CN106872989B - Space positioning system and space positioning method - Google Patents
Space positioning system and space positioning method Download PDFInfo
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- CN106872989B CN106872989B CN201710089469.0A CN201710089469A CN106872989B CN 106872989 B CN106872989 B CN 106872989B CN 201710089469 A CN201710089469 A CN 201710089469A CN 106872989 B CN106872989 B CN 106872989B
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- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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Abstract
The invention discloses a space positioning system, which comprises a first light wave scanner, a second light wave scanner, a reflection or receiving device, a data acquisition module and a calculation module, wherein the first light wave scanner sequentially scans a space around a first direction axis and scans the space around a second direction axis; the second light wave scanner scans the space around a first directional axis or a second directional axis; the reflecting or receiving device sequentially reflects or receives the scanning light waves emitted by the first light wave scanner or the second light wave scanner in the space; the data acquisition module acquires the reflected light waves received by the first light wave scanner or the second light wave scanner or acquires the light waves received by the reflection or receiving device; and the calculation module is used for calculating and obtaining the spatial position value of the reflection or receiving device according to the data acquired by the data acquisition module.
Description
Technical Field
The patent application relates to the technical field of space positioning, in particular to virtual reality equipment and a method for space positioning.
Background
The virtual reality technology is a key technology for supporting a comprehensive integrated multidimensional information space which combines qualitative and quantitative recognition and perceptual recognition. Virtual reality technology changes a computer from processing digitized single-dimensional information to processing multi-dimensional information in various forms of expression other than digitized information, which a person can feel during thinking, and which the person can feel. In recent years, there has been much activity in the research field of VR technology, and virtual reality is a higher boundary of multimedia technology development, and is a high-level integration and penetration of the technologies. The method provides more vivid experience for users, and provides great convenience for people to explore the motion change rule of things which are inconvenient to directly observe due to various reasons in the macroscopic world and the microscopic world.
The existing virtual reality device is mostly a dynamic cinema and a dynamic cabin, the dynamic cinema utilizes a motor to drive a seat to manufacture a touch type immersion, the dynamic cabin utilizes the overall motion of a cabin body to bring touch experience for a user, and the existing virtual reality device has high deployment cost. According to the virtual reality game, the action of the character in the game is controlled through the body action of the player, the player can be really put into the game, and better experience is brought to the player.
The Chinese patent application No. CN 201610141299.1, a real-time space positioning system, comprising a laser emission scanning part and a laser receiving part, wherein the laser emission scanning part comprises 360-degree transverse scanning laser and 360-degree longitudinal scanning laser, and zero scale activation is respectively carried out by a zero scale induction sensor; arranging a laser receiving sensor on the equipment needing space positioning; and the signal synchronization of laser emission scanning and laser receiving is realized by arranging the infrared LED lamp array. The invention also discloses a space positioning method and virtual reality equipment comprising the space positioning system. The invention realizes the signal synchronization of laser emission scanning and laser receiving by two mutually perpendicular 360-degree laser emission scanning and a plurality of receiving sensors, and also by zero-scale infrared exposure, and then accurately obtains the three-dimensional position of a laser receiving part in a positioning space by calculating the time difference of four signals in a working period, thereby achieving the real-time and accurate positioning effect. Convenient to use, the accurate refresh rate in location is high.
