CN106680773A - Virtual reality spatial positioning device and virtual reality spatial positioning method - Google Patents
Virtual reality spatial positioning device and virtual reality spatial positioning method Download PDFInfo
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- CN106680773A CN106680773A CN201611162061.3A CN201611162061A CN106680773A CN 106680773 A CN106680773 A CN 106680773A CN 201611162061 A CN201611162061 A CN 201611162061A CN 106680773 A CN106680773 A CN 106680773A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a virtual reality spatial positioning device and a virtual reality spatial positioning method. The spatial positioning device comprises at least three distance measurement units. The three distance measurement units are mounted at the same horizontal position. The three distance measurement units comprise a first distance measurement unit, a second distance measurement unit and a third distance measurement unit. The horizontal axis of the first distance measurement unit is at 45 DEG to a horizontal surface. The horizontal axis of the second distance measurement unit is at 135 DEG to the horizontal surface. The horizontal axis of the third distance measurement unit is at 270 DEG to the horizontal surface. According to the virtual reality spatial positioning device and the virtual reality spatial positioning method, because high optical distance measurement speed and low calculation amount in distance-based spatial coordinate calculation are realized, high positioning speed and high real-time performance are obtained. High precision can be realized through infrared or laser distance measurement. Therefore the virtual reality spatial positioning device and the virtual reality spatial positioning method have advantages of high positioning precision, simple positioning device structure, low requirement for a fact that a positioning object can reflect a distance measurement signal, no requirement for a complicated sensor, high system stability and low cost.
Description
Technical field
The present invention relates to technical field of virtual reality, and in particular to a kind of virtual reality space positioner and method.
Background technology
Virtual reality (Virtual Reality, VR) technology by feeling of immersion, interactivity, the imagination property with the characteristics of, by regarding
Simulation on the sense organs such as feel, audition, tactile, enables users to obtain superpower experience on the spot in person, and thought that pole has in the industry can
The calculating platform of future generation after mobile Internet can be become.But VR will reach good feeling of immersion, most important factor
One of be will can realize moving freely and natural interaction for user, this most critical is exactly high-precision real time space location technology,
Namely will real-time capture user and its limbs or its hold the position coordinateses for being equipped in true three-dimension space, so as to map out
User Virtual Space relative position and accurately realize the interactive actions such as crawl, taking and placing to Virtual Space target.Current generation
Location technology on face includes gps satellite positioning, infrared positioning, laser positioning, low-power consumption bluetooth positioning, WiFi positioning, ultrasound
Ripple positioning etc., and VR space orientations it is more representational be HTC Vive Light House (belonging to laser positioning), but on
State different location technologies respectively has excellent at aspects such as positioning precision, positioning region, real-time, stability, system complexity and costs
It is bad, therefore VR space orientation techniques remain at present the technical barrier of industry facing.
The content of the invention
Instant invention overcomes the deficiencies in the prior art, there is provided a kind of virtual reality space positioner and method.Can be real
Now high accuracy, the space orientation of low delay, and simple system reliability, low cost, meet the space orientation requirement of VR very much, have
Higher technology and using value.
To solve above-mentioned technical problem, the present invention is employed the following technical solutions：
A kind of virtual reality space positioner, including at least three range cells；Three range cells are arranged on
Same level position；Three range cells are respectively：First range cells, the second range cells and the 3rd range cells；It is described
The horizontal axis of the first range cells points to horizontal plane 45° angle, and the horizontal axis of second range cells points to horizontal plane
135 ° of angles, the horizontal axis of the 3rd range cells points to 270 ° of angles of horizontal plane.
Further technical scheme is that the range cells include：Infrared distance measurement or laser ranging.
Further technical scheme is that have emitter in the range cells in parallel or series, for increasing range cells
Test angles.
Further technical scheme is that the emitter includes：Infrared diode or laser diode.
If further technical scheme is the Z axis that the vertical line that the first range cells are located is defined as three-dimensional system of coordinate,
And the lower section Az of the range cells of zero distance first, the first range cells, the parallel lines definition of the second range cells line
For X-axis, the first range cells, the parallel lines of the 3rd range cells line are defined as Y-axis, then the first range finding is single in this coordinate system
Unit, the coordinate of the second range cells, the 3rd range cells are respectively (0,0, Az), (Bx, 0, Bz), (0, Cy, Cz).
