CN106500725A - The method and system that attitude measuring is corrected automatically - Google Patents
The method and system that attitude measuring is corrected automatically Download PDFInfo
- Publication number
- CN106500725A CN106500725A CN201610872885.3A CN201610872885A CN106500725A CN 106500725 A CN106500725 A CN 106500725A CN 201610872885 A CN201610872885 A CN 201610872885A CN 106500725 A CN106500725 A CN 106500725A
- Authority
- CN
- China
- Prior art keywords
- module
- attitude measuring
- ccd camera
- axis
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
Abstract
The present invention provides a kind of method that attitude measuring is corrected automatically, including transmitter module, receiver module, processing module, the transmitter module includes that attitude measuring, gravity detection means and emitter, the emitter can launch lasing area, and the receiver module includes CCD camera.Compared with prior art, the present invention launches the mode of lasing area and receiver module reception different characteristic optical signal using emitter, adjustment x-axis, y-axis, the position of z-axis angle zero point, reduce the impact that the error accumulation of attitude measuring brings, reduce the inadaptable sense of user and increased feeling of immersion, for somatosensory operation and virtual reality have larger meaning.
Description
Technical field
The present invention relates to attitude measurement field, more particularly, it relates to a kind of method that attitude measuring is corrected automatically
And system.
Background technology
Attitude measurement typically measures angle information using attitude measuring, and the type of attitude measuring is a lot, profit
Decoupled with three axle earth magnetism and three axis accelerometer, affected very greatly, in the environment such as movement/vibration by external force acceleration, output side
Larger to angle error, geomagnetic sensor has shortcoming in addition, the characteristics of its absolute object of reference is the magnetic line of force in earth's magnetic field, earth magnetism is
Use range is big, but intensity is relatively low, about a few Gausses of zero point, is highly susceptible to the interference of other magnets.Gyroscope output angle speed
Degree, is instantaneous flow, and angular speed is directly to use on posture balancing, needs angular speed to calculate angle with time integral, obtains
The angle variable quantity for 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 that its measuring basis is itself, the not absolute object of reference outside system, it is not to add Dt
May be infinitely small, so the accumulated error of integration can be increased sharply as time go on, ultimately result in output angle with reality not
Symbol.
Content of the invention
The defect of angular surveying is affected to solve current pose measurement apparatus cumulative errors, and the present invention provides one kind can be with
Eliminate the attitude measuring automatic correction device of cumulative errors.
The technical solution adopted for the present invention to solve the technical problems is：There is provided what a kind of attitude measuring was corrected automatically
Method, including transmitter module, receiver module, processing module, the transmitter module includes attitude measuring, gravity detection means
And emitter, the emitter can launch lasing area, and the receiver module includes CCD camera, the attitude measurement dress
Put and corrected by following steps automatically：
S1：Lasing area launched by the emitter, and the receiver module is in holding state；
S2：The signal transmission corresponding informance that the receiver module is transmitted according to the CCD camera is to the processing module；
S3：The processing module is corrected to the attitude measuring according to the information that the receiver module is transmitted.
Preferably, the CCD camera has pixel detection function, and the laser of the emitter transmitting can be recognized in institute
State the pixel of the image formed in CCD camera.
Preferably, there are a critical angle, unit in the laser image that the corresponding CCD camera of the critical angle shoots
The standard pixel of length, when the incidence angle for entering the CCD camera incident laser is less than the critical angle, the CCD camera
The pixel of the unit length for detecting is less than standard pixel；When the incidence angle of the entrance CCD camera incident laser is more than described
During critical angle, the pixel of the unit length that the CCD camera is detected is more than standard pixel.
Preferably, the critical angle is 85 °.
Preferably, the receiver module judges correction letter according to the signal that the Photoinduction device is transmitted by following steps
Breath：
S2.1 sets up rectangular coordinate system on the basis of the CCD camera, and z-axis is perpendicular to the ground, positive direction upward, with light
The radiation direction of CCD camera center of lens described in vertical incidence is x-axis negative direction, and y-axis positive direction meets coordinate system xyz into the right hand
System；
S2.2 when the handle geometry axle center perpendicular to ground and the handle top upward when, the x of the handle
Axle, y-axis angle are zero；When the lasing area of handle transmitting is perpendicular to the back side of the CCD camera and light direction of propagation court
During to x-axis negative direction, the z-axis angle of the handle is zero；
S2.3 detects the unit pixel of laser image higher than standard pixel when the CCD camera, and gravity inspection
It is zero to survey device and detect the reception device with the angle of vertical direction, the processing module zeroing x-axis, y-axis, the angle of z-axis
Degree information.