The invention provides a space positioning method and system based on image recognition, which is disclosed as CN201610719030.7, and the space positioning method and system comprises an image module, a positioning module and a processing module, wherein the image module comprises an image processing device and at least two camera devices, the camera devices are fixed in position and orientation, the positioning module comprises a spherical luminous body capable of emitting light, and the spherical luminous body is spherical. The invention utilizes the image shot by the camera device to analyze and position, utilizes the diameter data of the spherical luminous body in the shot image to measure the distance according to the correspondence of the distance and the diameter data, utilizes the center coordinate of the spherical luminous body in the shot image to measure the angle according to the correspondence of the direction angle, and restores the position of the spherical luminous body according to the measured distance and angle, thereby providing a novel positioning means with high efficiency and accuracy. However, the spatial positioning technology based on the cameras has higher technical difficulty, and the data fusion of a plurality of cameras is more complicated
The existing space positioning technology is complex in algorithm and difficult to realize. The sensors are used too much, the data fusion is complex, and errors are amplified, resulting in inaccurate positioning. The invention can simply and conveniently position the position information in the three-dimensional space.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention is realized by the following technical scheme:
a space positioning system comprises a first light wave scanner, a second light wave scanner, a reflection or receiving device, a data acquisition module and a calculation module,
the first light wave scanner sequentially scans the space around a first direction axis and scans the space around a second direction axis, wherein the first direction axis (such as a Z axis) and the second direction axis (such as an X axis) are in a vertical relation;
the second optical wave scanner, around a first direction axis (such as Z axis) or a second direction axis (such as X axis) to scan the space;
a certain distance is kept between the first light wave scanner and the second light wave scanner;
the reflecting or receiving device sequentially reflects or receives the scanning light waves emitted by the first light wave scanner or the second light wave scanner in the space;
the data acquisition module acquires the reflected light waves received by the first light wave scanner or the second light wave scanner or acquires the light waves received by the reflection or receiving device;
and the calculating module is used for calculating and obtaining the spatial position value of the reflecting or receiving device according to the scanning angular speeds of the first light wave scanner and the second light wave scanner, the acquired data provided by the data acquisition module and the distance relationship between the first light wave scanner and the second light wave scanner.
The reflection or receiving device can carry a head-mounted display, and a wearer can observe the position of the reflection or receiving device in a (virtual) space from the display;
the reflecting or receiving device, which may carry a head-mounted multimedia display, may learn from the display and the headset the position of itself in (virtual) space.
Further, in the spatial positioning system, the first lightwave scanner is a dual laser scanner, the dual laser scanner includes a synchronous light source, a first high-speed rotor and a second high-speed rotor perpendicular to each other,
the first high-speed rotor or the second high-speed rotor comprises a laser transceiver module or an infrared transmitter, and the first high-speed rotor scans the space around the first direction axis; the second high speed rotor scans the space around the second directional axis;
the synchronous light source is matched with the space scanning work of the first high-speed rotor and the second high-speed rotor.
Further, in the spatial positioning system, the second lightwave scanner is a single laser scanner, the single laser scanner comprises a synchronous light source and a high-speed rotor,
the high-speed rotor comprises a laser transceiver module or an infrared transmitter, and the high-speed rotor scans the space around the first direction axis or the second direction axis;
the synchronous light source is matched with the space scanning work of the high-speed rotor.
Wherein the dual laser scanner comprises a laser emission scanning part and a laser receiving part,
the laser emission scanning part comprises two rotors respectively driven by a high-speed motor, two laser emitters, two zero-scale induction sensors and an infrared LED lamp array;
wherein, the rotating shafts of the two rotors are arranged vertically; the two laser transmitters are all linear lasers which are respectively fixed on the two rotors, a linear laser emitted by the linear lasers is parallel to a rotating shaft of the fixed rotor, and the linear laser emitted by the linear lasers is driven by the rotors to carry out 360-degree uniform scanning on the positioning space;
the two zero scale induction sensors are respectively and correspondingly arranged beside the two rotors, and when any one rotor drives a word line on the rotor to scan the zero scale line corresponding to the rotor by laser, the corresponding zero scale induction sensor is activated;
the infrared LED lamp array is connected with the zero-scale induction sensor and the laser receiving part, and when the zero-scale induction sensor is activated, the infrared LED lamp array is instantly exposed and lightened, so that the synchronization of laser emission scanning and laser receiving signals is realized;
the laser receiving part comprises a receiving sensor which is used for receiving the laser emitted by the laser emitting and scanning part and the zero-scale infrared exposure synchronous signal and calculating the position relation of the laser receiving part in the positioning space.
The single laser scanner comprises a laser emitting and scanning part and a laser receiving part, wherein the laser emitting and scanning part comprises a rotor driven by a high-speed motor, a laser emitter, a zero-scale induction sensor and an infrared LED lamp array.
Furthermore, the space positioning system also comprises a synchronization module,
the synchronization module controls the scanning frequency of the first light wave scanner and the second light wave scanner, namely the scanning time interval.
Furthermore, the space positioning system also comprises an output module or a display,
the output module transmits the spatial position value in a wired or wireless mode;
the display displays the spatial position value in the form of a number, a sound (announcement) or a three-dimensional image. A display in a broad sense includes a multimedia function, a display device and a sound device.