Further technical scheme is to provide a kind of virtual reality space localization method, and methods described includes following step
Suddenly：
By the first range cells (A), the second range cells (B) and the 3rd range cells (C) respectively to fixed positioned at space
Positioning target (E) transmitting distance measuring signal in the region of position, the range finding letter that range cells are returned according to the positioning target reflection for receiving
Number flight time calculate with positioning target apart from L；Detect positioning target respectively between three range cells away from
After L1, L2, L3, further according to the range formula of space point-to-point transmission, have：
Wherein, the coordinate of the first range cells (A) is (Ax, Ay, Az), the coordinate of the second range cells (B) for (Bx, By,
), Bz the coordinate of range cells (C) is (Cx, Cy, Cz), and the coordinate for positioning target (E) is (Ex, Ey, Ez)；
According to the positioning target for detecting with range cells apart from L1, L2, L3, positioning target is calculated in a coordinate system
Three-dimensional coordinate (Cx, Cy, Cz), so as to realize the space orientation to target.
Compared with prior art, one of beneficial effect of the embodiment of the present invention is：Space positioning apparatus of the present invention and fixed
Position method, because optical ranging is fast, the operand based on the spatial coordinates calculation of distance is little, therefore it is high to position quick, real-time；Adopt
Very high precision can be reached with infrared or laser ranging, therefore positioning precision is high；Positioner is simple, and positioning target can reflect survey
Away from signal, the sensor of complexity, therefore system stability, low cost are not required to.Space positioning apparatus of the present invention and positioning
Method, can very well meet the space orientation requirement of VR, with higher technology and using value.
Description of the drawings
Fig. 1 is the floor map of space positioning apparatus in one embodiment of the invention.
Fig. 2 is the schematic diagram of the finding range of range cells in one embodiment of the invention.
Fig. 3 is the schematic diagram that range cells expand finding range by increasing emitter in one embodiment of the invention.
Fig. 4 is the positioning region and three-dimensional system of coordinate schematic diagram of space positioning apparatus in one embodiment of the invention.
Specific embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine by any way.
Any feature disclosed in this specification (including any accessory claim, summary and accompanying drawing), except non-specifically is chatted
State, can alternative features equivalent by other or with similar purpose replaced.I.e., unless specifically stated otherwise, each feature
It is an example in a series of equivalent or similar characteristics.
Below in conjunction with the accompanying drawings and embodiment to the present invention specific embodiment be described in detail.
As shown in Figures 1 to 4, according to one embodiment of present invention, the present embodiment discloses a kind of virtual reality space and determines
Position device, it is made up of three range cells；Three range cells are arranged on same level position；Three range cells point
It is not：First range cells A, the second range cells B and the 3rd range cells C；Range cells can be based on infrared distance measurement, swash
The range finding device of ligh-ranging or other any principles, can generally meet sterically defined scope and required precision.This enforcement
Example adopts infrared distance measurement device, about 6 meters of range finding distance, about 60 ° of the range finding angle that single infrared diode can reach, range accuracy
Higher than 1cm.The space that the distance measuring signal that range cells are launched is covered is the cone with certain test angles, such as Fig. 2 institutes
Show.
In order to increase the range finding angle of range cells, can be multiple in parallel or series by certain angle in range cells
Emitter, as shown in Figure 3, the range finding angle for making range cells expands R1 '-P-R2 ' to by R1-P-R2 in figure.The present embodiment exists
Each range cells has respectively used 3 infrared diode parallel connections, and the axis angle of adjacent infrared diode in about 60 ° of arrangements,
So as to each range cells can reach about 180 ° of range finding angle.
For ease of understanding, as shown in figure 1, Fig. 1 illustrate only each range cells detection range in the horizontal direction.Wherein
The detection range of one range cells A is in the horizontal direction sector region A-A1-D-A2, and the detection range of the second range cells B exists
Horizontal direction is sector region B-B1-C-B2, and the detection range of the 3rd range cells C is in the horizontal direction sector region C-C1-
B-C2, three range cells are fixed by specific sensing with position relationship installation, and the detection range for making three is overlapped and in level
Direction forms public territory A-B-D-C, and E is target to be positioned, it is clear that three range cells can be detected respectively and positioning target E
Apart from L1, L2, L3.