Preferably, the transmitter module includes transmitting terminal embedded type control module, the transmitting terminal embedded type control module
The data of the gravity detection means and attitude measuring transmission can be received, and by the data transfer for receiving to institute
State processing module.
Preferably, the transmitting terminal embedded type control module is receiving the attitude measuring and gravity detection
After the data message that device is sent, data message is stamped and be sent to after timestamp the processing module and processed.
Preferably, after the processing module receives the correction signal that the receiver module transmission comes, the process mould
Block verification receives the moment t of correction signal2, and the data message with timestamp for receiving is detected, when the 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, the processing module
The angle information of the attitude measuring is corrected according to control information, after the completion of correction, the arithmetic processor exists
The timestamp of the receiver module transmit the correction signal that come before no longer Monitoring Data information is received again.
A kind of attitude measuring automatic correction system is provided, it is characterised in that the transmitter module include transmitting terminal without
Line transport module, the processing module include processing end wireless transport module, the transmitting terminal wireless transport module and the place
Reason end wireless transport module between can by way of being wirelessly transferred transmission information.
Preferably, the transmitter module is handle, and the handle includes emission port and face generating laser, the transmitting
Port is rectangular slot shape, and the laser of the face laser transmitter projects is injected space outerpace by emission port, formed fan-shaped
Lasing area, when the geometry axle center of the handle is perpendicular to ground, the lasing area is perpendicular with ground.
Compared with prior art, using emitter transmitting lasing area, receiver module receives different characteristic light letter to the present invention
Number mode, adjustment x-axis, y-axis, the position of z-axis angle zero point, reduce the shadow that the error accumulation of attitude measuring brings
Ring, reduce the inadaptable sense of user and increased feeling of immersion, for somatosensory operation and virtual reality have larger meaning.Phase
For the zero point for resetting Attitute detecting device manually, the method and system that attitude measuring of the present invention is corrected automatically is adjusted more
Error that is natural and accurate, on the one hand preventing user to bring with " sensation " zeroing, was on the other hand using user
Natural and unconsciously return to zero in journey, feeling of immersion is increased, deliberately adjust stiff is decreased, be increased game, lifted
Experience effect.Using the setting of CCD camera, it is ensured that light must is fulfilled for certain incident condition and can just make CCD camera
Produce corresponding response, it is achieved that recognize by pixel come the method for judging transmitter module attitude, make the attitude zeroing of the present invention
It is achieved.Gravity detection means can detect that transmitter module, for the deflection angle of gravity direction, coordinates photoinduction zeroing
Method achieves the x-axis of attitude measuring, y-axis, the angle adjustment of three axle of z-axis, makes attitude measuring in x-axis, y-axis, z-axis
The accumulation of error can be corrected.The critical angle of CCD camera is set to 85 ° of one side and can reach correction attitude measuring
The effect of error accumulation, the chance that transmitter module on the other hand can be made to obtain correcting are greatly increased, and prevent from arranging critical angle
The situation that caused incidence angle long-time too much is unsatisfactory for critical angle and cannot be corrected occurs.By arrange x-axis, y-axis,
The dead-center position of z-axis so as to the method for the attitude of corresponding transmitter module, establishes more letter corresponding to the irradiating angle of lasing area
Just gesture recognition rule, is more convenient to correct attitude using photoinduction.The emission port of handle is arranged to narrow and long rectangular shape, can
To ensure that the laser of outgoing is formed than relatively thin lasing area without dissipating, it is ensured that the realization of photoinduction zeroing.
Description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the system module schematic diagram that attitude measuring of the present invention is corrected automatically；
Fig. 2 is the transmitter module schematic diagram with handle as example；
Fig. 3 is the reception device schematic diagram with CCD camera as example；
Fig. 4 is CCD camera zeroing x-axis, y-axis, z-axis schematic diagram；
Fig. 5 is that CCD camera does not send one of zeroing instruction schematic diagram；
Fig. 6 is that CCD camera does not send the two of zeroing instruction schematic diagram；
Fig. 7 is attitude measuring correcting process schematic diagram.