The patent also provides a new space positioning method:
a space positioning method based on the space positioning system comprises the following steps:
s200: a first high speed rotor of the first lightwave scanner scans the space about the first directional axis;
s300: a second high-speed rotor of the first lightwave scanner scans the space about the second directional axis;
s400: a high-speed rotor of the second lightwave scanner scans the space around the first directional axis or the second directional axis;
s500: the reflection or receiving device sequentially reflects or receives the scanning light waves emitted by the first light wave scanner or the second light wave scanner;
s600: the data acquisition module acquires the reflected light waves received by the first light wave scanner or the second light wave scanner, or acquires the light waves received by the reflection or receiving device, and acquires the deflection angle of the reflection or receiving device;
s700: and the calculation module calculates and obtains the spatial position value of the reflection or receiving device according to the scanning angular speeds of the first light wave scanner and the second light wave scanner, the acquired data provided by the data acquisition module and the distance relationship between the first light wave scanner and the second light wave scanner.
Further, in the spatial positioning method, the first direction axis and the second direction axis are in a perpendicular relationship.
Further, in the spatial positioning method, a distance is kept between the first optical wave scanner and the second optical wave scanner.
Further, the spatial positioning method, before the step S200, includes the following steps:
s100: the synchronous module controls the scanning frequency of the first light wave scanner and the second light wave scanner.
Further, the spatial positioning method, after the step S700, includes the following steps:
s800: the output module transmits the spatial position value in a wired or wireless mode;
s900: the display shows the spatial position values in the form of numbers, sounds (announcements) or three-dimensional images.
The invention has at least one of the following beneficial effects:
1. the invention overcomes the technical problem that the positioning algorithm of the three-dimensional space of the original space positioning technology is too complicated, depends on the requirement of hardware precision too much, and has larger signal time difference calculation error. The algorithm difficulty is high.
2. The invention endows the space positioning system with simple arrangement, easy technical realization and low cost.
3. The invention endows a space positioning method, the algorithm contained in the method is popular and easy to understand, the calculated amount is not high, the cost of the calculation hardware is low, and the space positioning of the calculation result is accurate.
Drawings
The invention is described in further detail below with reference to the following figures and detailed description:
FIG. 1 is a block diagram of a spatial positioning system according to a first embodiment of the present invention;
FIG. 2 is a schematic flow chart of a spatial localization method according to a first embodiment of the present invention;
FIG. 3 is a flowchart illustrating a spatial localization method according to a second embodiment of the present invention;
FIG. 4 is a schematic view of a spatial position arrangement of a spatial positioning system according to a third embodiment of the present invention;
FIG. 5 is a schematic view of a dual laser scanner in accordance with a third embodiment of the present invention;
FIG. 6 is a schematic view of a single laser scanner according to a third embodiment of the present invention;
FIG. 7 is a schematic view of a spatial alignment procedure according to a fourth embodiment of the present invention;
FIG. 8 is a schematic diagram of a spatial localization algorithm according to a fourth embodiment of the present invention.
Description of the reference numerals
The system comprises a space-1000, a first lightwave scanner-100, a first high-speed rotor-105, a second high-speed rotor-106, an infrared emitter-102/103, a second lightwave scanner-120, an infrared emitter-123, a high-speed rotor-126, a synchronous light source-107/127, a reflection or receiving device-130, a data acquisition module-140, a calculation module-150, a synchronization module-160, an output module-170 and a display-180.
Detailed Description
In order to more clearly illustrate embodiments of the present invention or technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described below, and it is apparent that the following description and the drawings are illustrative of the present invention and should not be construed as limiting the present invention. The following description describes numerous specific details to facilitate an understanding of the invention. However, in certain instances, well-known or conventional details are not described in order to meet the requirements of brevity.
