to correct attitude measuring
23.
Refer to Fig. 8, Fig. 8 schematically illustrates with the reflective reception dress receiving and integrating module 103 as 3rd embodiment
Put 11,3rd embodiment is essentially identical with second embodiment structure, and difference is, 3rd embodiment is by multiple reflective surfaces
1011 are integrated into a reflector 1031.The setting of reflector 1031 not only can ensure that transmitter module 2 has more chances
Correction attitude measuring 23, further reduces the difficulty installed and make.
Refer to Fig. 9, when attitude measuring automatic correction system of the present invention is started working, transmitter module 2 transmitting swashs
Bright finish, simultaneously receiver module 1 be in holding state.The Photoinduction device 1013 monitor in real time laser reactive of reception device 11, when
When having two and the generation response of above Photoinduction device 1013 in reception device 11, the geometry axle center of now handle 201 is described
l1Perpendicular to ground and handle 201 transmitting lasing area perpendicular to reflective surface 1011, now, receiving terminal embedded type control module 13
The information of zeroing x-axis, z-axis is sent to processing module 3, processing module 3 returns to zero x-axis, z-axis data immediately；When reception device 11
In have and only one of which Photoinduction device 1013 produce response when, the geometry axle center l of now handle 201 is described1It is not orthogonal to ground
Perpendicular to reflective surface 1011, now, receiving terminal embedded type control module 13 will return to zero z-axis the lasing area of face and handle 201 transmitting
Information be sent to processing module 3, processing module 3 returns to zero z-axis data immediately；When there is no Photoinduction device in reception device 11
During 1013 generation response, receiving terminal embedded type control module 13 does not send zeroing information to processing module 3.
Need to expend the regular hour because transmitter module 2 transmits attitude and gravity detection data to processing module 3, this when
Between we be referred to as time delay t, processing module 3 is in t0The attitude of transmitter module 2 transmission that reception arrives and gravimetric data are real
Corresponding on border is (t0- t) moment transmitter module 2 attitude information.If processing module 3 is in t1Reception is to receiver module 1
The angle information of attitude measuring 23 is corrected at once, can cause the actual adjustment of processing module 3 is after the control information sending
(t1- t) moment attitude measuring 23 angle information, make (t1- t) arrive t1The mistake of the attitude measuring 23 between the moment
Difference is cumulative, the experience of the accuracy of impact attitude measuring 23 and equipment entirety.Another as the present invention is real
Apply example, transmitting terminal embedded type control module 22 is in the data letter receiving attitude measuring 23 and gravity detection means 25 is sent
After breath, data message is stamped and after timestamp, is sent to transmitting terminal wireless transport module 29, transmitting terminal wireless transport module 29 will
The data information transfer stamping timestamp is to process end wireless transport module 31, and is transferred to by processing end wireless transport module 31
Arithmetic processor 33 is processed.After arithmetic processor 33 receives the correction signal that receiver module 1 transmission comes, calculation process
Device 33 verification receives the moment t of correction signal2, and detect the data message with timestamp receiving.Work as calculation process
Device 33 detects the time point that the timestamp of data message shows and is later than or is equal to t2During the moment, arithmetic processor 33 at once according to
Control information is corrected to the angle information of attitude measuring 23, and after the completion of correction, arithmetic processor 33 is receiving again
The timestamp of no longer Monitoring Data information before the correction signal that receiver module 1 transmission comes.The present embodiment passes through delay correction to be prevented
Stop due to the accumulation of the error in data causing time delay, degree of accuracy and the availability of equipment has been greatly improved.
Compared with prior art, using discharger 21 transmitting lasing area, receiver module 1 receives different characteristic to the present invention
The mode of optical signal, adjustment x-axis, the position of z-axis angle zero point, reduce the shadow that the error accumulation of attitude measuring 23 brings
Ring, decrease the inadaptable of user and feel and increased feeling of immersion, have larger meaning for somatosensory operation and virtual reality.Phase
For the manual zero point resetting Attitute detecting device 23, attitude measuring 23 of the present invention is from the method and system adjustment of dynamic(al) correction
Error that is more natural and accurate, on the one hand preventing user to bring with " sensation " zeroing, on the other hand makes user make
With during natural and unconsciously return to zero, increased feeling of immersion, decrease deliberately adjust stiff, increased game,
Improve experience effect.Using reflective surface 1011 setting it is ensured that light must is fulfilled for certain incident condition just can make
Photoinduction device 1013 produces corresponding response it is achieved that the method that judges transmitter module 2 attitude by photoinduction, makes attitude
Adjustment can be realized by photoinduction, also make the present invention attitude return to zero be achieved.Gravity detection means 25 can be examined
Survey the deflection angle for gravity direction for the transmitter module 2, the method for cooperation photoinduction zeroing achieves the x of attitude measuring 23
Axle, y-axis, the angle adjustment of z-axis three axle, make attitude measuring 23 can be corrected in the accumulation of error of x-axis, y-axis, z-axis.