Specific embodiment
The defect of angular surveying is affected to solve current pose measurement apparatus cumulative errors, and the present invention provides one kind can be with
Eliminate the method and system that the attitude measuring of cumulative errors is corrected automatically.
In order to be more clearly understood to the technical characteristic of the present invention, purpose and effect, now control accompanying drawing is described in detail
The specific embodiment of the present invention.
Fig. 1 is referred to, 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 emitter 21, transmitting terminal embedded type control module 22, attitude measurement dress
23, power module 24, gravity detection means 25, operation device 27 and transmitting terminal wireless transport module 29 is put, 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 the transmitting of receiving and transmitting unit 21, and the light information for 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 further located
Reason.Attitude measuring 23 can measure attitude and angle information of the transmitter module 2 in space, and gravity detection means 25 can be surveyed
Amount transmitter module 2 and angle information and the angle direction of gravity direction, operation device 27 can be operated by user and send life
The order letter that the related data and operation device 27 for making information, attitude measuring 23 and gravity detection means 25 measure sends
Breath can be delivered to transmitting terminal embedded type control module 22 by way of electric signal, and transmitting terminal embedded type control module 22 can be with
Above- mentioned information is delivered to process end wireless transport module 31 by transmitting terminal wireless transport module 29, end is processed and is wirelessly transferred mould
Block 31 can by by the data for receiving by electric signal in the way of be delivered to arithmetic processor 33 and processed.
Fig. 2 is referred to, Fig. 2 schematically illustrates the transmitter module 2 with handle 201 as first embodiment, in the 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, emitter 21 includes that face generating laser 211, face generating laser 211 include 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 for 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, form fan laser face, wherein,
The region in fan laser face is by light L2With light L3Delimit.Geometry axle center L when handle 2011Perpendicular to ground when, fan-shaped swash
Light face is perpendicular with ground.
Fig. 3 is referred to, Fig. 3 schematically illustrates the reception device 11 with CCD camera 101 as first embodiment, at this
In embodiment, CCD camera 101 has the function of pixel detection.For extraneous incident laser, according to the difference of its incident angle
CCD camera 101 is able to detect that different laser image pixel values.When laser beam vertical incidence CCD camera 101, CCD phases
The unit length laser image pixel that machine 101 is detected is higher than the situation of laser beam non-normal incidence, and we can basis
The size of laser image unit length pixel value is judging extraneous laser beam whether vertical incidence.In order in use may be used
With the effect that one side reaches correction 23 error accumulation of attitude measuring, transmitter module 2 is on the other hand made to obtain the machine for correcting
Can be more, the situation for preventing the laser beam long-time of incidence to be unsatisfactory for vertical incidence and cannot be corrected occurs, Wo Menke
To set 85 ° of a critical angle, corresponding unit length picture when laser beam is with 85 ° as incidence angle entrance 101 inside of CCD camera
Element value is standard pixel.When the incidence angle of light is less than 85 °, the unit length picture of the laser image that CCD camera 101 is detected
Element value is less than standard pixel, and receiving terminal embedded type control module 13 does not send correction signal to processing module 3；Incidence when light
When angle is between 85 ° to 90 °, it is believed that light vertical incidence CCD camera 101, the laser image that CCD camera 101 is detected
Pixel value be higher than unit length standard pixel, receiving terminal embedded type control module 13 send correction signal to processing module 3.