In a typical computing hardware configuration of the present application, the client/terminal/head mounted display, the network device, and the trusted party each include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The client, the mobile terminal or the network equipment comprise a processor which comprises a single-core processor or a multi-core processor. A processor may also be referred to as one or more microprocessors, Central Processing Units (CPUs), and the like. More specifically, the processor may be a Complex Instruction Set Computing (CISC) microprocessor, Reduced Instruction Set Computing (RISC) microprocessor, Very Long Instruction Word (VLIW) microprocessor, processor implementing other instruction sets, or processors implementing a combination of instruction sets. The processor may also be one or more special-purpose processors, such as an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), a network processor, a graphics processor, a network processor, a communications processor, a cryptographic processor, a coprocessor, an embedded processor, or any other type of logic component capable of processing instructions. The processor is configured to execute the instructions of the operations and steps discussed herein.
The client, mobile terminal or network device of the present invention includes a memory for storing large data, and may include one or more volatile memory devices such as Random Access Memory (RAM), dynamic RAM (dram), synchronous dram (sdram), static RAM (sram), or other types of memory devices. The memory may store information, including sequences of instructions that are executed by the processor or any other device. For example, executable code and/or data for various operating systems, device drivers, firmware (e.g., input output basic system or BIOS), and/or application programs may be loaded into memory and executed by the processor.
The operating system of the client, the mobile terminal or the network device in the present invention may be any type of operating system, such as Windows, Windows Phone, IOS, Android, Linux, Unix operating system, or other real-time or embedded operating systems such as VxWorks.
In order to more clearly illustrate embodiments of the present invention or technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described below, and it is apparent that the following description and the drawings are illustrative of the present invention and should not be construed as limiting the present invention. The following description describes numerous specific details to facilitate an understanding of the invention. However, in certain instances, well-known or conventional details are not described in order to meet the requirements of brevity. Specific apparatus/systems and methods of the invention are described in the following examples:
first embodiment
Fig. 1 is a schematic block diagram of a spatial positioning system according to a first embodiment of the present invention: a spatial localization system includes a first lightwave scanner 100, a second lightwave scanner 120, a reflection or receiving device 130, a data acquisition module 140, and a calculation module 150,
the first optical wave scanner 100 sequentially scans the space 1000 around a first direction axis (for example, a Z axis) and a second direction axis (for example, an X axis);
the second lightwave scanner 120 to scan the space 1000 about a first directional axis (e.g., Z-axis) or a second directional axis (e.g., X-axis);
a certain distance is kept between the first optical wave scanner 100 and the second optical wave scanner 120;
the reflection or reception device 130 sequentially reflects or receives the scanning light waves emitted by the first light wave scanner 100 or the second light wave scanner 120 in the space 1000;
the data acquisition module 140 is configured to acquire reflected light waves received by the first light wave scanner 100 or the second light wave scanner 120, or acquire light waves received by the reflection or receiving device;
the calculating module 150 calculates and obtains the spatial position value of the reflecting or receiving device 130 according to the scanning angular velocities of the first and second optical wave scanners 100 and 120, the acquired data provided by the data acquiring module 140, and the distance relationship between the first and second optical wave scanners 100 and 120.
The reflection or reception device 130, which can carry the head-mounted display 300, from which the wearer can observe the position in (virtual) space where he or she is;
the reflecting or receiving device 130, which may carry a head-mounted multimedia display, may learn from the display and the headset the position of itself in (virtual) space.
Preferably, the spatial positioning system, the first lightwave scanner is a twin laser scanner 100, the twin laser scanner 100 includes a synchronous light source 107, a first high-speed rotor 105 and a second high-speed rotor 106 perpendicular to each other,
the first high speed rotor 105 or the second high speed rotor 106 includes a laser transceiver module or an infrared transmitter 102/103, the first high speed rotor 105 scans the space around the first directional axis; the second high-speed rotor 106 scans the space 1000 around the second directional axis;
the synchronous light source 107 operates in cooperation with the spatial scanning of the first and second high- speed rotors 105 and 106.
Preferably, the spatial positioning system, the second lightwave scanner is a single laser scanner 120, the single laser scanner 120 includes a synchronous light source 127, a high-speed rotor 126,
the high speed rotor 126 includes a laser transceiver module or infrared transmitter 123, and the high speed rotor 126 scans the space 1000 around the first directional axis or the second directional axis;
the synchronous light source 127 is matched with the space 1000 of the high-speed rotor 126 to perform scanning operation.