Specifically, three range cells are installed in same level position, and the horizontal axis of range cells A points to level
Face 45° angle, the horizontal axis of range cells B points to 135 ° of angles of horizontal plane, and the horizontal axis of range cells C points to 270 ° of horizontal plane
Angle, such three range cells may make up the public distance measurement zone of A-B-D-C rectangles shown in Fig. 1 in horizontal plane, can in three dimensions
Constitute the rectangular parallelepiped space with O-F-G-H-J-K-M-N as summit shown in accompanying drawing 4.That is, being located at O-F-G-H-J-
K-M-N is the target of the optional position in the rectangular parallelepiped space on summit, and it can be tested respectively with the distance of each range cells
Detect away from unit.Especially, the artificially defined rectangular parallelepiped space is the mapping area of VR Virtual Spaces, and is with range cells
Three-dimensional system of coordinate XYZ is set up in reference.Specifically, as shown in figure 4, in the present embodiment, the vertical line that the first range cells A are located is determined
Justice for three-dimensional system of coordinate Z axis, and the lower section Az of range cells A of zero distance first (numerical value is calculated as original to facilitate
Then), the first range cells A, the parallel lines of the second range cells B line are defined as X-axis, and the first range cells A, the 3rd range finding are single
The parallel lines of first C lines are defined as Y-axis, then the first range cells A, the second range cells B, the 3rd range finding in this coordinate system
The coordinate of unit C is respectively (0,0, Az), (Bx, 0, Bz), (0, Cy, Cz).It should be noted that how to define coordinate system regards meter
It is principle to calculate convenient, it is also possible to which one of range cells are defined as into zero, and another two range cells are located at sit respectively
On parameter, there are more 0 values in the coordinate of so each range cells as far as possible, computing is also just simpler.
Embodiment 2
According to another embodiment of the invention, the present embodiment discloses a kind of virtual reality space localization method, the method
It is respectively to positioned at space orientation by the first range cells A, the second range cells B, tri- range cells of the 3rd range cells C
Positioning target E transmitting distance measuring signal in region, the distance measuring signal that range cells are returned according to the positioning target reflection for receiving
Flight time just can be calculated with positioning target apart from L.Detect positioning target E respectively between three range cells
After L1, L2, L3, further according to the range formula of space point-to-point transmission, have：
Wherein, the coordinate of the first range cells A is (Ax, Ay, Az), and the coordinate of the second range cells B is (Bx, By, Bz),
The coordinate of the 3rd range cells C is (Cx, Cy, Cz), and the coordinate for positioning target E is (Ex, Ey, Ez).Due to three range findings
Unit is the first range cells A, the second range cells B, the 3rd range cells C with reference in defined three-dimensional system of coordinate XYZ
Coordinate is known, therefore according to positioning target E and range cells for detecting apart from L1, L2, L3, by all known parameters
Substituting into above-mentioned formula can just calculate three-dimensional coordinate (Cx, Cy, Cz) of positioning target E in aforementioned coordinate system, so as to realize
Space orientation to target.Because the real space is mapped to VR Virtual Spaces, and so knows that positioning target E is set
The relative position relation of real space, has also been known that relative position relation of the positioning target in VR Virtual Spaces, so as to reality
The interactive controlling of present Virtual Space.
It will be apparent to an ordinarily skilled person in the art that range cells of the present invention are not limited to infrared distance measurement device,
It can be the range finding device of laser ranging or other any principles；To increase the range finding angle of range cells, certain number is also not necessarily limited to
The transmitting of amount or receptor are in parallel or series；Positioning region by set by range cells is also not necessarily limited to cuboid, can be with root
According to be actually needed but the area of space of other certain shapes.
" one embodiment ", " another embodiment ", " embodiment " for being spoken of in this manual etc., refer to combine
Specific features, structure or the feature that the embodiment is described is included at least one embodiment of the application generality description.
It is not necessarily to refer to same embodiment that in the description statement of the same race occur in multiple places.Furthermore, it is understood that with reference to arbitrary
When individual embodiment describes specific features, structure or a feature, what is advocated is this to realize with reference to other embodiment
Feature, structure or feature also fall within the scope of the present invention.