Fig. 4 Fig. 6 is referred to, Fig. 4 schematically illustrates a kind of feelings of the zeroing attitude measuring 23 of CCD camera 101
Condition.We set up rectangular coordinate system on the basis of CCD camera 101, and z-axis is perpendicular to the ground, and positive direction is upward；Vertically entered with light
The radiation direction for penetrating CCD camera center of lens is x-axis negative direction, and y-axis positive direction meets coordinate system xyz into right-handed system.CCD camera
101 back side be one perpendicular to x-axis plane.Attitude measuring 23 is provided with handle 201, and attitude measuring 23 exists
During measurement, meeting cumulative errors, make the error between measurement result and legitimate reading increasing.Attitude measuring 23
Can be according to the attitudes vibration of handle 201, there is provided angle change of the handle 201 in x-axis, y-axis and z-axis.Handle 201 is further included
Gravity detection means 25, gravity detection means 25 can be with the changes of the y-axis angle of real-time detection handle 201, and real time correction appearance
The y-axis measurement result of the measurement of state measurement apparatus 23.We can arrange the x-axis of handle 201, y-axis, z-axis angle zero point in advance
Position, as a kind of set-up mode therein, as the geometry axle center L of handle 2011Perpendicular to ground and handle 201 top court
When upper, we remember that the x-axis of handle 201, y-axis angle are zero；When handle 201 transmitting lasing area perpendicular to CCD camera 101 the back of the body
Face and when the light direction of propagation is towards x-axis negative direction, we remember that the z-axis angle of handle 201 is zero.Handle 201 is held by user
Hold, in use, as the geometry axle center L of handle 2011Perpendicular to ground and handle 201 transmitting lasing area vertical incidence
During CCD camera 101, CCD camera 101 photographs straight line image, the direction of the straight line image that CCD camera 101 pairs is photographed
Being identified with pixel, the unit length pixel of straight line image being detected higher than standard pixel, CCD camera 101 is by relevant information
It is delivered to processing module 3；It is zero that gravity detection means 25 detects receiver module 2 with the angle of vertical direction simultaneously, and gravity is examined
Survey device 25 related data is delivered to processing module 3,3 summary reset data handle x-axis of processing module, y-axis, z-axis
Angle-data is zero.As this calibration occurs during user's use unintentionally, so, in operation not deliberately
During and the calibration that can just complete to handle x-axis, y-axis and z-axis in the case that user has no to discover, prevent error from continuing
Accumulation causes measure error excessive, while significantly enhancing the feeling of immersion of user.Due to the characteristic of human body wrist, handle 201
In use essentially without the geometry axle center L for handle 201 occur1Perpendicular to ground and handle 201 top directed downwardly
Situation, so we are not considered to such case.
Fig. 5 schematically illustrates another kind of situation of the zeroing attitude measuring 23 of CCD camera 101, when handle 201
Geometry axle center L1When being not orthogonal to ground and the lasing area vertical incidence CCD camera 101 of the transmitting of handle 201, CCD camera 101 is clapped
The straight line image of a non-vertical is taken the photograph, the pixel of the straight line image that CCD camera 101 pairs is photographed is identified, detected straight
Relevant information is delivered to process higher than the linear pixel that incidence angle is critical angle, CCD camera 101 by the pixel of the unit length of line
Module 3；Gravity detection means 25 is detected receiver module 2 and is not zero with the angle of vertical direction simultaneously, gravity detection means 25
Related data is delivered to processing module 3,3 summary data of processing module are not returned to zero.
Fig. 6 schematically illustrates CCD camera 101 and responds a kind of unsuccessful situation, when the lasing area of the transmitting of handle 201
During out of plumb incidence CCD camera 101, CCD camera 101 photographs straight line, the side of 101 pairs of straight lines for photographing of CCD camera
To being identified with pixel, detect straight line unit length pixel less than incidence angle for critical angle linear pixel, now,
Processing module 3 is not returned to zero.
Fig. 7 is referred to, when attitude measuring automatic correction system of the present invention is started working, the transmitting of transmitter module 2 swashs
Light face, while receiver module 1 is in holding state.The 101 monitor in real time laser reactive of CCD camera of reception device 11, when CCD phases
When machine 101 photographs laser image, 101 pairs of laser images for photographing of CCD camera are identified.When CCD camera 101 is detected
The unit length pixel of the straight line image which photographs higher than incidence angle for critical angle linear pixel, CCD camera 101 is by correlation
Information transmission is to processing module 3；It is zero that gravity detection means 25 detects receiver module 2 with the angle of vertical direction simultaneously, weight
Related data is delivered to processing module 3,3 summary reset data handle x-axis of processing module, y-axis, z by force checking device 25
The angle-data of axle is zero；When the unit length pixel that CCD camera 101 detects its straight line image for shooting higher than incidence angle is
Relevant information is delivered to processing module 3 by the linear pixel of critical angle, CCD camera 101；Gravity detection means 25 is detected simultaneously
Receiver module 2 is not zero with the angle of vertical direction, and related data is delivered to processing module 3 by gravity detection means 25, is processed
3 summary data of module are not returned to zero；When the pixel that CCD camera 101 detects its straight line image for photographing be less than into
Linear pixel of the firing angle for critical angle, now, processing module 3 is not returned to zero.