Wherein the dual laser scanner comprises a laser emission scanning part and a laser receiving part,
the laser emission scanning part comprises two rotors respectively driven by a high-speed motor, two laser emitters, two zero-scale induction sensors and an infrared LED lamp array;
wherein, the rotating shafts of the two rotors are arranged vertically; the two laser transmitters are all linear lasers which are respectively fixed on the two rotors, a linear laser emitted by the linear lasers is parallel to a rotating shaft of the fixed rotor, and the linear laser emitted by the linear lasers is driven by the rotors to carry out 360-degree uniform scanning on the positioning space;
the two zero scale induction sensors are respectively and correspondingly arranged beside the two rotors, and when any one rotor drives a word line on the rotor to scan the zero scale line corresponding to the rotor by laser, the corresponding zero scale induction sensor is activated;
the infrared LED lamp array is connected with the zero-scale induction sensor and the laser receiving part, and when the zero-scale induction sensor is activated, the infrared LED lamp array is instantly exposed and lightened, so that the synchronization of laser emission scanning and laser receiving signals is realized;
the laser receiving part comprises a receiving sensor which is used for receiving the laser emitted by the laser emitting and scanning part and the zero-scale infrared exposure synchronous signal and calculating the position relation of the laser receiving part in the positioning space.
The single laser scanner comprises a laser emitting and scanning part and a laser receiving part, wherein the laser emitting and scanning part comprises a rotor driven by a high-speed motor, a laser emitter, a zero-scale induction sensor and an infrared LED lamp array.
Preferably, the spatial positioning system further comprises a synchronization module 160,
the synchronization module 160 controls the scanning frequencies of the first and second optical wave scanners, i.e. the time intervals of scanning.
Preferably, the spatial location system, further comprises an output module 170 or a display 180,
the output module 170, which transmits the spatial position value in a wired or wireless manner;
the display 180 displays the spatial position value in the form of a number, a sound (announcement), or a three-dimensional image. A display in a broad sense includes a multimedia function, a display device and a sound device.
The space is located in the common scanning space range of the first light wave scanner and the second light wave scanner.
The present embodiment further provides a new spatial positioning method, as shown in fig. 2, which is a schematic flow chart of the spatial positioning method according to the first embodiment of the present invention:
a space positioning method based on the space positioning system comprises the following steps:
s200: a first high speed rotor of the first lightwave scanner scans the space about the first directional axis;
s300: a second high-speed rotor of the first lightwave scanner scans the space about the second directional axis;
s400: a high-speed rotor of the second lightwave scanner scans the space around the first directional axis or the second directional axis;
s500: the reflection or receiving device sequentially reflects or receives the scanning light waves emitted by the first light wave scanner or the second light wave scanner;
s600: the data acquisition module acquires the reflected light waves received by the first light wave scanner or the second light wave scanner, or acquires the light waves received by the reflection or receiving device and the deflection angle of the reflection or receiving device;
s700: and the calculation module calculates and obtains the spatial position value of the reflection or receiving device according to the scanning angular speeds of the first light wave scanner and the second light wave scanner, the acquired data provided by the data acquisition module and the distance relationship between the first light wave scanner and the second light wave scanner.
Preferably, in the spatial positioning method, the first direction axis and the second direction axis are in a perpendicular relationship.
Preferably, in the spatial positioning method, a distance is kept between the first optical wave scanner and the second optical wave scanner.
Second embodiment
The present embodiment also provides another new spatial positioning method, as shown in fig. 3, which is a schematic flow chart of the spatial positioning method according to the second embodiment of the present invention:
further preferably, on the basis of the first embodiment, the spatial location method includes, before the step S200, the following steps:
s100: the synchronous module controls the scanning frequency of the first light wave scanner and the second light wave scanner.
Further preferably, on the basis of the first embodiment, the spatial positioning method includes, after the step S700, the following steps:
s800: the output module transmits the spatial position value in a wired or wireless mode;
s900: the display shows the spatial position values in the form of numbers, sounds (announcements) or three-dimensional images.
Third embodiment
The embodiment discloses a three-surface fixed-point space positioning system and method in virtual reality. The system comprises a dual laser scanner 100, a single laser scanner 120 and a virtual reality head-mounted display 300, and the schematic diagram of the system apparatus is shown in fig. 4 as a schematic diagram of the spatial position of a third embodiment of the spatial positioning system according to the present invention (in the figure, the diagonal arrangement of the dual laser scanner 100 and the single laser scanner 120 in the space 1000 is only a schematic arrangement, but does not indicate that there is and only has such arrangement relationship therebetween).