The critical angle of reflective surface 1011 is set to the effect that 85 ° of one side can reach correction attitude measuring 23 error accumulation, separately
On the one hand the chance that transmitter module 2 obtains correcting can be made to greatly increase, prevent from for critical angle arranging the incidence leading to too much
The situation that the angular length time is unsatisfactory for critical angle and cannot be carried out correcting occurs.Corresponded to by the dead-center position of setting x-axis, z-axis
The irradiating angle of lasing area, thus the method for the attitude of corresponding transmitter module 2, establishes relatively simple gesture recognition rule,
It is more convenient to correct attitude using photoinduction.The emission port 2113 of handle 201 is arranged to narrow and long rectangular shape it is ensured that outgoing
Laser formed than relatively thin lasing area without dissipate it is ensured that photoinduction zeroing realization.It is set up in parallel reflective reception mould
Group 101 can ensure that transmitter module 2 has more chances to correct attitude measuring 23.The setting of reflector 1031 not only may be used
There are more chances to correct attitude measuring 23 with guarantee transmitter module 2, further reduce the difficulty installed and make
Degree.
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 specific embodiment is only schematically, rather than restricted, 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, also can make a lot
Form, these belong within the protection of the present invention.
Claims (10)
1. a kind of attitude measuring is from the method for dynamic(al) correction it is characterised in that including transmitter module, receiver module, processing mould
Block, described transmitter module includes attitude measuring, gravity detection means and discharger, and described discharger can be launched sharp
Bright finish, described receiver module includes at least two Photoinduction devices, and described attitude measuring is carried out by following steps automatically
Correction:
S1: lasing area launched by described discharger, 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 and transmit which kind of control information to described processing module；
S3: described processing module is corrected to described attitude measuring according to the information that described receiver module transmits.
2. attitude measuring according to claim 1 is from the method for dynamic(al) correction it is characterised in that described receiver module bag
Include reflective receiving module, described reflective receiving module includes reflective surface, and described reflective surface is arranged on described reflective receiving module
End, has reflective and printing opacity ability, and described Photoinduction device is fixed on the inside of described reflective receiving module, and towards institute
State the direction of reflective surface, laser beam can occur reflection on the surface of described reflective surface and reflect, and refracted light can make institute
State Photoinduction device and produce response, there is a critical angle, make the angle of incidence of the incident laser in the generation refraction of described reflective surface
Less than during described critical angle, the intensity of refracted light is insufficient to allow described Photoinduction device to produce response；When in described reflective surface
When occurring the angle of incidence of the incident laser of refraction to be more than or equal to described critical angle, the intensity of refracted light can make described photoinduction
Device produces response.
3. attitude measuring according to claim 2 is from the method for dynamic(al) correction it is characterised in that described receiver module root
Signal according to the transmission of described Photoinduction device judges control information by following steps:
S2.1 sets up rectangular coordinate system on the basis of described reflective surface, and z-axis is perpendicular to the ground, and x-axis is vertical with described reflective surface, y
Axle is parallel with described reflective surface；
S2.2 arranges the x-axis of described attitude measuring, z-axis dead-center position, when the laser of described transmitter module transmitting is radiated at
When on described reflective surface, it is zero that at least one described Photoinduction device responds successfully then z-axis angle；Photoinduction described at least two
It is zero that device responds successfully then x-axis angle；
When described Photoinduction device responds successfully, described receiver module transmits zeroing information to described processing module to s2.3, when
When at least one described Photoinduction device responds successfully, described receiver module is zero to described processing module transmission z-axis angle
Information；When described at least two, Photoinduction device responds successfully, described receiver module transmits x-axis angle to described processing module
It is zero information.
4. attitude measuring according to claim 3 is from the method for dynamic(al) correction it is characterised in that described transmitter module is
Handle, when described handle geometry axle center perpendicular to ground and described handle top upward when, the x-axis of described handle, y-axis angle
Degree is zero；When the reflective surface described in lasing area vertical incidence of described handle transmitting, the z-axis angle of described handle is zero.
5. attitude measuring according to claim 4 is from the method for dynamic(al) correction it is characterised in that described transmitter module bag
Include transmitting terminal embedded type control module, described transmitting terminal embedded type control module can receive described gravity detection means and described
The data of attitude measuring transmission, and by the data transfer receiving to described processing module.
6. attitude measuring according to claim 5 is from the method for dynamic(al) correction it is characterised in that described transmitting terminal embeds
Formula control module receive described attitude measuring and data message that described gravity detection means is sent after, data is believed
Breath is sent to described processing module after stamping timestamp and is processed.
7. attitude measuring according to claim 6 is from the method for dynamic(al) correction it is characterised in that working as described processing module
After receiving the correction signal that described receiver module transmission comes, described processing module verification receives the moment t of correction signal2,
And detect the data message with timestamp receiving, when described processing module detect the data message with timestamp when
Between stab display time point be later than or be equal to t2During the moment, described processing module is according to control information to described attitude measuring
Angle information be corrected, after the completion of correction, described arithmetic processor is receiving what the transmission of described receiver module came again
The timestamp of no longer Monitoring Data information before correction signal.
8. a kind of attitude measuring according to claim 1 is from the attitude measuring of the method for dynamic(al) correction from dynamic(al) correction
It is characterised in that described transmitter module includes transmitting terminal wireless transport module, it is wireless that described processing module includes process end to system
Transport module, can be by being wirelessly transferred between described transmitting terminal wireless transport module and described process end wireless transport module
Mode transmission information.
9. Attitute detecting device automatic correction system according to claim 8 is it is characterised in that described transmitter module is handss
Handle, described handle includes emission port dough-making powder generating laser, and described emission port is rectangular slot shape, described face Laser emission
The laser of device transmitting injects space outerpace by emission port, forms lasing area.
10. Attitute detecting device automatic correction system according to claim 8 is it is characterised in that described receiver module bag
Include reflective reception and integrate module, the described reflective integration module that receives includes reflector.
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Cited By (1)
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| WO2018058881A1 (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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