Need to expend the regular hour as 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 and gravimetric data reality of the transmission of transmitter module 2 that reception is arrived
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 after the control information of transmission at once, and can cause 3 actual adjustment of processing module is
(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, affects the accuracy of attitude measuring 23 and the experience that equipment is overall.Another reality as the present invention
Example is applied, transmitting terminal embedded type control module 22 is receiving the data letter that attitude measuring 23 and gravity detection means 25 are sent
After breath, data message is stamped and be sent to after timestamp transmitting terminal wireless transport module 29, transmitting terminal wireless transport module 29 will
The data information transfer of timestamp is stamped to process end wireless transport module 31, and is transferred to by end wireless transport module 31 is processed
Arithmetic processor 33 is processed.After arithmetic processor 33 receives the correction signal that the transmission of receiver module 1 comes, calculation process
The verification of device 33 receives the moment t of correction signal2, and detect the data message with timestamp for 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 being received again
The timestamp of no longer Monitoring Data information before the correction signal that the transmission of receiver module 1 comes.The present embodiment is anti-by delay correction
The accumulation of the data error caused due to time delay is stopped, the accuracy and availability of equipment has greatly improved.
Compared with prior art, using the transmitting lasing area of emitter 21, receiver module 1 receives different characteristic to the present invention
The mode of optical signal, adjustment x-axis, y-axis, the position of z-axis angle zero point, the error accumulation for reducing attitude measuring 23 are brought
Impact, reduce the inadaptable sense of user and increased feeling of immersion, for somatosensory operation and virtual reality have larger meaning
Justice.Relative to the zero point for resetting Attitute detecting device 23 manually, the method for 23 automatic correction of attitude measuring of the present invention and it is
System adjustment is more natural and accurate, the error on the one hand preventing user to bring with " sensation " zeroing, on the other hand use
Person is natural in use and unconsciously returns to zero, and increased feeling of immersion, decreases deliberately adjust stiff, increased trip
Play property, improves experience effect.Using the setting of CCD camera 101, it is ensured that light must is fulfilled for certain incident condition and just may be used
So that CCD camera 101 produces corresponding response, it is achieved that recognized by pixel come the method for judging 2 attitude of transmitter module, make this
The attitude zeroing of invention is achieved.Gravity detection means 25 can detect transmitter module 2 for the deflection angle of gravity direction,
Coordinate the method for photoinduction zeroing to achieve the x-axis of attitude measuring 23, y-axis, the angle adjustment of three axle of z-axis, survey attitude
Amount device 23 can be corrected in the accumulation of error of x-axis, y-axis, z-axis.The critical angle of CCD camera 101 is set to 85 ° of one side
The effect of correction 23 error accumulation of attitude measuring can be reached, transmitter module 2 on the other hand can be made to obtain the machine for correcting
Can greatly increase, prevent from for critical angle arranging caused incidence angle long-time too much being unsatisfactory for critical angle and cannot be corrected
Situation occur.By arranging the dead-center position of x-axis, y-axis, z-axis come the irradiating angle of corresponding lasing area, so as to corresponding transmitting mould
The method of the attitude of block 2, establishes relatively simple gesture recognition rule, is more convenient to correct attitude using photoinduction.Handle 201
Emission port 2113 be arranged to narrow and long rectangular shape, it is ensured that the laser of outgoing is formed than relatively thin lasing area without sending out
Dissipate, it is ensured that the realization of photoinduction zeroing.
Embodiments of the invention are described above in conjunction with accompanying drawing, but be the invention is not limited in above-mentioned concrete
Embodiment, above-mentioned specific embodiment are only schematic, rather than restricted, one 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, can also make a lot
Form, these are belonged within the protection of the present invention.
Claims (10)
1. a kind of method that attitude measuring is corrected automatically, it is characterised in that including transmitter module, receiver module, process mould
Block, the transmitter module include that attitude measuring, gravity detection means and emitter, the emitter can be launched sharp
Light face, the receiver module include CCD camera, and the attitude measuring is corrected automatically by following steps：
S1：Lasing area launched by the emitter, and the receiver module is in holding state；
S2：The signal transmission corresponding informance that the receiver module is transmitted according to the CCD camera is to the processing module；
S3：The processing module is corrected to the attitude measuring according to the information that the receiver module is transmitted.
2. the method that attitude measuring according to claim 1 is corrected automatically, it is characterised in that the CCD camera tool
There is pixel detection function, the pixel of the image that the laser of the emitter transmitting is formed in the CCD camera can be recognized.