The laser scanner 100, as shown in fig. 5, is a schematic diagram of a dual laser scanner according to a third embodiment of the present invention, and includes two laser emitters and an infrared LED lamp matrix arrangement 107 driven by a rotor 105/106 of a high speed motor.
In which two rotors in the laser scanner 100 are vertically arranged to perform lateral scanning and longitudinal scanning, respectively, and one rotor in the laser scanner 120 is horizontally arranged to perform lateral or longitudinal scanning in the other direction. The laser scanner 100 and the laser scanner 120 need to be placed face to face or diagonally and fixed. The infrared LED is a synchronous signal emitter.
The present embodiment is based on the virtual reality head mounted display 300, and is innovative to a convenient spatial positioning method and system.
The current head-mounted display space positioning technology comprises the following steps: 1. the single laser scanner and the LED synchronous transmitter are used, and then data fusion is carried out through a special complex algorithm, so that the effect of space positioning is achieved. 2. Single or multiple camera based technologies. 3. Positioning technology based on UWB exceeding band width.
1. The single laser scanner calculates and positions the position of a three-dimensional space through the deviation angle and the synchronous signal time difference, the algorithm is too complicated, the requirement of hardware precision is excessively relied on, and the signal time difference calculation error is large. The algorithm difficulty is high.
2. The spatial positioning technology based on the cameras has higher technical difficulty, and the data fusion of a plurality of cameras is more complicated.
3. Ultra-wideband UWB-based technologies are cost prohibitive.
The embodiment provides a convenient, popular and easy-to-understand algorithm and a method for accurate positioning.
The embodiment belongs to a space positioning system and a method in virtual reality. The system includes two laser scanners and a virtual reality head mounted display. The laser scanner is divided into two mutually perpendicular high-speed rotating rotors to drive the laser emitter, and a single high-speed rotating rotor drives the laser emitter to perform 360-degree direction scanning. Each scanner includes a plurality of synchronization signal emitters arranged in a matrix of LEDs.
The double-rotor laser scanner comprises a transverse laser emitter and a longitudinal laser emitter. And a synchronization signal transmitter. A transverse laser transmitter scans the head-mounted display in a three-dimensional space, and the head-mounted display can be determined to exist in a transverse plane. A longitudinal laser transmitter scans the head-mounted display in a three-dimensional space, so that the straight line which is formed by intersecting two planes in a longitudinal plane of the head-mounted display can be used for confirming that the head-mounted display is on the straight line in the three-dimensional space.
The single-rotor laser scanner includes a transverse laser transmitter and a synchronizing signal transmitter. The laser scanner of single rotor, the position need put and put at different positions with birotor laser scanner, and the laser emitter of single rotor also can confirm the head-mounted display in a plane in the three-dimensional space, and then this face is crossed with a straight line that birotor scanning confirmed and is a crossing point in the three-dimensional space, is the accurate position of head-mounted display.
The time difference obtained by scanning of the three transmitters and the angular speed of the rotor rotating during operation are used for obtaining the deflection angles of 3 dimensions, and the position information in the three-dimensional space is obtained through a geometric algorithm with three sides intersected.
The infrared emitter in fig. 5 and fig. 6 is driven by the high-speed rotor to perform constant-speed 360-degree scanning, that is, the infrared emitter serves as a scanning task, and the head-mounted display 300 is responsible for receiving infrared scanning light waves.
The LED lamp transmits a synchronous signal to the head-mounted display 300, the head-mounted display 300 records the initial time after receiving the synchronous signal, the infrared emitter starts to rotate and scan at a constant speed, the time is recorded again after the infrared emitter scans the head-mounted display, and the deflection angle can be calculated through two time differences and the constant-speed rotation angular speed of the infrared emitter.
The infrared transmitter in the laser scanner is only a function of transmitting infrared rays, and is driven by the rotor, and the head-mounted display receives the infrared rays to calculate the deflection position.
Fourth embodiment
The component framework of the present embodiment includes a dual laser scanner 100 (fig. 5), a single laser scanner 120 (fig. 6), and a virtual reality head mounted display 300.