Although reference be made herein to invention has been described for the multiple explanatory embodiments invented, however, it is to be understood that this
Art personnel can be designed that a lot of other modification and embodiment, and these modifications and embodiment will fall in the application
Within disclosed spirit and spirit.More specifically, in the range of disclosure claim, can be to theme group
Closing the building block and/or layout of layout carries out various modifications and improvement.Except the modification carried out to building block and/or layout
Outer with improving, to those skilled in the art, other purposes also will be apparent.
Claims (6)
1. a kind of virtual reality space positioner, it is characterised in that：Including at least three range cells；Three range findings are single
Unit is arranged on same level position；Three range cells are respectively：First range cells, the second range cells and the 3rd range finding are single
Unit；The horizontal axis of first range cells points to horizontal plane 45° angle, and the horizontal axis of second range cells points to water
135 ° of angles of plane, the horizontal axis of the 3rd range cells points to 270 ° of angles of horizontal plane.
2. virtual reality space positioner according to claim 1, it is characterised in that described range cells include：It is red
Outer range finding or laser ranging.
3. virtual reality space positioner according to claim 1, it is characterised in that in parallel in described range cells
Or emitter is in series with, for increasing the test angles of range cells.
4. virtual reality space positioner according to claim 3, it is characterised in that described emitter includes：It is infrared
Diode or laser diode.
5. virtual reality space positioner according to claim 1, it is characterised in that if the first range cells are located
Vertical line be defined as the Z axis of three-dimensional system of coordinate, and the lower section Az of the range cells of zero distance first, the first range cells,
The parallel lines of the second range cells line are defined as X-axis, and the first range cells, the parallel lines of the 3rd range cells line are defined as
Y-axis, then in this coordinate system the first range cells, the second range cells, the 3rd range cells coordinate be respectively (0,0, Az),
(Bx,0,Bz)、(0,Cy,Cz)。
6. a kind of virtual reality space localization method, it is characterised in that described method is comprised the following steps：
By the first range cells (A), the second range cells (B) and the 3rd range cells (C) respectively to positioned at space orientation area
Positioning target (E) transmitting distance measuring signal in domain, the distance measuring signal that range cells are returned according to the positioning target reflection for receiving
Flight time is calculated with positioning target apart from L；Detect positioning target respectively with the distance between three range cells L1,
After L2, L3, further according to the range formula of space point-to-point transmission, have：
Wherein, the coordinate of the first range cells (A) is (Ax, Ay, Az), and the coordinate of the second range cells (B) is (Bx, By, Bz),
The coordinate of range cells (C) is (Cx, Cy, Cz), and the coordinate for positioning target (E) is (Ex, Ey, Ez)；
Three in a coordinate system of positioning target are calculated apart from L1, L2, L3 with range cells according to the positioning target for detecting
Dimension coordinate (Cx, Cy, Cz), so as to realize the space orientation to target.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108919184A (en) * | 2018-07-17 | 2018-11-30 | 东北大学 | A kind of method for positioning mobile robot based on wireless signal |
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| WO2001065206A2 (en) * | 2000-02-28 | 2001-09-07 | Arc Second, Inc. | Low cost 2d position measurement system and method |
| CN105631390A (en) * | 2014-10-28 | 2016-06-01 | 佛山市顺德区美的电热电器制造有限公司 | Spatial positioning method and spatial positioning system |
| CN105807258A (en) * | 2016-05-25 | 2016-07-27 | 赵锦秋 | Method and system for three-dimensional positioning |
-
2016
- 2016-12-15 CN CN201611162061.3A patent/CN106680773A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001065206A2 (en) * | 2000-02-28 | 2001-09-07 | Arc Second, Inc. | Low cost 2d position measurement system and method |
| CN105631390A (en) * | 2014-10-28 | 2016-06-01 | 佛山市顺德区美的电热电器制造有限公司 | Spatial positioning method and spatial positioning system |
| CN105807258A (en) * | 2016-05-25 | 2016-07-27 | 赵锦秋 | Method and system for three-dimensional positioning |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108919184A (en) * | 2018-07-17 | 2018-11-30 | 东北大学 | A kind of method for positioning mobile robot based on wireless signal |
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