3. the method for the automatic correction of attitude measuring according to claim 2, it is characterised in that exist one critical
Angle, in the laser image that the corresponding CCD camera of the critical angle shoots, the standard pixel of unit length, described when entering
When the incidence angle of CCD camera incident laser is less than the critical angle, the pixel of the unit length that the CCD camera is detected is less than
Standard pixel；When the incidence angle for entering the CCD camera incident laser is more than the critical angle, the CCD camera is detected
Unit length pixel be more than standard pixel.
4. the method for the automatic correction of attitude measuring according to claim 3, it is characterised in that the critical angle is
85°.
5. the method that attitude measuring according to claim 4 is corrected automatically, it is characterised in that the receiver module root
The signal transmitted according to the Photoinduction device judges control information by following steps：
S2.1 sets up rectangular coordinate system on the basis of the CCD camera, and z-axis is perpendicular to the ground, and positive direction is upward, vertical with light
The radiation direction of the incident CCD camera center of lens is x-axis negative direction, and y-axis positive direction meets coordinate system xyz into right-handed system；
S2.2 when the handle geometry axle center perpendicular to ground and the handle top upward when, the x-axis of the handle, y
Shaft angle degree is zero；When the handle transmitting lasing area is perpendicular to the back side of the CCD camera and the light direction of propagation is towards x-axis
During negative direction, the z-axis angle of the handle is zero；
S2.3 detects the unit pixel of laser image higher than standard pixel when the CCD camera, and gravity detection dress
It is zero to put and detect the reception device with the angle of vertical direction, the processing module zeroing x-axis, y-axis, the angle letter of z-axis
Breath.
6. the method that attitude measuring according to claim 5 is corrected automatically, it is characterised in that the transmitter module bag
Include transmitting terminal embedded type control module, the transmitting terminal embedded type control module can receive the gravity detection means and described
The data of attitude measuring transmission, and by the data transfer for receiving to the processing module.
7. the method that attitude measuring according to claim 6 is corrected automatically, it is characterised in that the transmitting terminal is embedded in
Data are believed after the data message that the attitude measuring and the gravity detection means are sent is received by formula control module
Breath is sent to the processing module after stamping timestamp and is processed.
8. the method that attitude measuring according to claim 7 is corrected automatically, it is characterised in that when the processing module
After receiving the correction signal that the receiver module transmission comes, the processing module verification receives the moment t of correction signal2,
And detect the data message with timestamp for receiving, when the processing module detect the data message with timestamp when
Between stab display time point be later than or be equal to t2During the moment, the processing module is according to control information to the attitude measuring
Angle information be corrected, after the completion of correction, the arithmetic processor is receiving what receiver module transmission came again
The timestamp of no longer Monitoring Data information before correction signal.
9. the attitude measuring of a kind of method that attitude measuring according to claim 1 is corrected automatically is corrected automatically
System, it is characterised in that the transmitter module includes that transmitting terminal wireless transport module, the processing module include that process end is wireless
Transport module, can be by being wirelessly transferred between the transmitting terminal wireless transport module and process end wireless transport module
Mode transmission information.