The dual laser scanners 100(a transmitter), the single laser scanner 120(B transmitter), the head-mounted display 300, the data acquisition module 140, and the calculation module 150 complete the spatial positioning calculation process, as shown in fig. 7, which is a schematic diagram of the spatial positioning step according to the fourth embodiment of the present invention.
The rotors of the laser scanner 100 rotate at a constant angular speed a, a time difference (T1-T0) is obtained by the time T0 when the head-mounted display 300 receives the synchronization signal and the received transverse scanning time T1, and an angle (T1-T0) a from transverse scanning to the head-mounted display can be obtained by the angular speed and the time; the same can be said for a longitudinal angle and the scanner 120 for another dimension of the rotation angle.
The geometric diagram of the specific algorithm is shown in fig. 8, which is a schematic diagram of the spatial localization algorithm according to the fourth embodiment of the present invention:
face HJOD rotates counterclockwise about the Z axis, face HIOF rotates clockwise about the X axis, KO 'is parallel to the Z axis, O' (-L, M).
At a time when the three planes intersect as shown, the line of intersection of the surface HJOD and the surface HIOF is HO, and the focal point of the surface KO' JH and the line HO is H, when ∠ XOJ is known to be theta1∠ -ZOI is θ2∠ JO' L is θ3.
The coordinates H (position of the head mount display 300) in the space at this time are obtained.
The dual laser scanner 100 is located at O and the single laser scanner 120 is located at O'.
The solving process is as follows:
the straight line JO is on the surface HJOD, and the JO straight line equation is as follows: xtan θ1
The plane HJOD normal is therefore (1, -cot θ) n1 ═ 11，0) ①
The straight line IO is on the face HIOF, and the IO straight line equation is as follows: y-ztan (pi-theta)2)
Thus, the face HIOF normal is n2 ═ 0, cot θ2,1) ②
Since the intersection HO is located on both the face HJOD and the face HIOF, HO ⊥ n1& & HO ⊥ n2 (Condition 1)
Let HO be 0 ③ for Ax + By + Cz
Combine ①②③ and derive the HO line equation from condition 1 as:
xcotθ1+y-zcotθ2＝0(θ1＝120πt1＝120*180t1，θ2＝120πt2＝120*180t2) ④
the easy straight line O' J equation is: xcot θ3+y-M+Lcotθ3＝0；
According to the special relationship between O ' J and the surface O ' JHK, the space equation of the surface O ' JHK is as follows:
xcotθ3+y-M+Lcotθ3＝0(θ3＝120πt3＝120*180t3) ⑤
the simultaneous ④⑤ yields:
x＝cotθ1(M-Lcotθ3)/(cotθ1cotθ3+1)
y＝(M-Lcotθ3)/(cotθ1cotθ3+1)
z＝-cotθ2(M-Lcotθ3)/(cotθ1cotθ3+1)
let S be (M-Lcot theta)3)/(cotθ1cotθ3+1)
Then:
x＝S*cotθ1
y＝S
z＝S*(-cotθ2)
this gives the spatial coordinates of the position of the head mounted display in three dimensions (xyz can be negative, positive or negative relative to the position of the defined O or O' point). Through the scheme, the position information of the head-mounted display in the three-dimensional space can be calculated more conveniently and conveniently.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (8)
1. A space positioning system comprises a first light wave scanner, a second light wave scanner, a reflection or receiving device, a data acquisition module, a calculation module and a synchronization module,
the first light wave scanner scans the space around a first direction axis and scans the space around a second direction axis in sequence, and the first direction axis and the second direction axis are in a vertical relation;
the second light wave scanner scans the space around a first directional axis or a second directional axis;
a certain distance is kept between the first light wave scanner and the second light wave scanner;
the reflecting or receiving device sequentially reflects or receives the scanning light waves emitted by the first light wave scanner or the second light wave scanner in the space;
the data acquisition module acquires the reflected light waves received by the first light wave scanner or the second light wave scanner or acquires the light waves received by the reflection or receiving device;
the calculation module is used for calculating and obtaining a spatial position value of the reflection or receiving device according to the scanning angular speeds of the first light wave scanner and the second light wave scanner, the acquired data provided by the data acquisition module and the distance relationship between the first light wave scanner and the second light wave scanner;
and the synchronous module controls the scanning frequency of the first light wave scanner and the second light wave scanner.