10. attitude measuring automatic correction system according to claim 9, it is characterised in that the transmitter module is
Handle, the handle include emission port and face generating laser, and the emission port is rectangular slot shape, and the face laser is sent out
The laser of emitter transmitting injects space outerpace by emission port, forms fan laser face, when the geometry axle center of the handle is hung down
Directly when ground, the lasing area is perpendicular with ground.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610872885.3A CN106500725A (en) | 2016-09-30 | 2016-09-30 | The method and system that attitude measuring is corrected automatically |
| PCT/CN2017/073669 WO2018058881A1 (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 |
|---|---|---|---|
| CN201610872885.3A CN106500725A (en) | 2016-09-30 | 2016-09-30 | The method and system that attitude measuring is corrected automatically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106500725A true CN106500725A (en) | 2017-03-15 |
Family
ID=58293732
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610872885.3A Pending CN106500725A (en) | 2016-09-30 | 2016-09-30 | The method and system that attitude measuring is corrected automatically |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106500725A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109532311A (en) * | 2018-12-29 | 2019-03-29 | 广东博智林机器人有限公司 | Wallpaper piece alignment means and the method for carrying out the alignment of wallpaper seam using it |
| CN110081904A (en) * | 2019-05-15 | 2019-08-02 | 合肥工业大学 | Biplane photosensor arrays push-bench attitude measuring and measurement method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0942992A (en) * | 1995-07-26 | 1997-02-14 | Shimadzu Corp | Correction device for position detection device |
| JPH0981308A (en) * | 1994-07-08 | 1997-03-28 | Seiko Instr Inc | Position detector and tilt sensor |
| CN101587254A (en) * | 2009-05-19 | 2009-11-25 | 香港应用科技研究院有限公司 | Touch induction liquid crystal display |
| CN102519908A (en) * | 2011-12-12 | 2012-06-27 | 天津大学 | Imaging optical microfluid sensing device and method thereof |
| CN103983571A (en) * | 2014-04-14 | 2014-08-13 | 中国科学院高能物理研究所 | Detector pixel response nonuniform error correction device and correction method thereof |
| CN105378432A (en) * | 2013-03-15 | 2016-03-02 | 谷歌公司 | System and method for attitude correction |
| 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 |
-
2016
- 2016-09-30 CN CN201610872885.3A patent/CN106500725A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0981308A (en) * | 1994-07-08 | 1997-03-28 | Seiko Instr Inc | Position detector and tilt sensor |
| JPH0942992A (en) * | 1995-07-26 | 1997-02-14 | Shimadzu Corp | Correction device for position detection device |
| CN101587254A (en) * | 2009-05-19 | 2009-11-25 | 香港应用科技研究院有限公司 | Touch induction liquid crystal display |
| CN102519908A (en) * | 2011-12-12 | 2012-06-27 | 天津大学 | Imaging optical microfluid sensing device and method thereof |
| CN105378432A (en) * | 2013-03-15 | 2016-03-02 | 谷歌公司 | System and method for attitude correction |
| CN103983571A (en) * | 2014-04-14 | 2014-08-13 | 中国科学院高能物理研究所 | Detector pixel response nonuniform error correction device and correction 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 (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109532311A (en) * | 2018-12-29 | 2019-03-29 | 广东博智林机器人有限公司 | Wallpaper piece alignment means and the method for carrying out the alignment of wallpaper seam using it |
| CN110081904A (en) * | 2019-05-15 | 2019-08-02 | 合肥工业大学 | Biplane photosensor arrays push-bench attitude measuring and measurement method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106248110A (en) | Attitude measuring is from the method and system of dynamic(al) correction | |
| KR101080078B1 (en) | Motion Capture System using Integrated Sensor System | |
| EP2778706B1 (en) | Position correction device using visible light communication and method thereof | |
| KR20180050589A (en) | Apparatus for tracking object | |
| US20210157397A1 (en) | System and method related to motion tracking | |
| US9441974B2 (en) | System and method for calculating lever arm values photogrammetrically | |
| CN106500725A (en) | The method and system that attitude measuring is corrected automatically | |
| KR20100033634A (en) | Distance estimation apparatus and method | |
| CN106323341A (en) | Method and system for automatically correcting attitude measurement device | |
| KR102097033B1 (en) | System for estimating motion by sensing interaction of point body | |
| CN106404000A (en) | Method and system for automatically correcting attitude measurement device | |
| CN107941238A (en) | The method and system of attitude measuring correction | |
| CN106441363A (en) | Method and system for automatically rectifying attitude measuring device | |
| CN106248109A (en) | Attitude measuring is from the method and system of dynamic(al) correction | |
| CN107941239A (en) | The method and system of attitude measuring automatic infrared correction | |
| CN106500722A (en) | Method and system of the attitude measuring from dynamic(al) correction | |
| CN106323340A (en) | Method and system for automatically correcting attitude measurement device | |
| JP2013148524A (en) | Positioning system | |
| CN106500726A (en) | Method and system of the attitude measuring from dynamic(al) correction | |
| CN106525076A (en) | Method for automatic correction of attitude measurement apparatus based on image identification and system thereof | |
| KR101654156B1 (en) | Apparatus and method for motion capture using sensor module | |
| CN106500723A (en) | Method and system of the attitude measuring from dynamic(al) correction | |
| KR101841172B1 (en) | Mobile device for providing golf putting line information using lidar | |
| CN107941240A (en) | The method and system that attitude measuring corrects automatically | |
| KR101763294B1 (en) | Shooting Control System and Method Using Thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170315 |