2. The spatial positioning system of claim 1, wherein said first lightwave scanner is a dual laser scanner comprising a synchronized light source, a first high speed rotor and a second high speed rotor perpendicular to each other,
the first high-speed rotor or the second high-speed rotor comprises a laser transceiver module or an infrared transmitter, and the first high-speed rotor scans the space around the first direction axis; the second high speed rotor scans the space around the second directional axis;
the synchronous light source is matched with the space scanning work of the first high-speed rotor and the second high-speed rotor.
3. The spatial positioning system of claim 1, wherein said second lightwave scanner is a single laser scanner comprising a synchronized light source, a high speed rotor,
the high-speed rotor comprises a laser transceiver module or an infrared transmitter, and the high-speed rotor scans the space around the first direction axis or the second direction axis;
the synchronous light source is matched with the space scanning work of the high-speed rotor.
4. The spatial location system of claim 1, further comprising an output module or a display,
the output module transmits the spatial position value in a wired or wireless mode;
the display displays the spatial position value in the form of numbers, sounds or three-dimensional images.
5. A spatial localization method based on the spatial localization system of claim 1, comprising the steps of:
s100: the synchronous module controls the scanning frequency of the first light wave scanner and the second light wave scanner
S200: a first high speed rotor of the first lightwave scanner scans the space about the first directional axis;
s300: a second high-speed rotor of the first lightwave scanner scans the space about the second directional axis;
s400: a high-speed rotor of the second lightwave scanner scans the space around the first directional axis or the second directional axis;
s500: the reflection or receiving device sequentially reflects or receives the scanning light waves emitted by the first light wave scanner or the second light wave scanner;
s600: the data acquisition module acquires the reflected light waves received by the first light wave scanner or the second light wave scanner, or acquires the light waves received by the reflection or receiving device, and acquires the deflection angle of the reflection or receiving device;
s700: and the calculation module calculates and obtains the spatial position value of the reflection or receiving device according to the scanning angular speeds of the first light wave scanner and the second light wave scanner, the acquired data provided by the data acquisition module and the distance relationship between the first light wave scanner and the second light wave scanner.
6. The spatial location method of claim 5, wherein the first directional axis is in a perpendicular relationship to the second directional axis.
7. The spatial location method of claim 5, wherein a distance is maintained between said first and second optical wave scanners.
8. The spatial location method of claim 5, wherein the step of S700 is followed by the steps of:
s800: the output module transmits the spatial position value in a wired or wireless mode;
s900: the display shows the spatial position value in the form of a number, a sound, or a three-dimensional image.
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| EP2933656A1 (en) * | 2014-04-14 | 2015-10-21 | The Boeing Company | Aerial positioning systems and methods |
| CN105652279A (en) * | 2016-03-11 | 2016-06-08 | 北京维阿时代科技有限公司 | Real-time spatial positioning system and method and virtual reality device comprising system |
| CN205450268U (en) * | 2016-03-11 | 2016-08-10 | 北京维阭时代科技有限公司 | Real -time space positioning system and contain virtual reality equipment of this system |
| CN205643692U (en) * | 2016-04-22 | 2016-10-12 | 成都理想境界科技有限公司 | Space positioning system , positioning device and light sensor module |
| CN106199517A (en) * | 2016-06-30 | 2016-12-07 | 成都理想境界科技有限公司 | A kind of location equipment, locating base station, space positioning system and method |
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| EP2933656A1 (en) * | 2014-04-14 | 2015-10-21 | The Boeing Company | Aerial positioning systems and methods |
| CN105652279A (en) * | 2016-03-11 | 2016-06-08 | 北京维阿时代科技有限公司 | Real-time spatial positioning system and method and virtual reality device comprising system |
| CN205450268U (en) * | 2016-03-11 | 2016-08-10 | 北京维阭时代科技有限公司 | Real -time space positioning system and contain virtual reality equipment of this system |
| CN205643692U (en) * | 2016-04-22 | 2016-10-12 | 成都理想境界科技有限公司 | Space positioning system , positioning device and light sensor module |
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