CN106980108A - The virtual reality device space-location method scanned based on light field - Google Patents

The virtual reality device space-location method scanned based on light field Download PDF

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Publication number
CN106980108A
CN106980108A CN201610381598.2A CN201610381598A CN106980108A CN 106980108 A CN106980108 A CN 106980108A CN 201610381598 A CN201610381598 A CN 201610381598A CN 106980108 A CN106980108 A CN 106980108A
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CN
China
Prior art keywords
virtual reality
beacon
space
light
laser
Prior art date
Application number
CN201610381598.2A
Other languages
Chinese (zh)
Inventor
黄柴铭
王铭明
宋乐
刘鹏希
于成龙
陈禄
许炎武
李力
郭鑫
许栋
Original Assignee
上海拆名晃信息科技有限公司
Priority date (The priority date 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 date listed.)
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Publication date
Application filed by 上海拆名晃信息科技有限公司 filed Critical 上海拆名晃信息科技有限公司
Priority to CN201610381598.2A priority Critical patent/CN106980108A/en
Publication of CN106980108A publication Critical patent/CN106980108A/en

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16Position-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

Abstract

The present invention relates to a kind of virtual reality device space-location method scanned based on light field.The alignment system includes a VR virtual reality devices and two beacons, it is characterised in that virtual reality device includes laser detector, and beacon is used to launch modulated infrared laser wire harness, and scanning is entirely positioned space.Each beacon corresponds to two laser scanning axles of transverse and longitudinal respectively comprising two groups of laser tubes and motor.To avoid receiving terminal from being disturbed by other light sources such as ambient lights, the infrared laser wire harness sent by beacon is modulated using 2MHz OOK.It is an advantage of the current invention that synchronizing signal uses radio frequency signal, lock in time is accurate;Laser is modulated, it is to avoid ambient light is interfered, and improves detectivity;Motor makes stabilization of speed through closed loop feedback, and the space orientation accuracy of virtual reality device is ensure that in all its bearings and shortens positioning time.

Description

The virtual reality device space-location method scanned based on light field

Technical field

The present invention relates to a kind of virtual reality device space-location method scanned based on light field, especially a kind of separate type Laser light field Scan orientation method.

Background technology

Space track and localization device or three-dimensional airborne sensor are that one kind can detect mobiles in six-freedom degree in real time On relative to some fixed object numerical value, i.e. the positional value on X, Y, Z coordinate, and around the rotational value of X, Y, Z axis. Low frequency magnetic field formula and ultrasonic type sensor are widely used that in virtual reality technology.The low frequency magnetic field of low frequency magnetic field formula sensor It is to be produced by the magnetic field transmitter of the sensor, the transmitter is made up of three orthogonal antennas, is also installed in recipient One orthogonal antenna, it is installed in the moving object of distant place, the magnetic field received according to recipient, can be calculated and be connect Receiver and conveys data to master computer relative to the position and direction of transmitter by communication cable.But low frequency magnetic field formula Space-location method there are problems that operating distance it is short, ultrasonic type sensor exist positioning precision it is low, The problems such as temperature stability is poor, echo is disturbed.

Therefore the present invention devises a kind of virtual reality device space-location method scanned based on light field, can be from basic The problems such as upper solution positioning accuracy difference and poor anti-interference.

The content of the invention

The present invention seeks to:A kind of virtual reality device space-location method scanned based on light field is provided, can improve fixed The accuracy of position, and fully expansion can located space.

The technical scheme is that:A kind of virtual reality device space-location method scanned based on light field, the positioning System includes a VR virtual reality device (3) and two beacons (1 and 2), it is characterised in that virtual reality device (3) is included Laser detector, beacon (1 and 2) is used to launch infrared laser wire harness, and scanning is entirely positioned space.Laser tube (6 and 8) and electricity Machine (11 and 7) is the core devices of beacon, and a laser tube and a motor are one group, constitute a laser scanning axle.Each Beacon has two scan axises, and the axle rotated around vertical direction is called X-axis, and the axle rotated around vertical direction is Y-axis.In scan axis 45 ° of speculums (9), a wordline lens (4) be arranged on revolving mirror bar (5) on, motor is connected to by adapter flange (10) (11) on, and rotated with motor (11).The phase of two scan axises rotation in each beacon differs 180 °.Two beacon (1 Hes 2) scan axis same-phase, two beacon (1 and 2) timesharing light extractions.Beacon laser beam in order to avoid receiving terminal by ambient light etc. its He is disturbed light source, and the infrared laser wire harness sent by beacon is modulated using 2MHz OOK, and it is sufficiently stable and empty that it scans rotating speed Plan real world devices (3) laser detector sensitivity is very high, therefore, it is possible to ensure the accuracy of positioning.

The present invention innovative point be:

1. alignment system includes two beacons i.e. A beacons (1) and B beacons (2) in the present invention.The scanning frequency of whole system Rate is 30Hz, i.e., one scan period about 33ms.In a scan period, beacon A, B X, Y-axis are inswept successively to be positioned sky Between, the time of each inswept located space of axle is about 8.33ms.Motor operation is 3600RPM in 60Hz, and each axle is scanned every time Angle be 180 °, need to ensure that two motors in the synchronizing motors of two beacons, and same beacon have 180 ° of phases Potential difference.

2. system uses three-phase brushless motor in the present invention, motor operation is realized in 3600RPM by driver DRV11873 The driving of brushless electric machine.Motor often turns over a circle, and the silicon photocell BPW34 that laser wire harness can be on inswept PCB once, and then is obtained One pulse, the frequency of pulse is the number of turns of motor rotation per second;On the other hand, it is believed that laser scanning is to being decided to be space Midpoint is at 180 ° of phases, then is the zero point of motor phase at the time of laser inswept BPW34.Thus turning for motor can be obtained Speed and phase information.

3. the closed-loop control of pair motor, is also classified into rotating speed and the aspect of phase two.When speed error is more than 0.5%, system Using 60Hz rotating speeds as adjustment target, motor speed is controlled using pid algorithm;When speed error is less than 0.5%, system Then rotated simultaneously with speed error and phase error controlled motor.If phase error is less than 10 °, then it is assumed that current axis is in phase Position lock-out state.

4. to ensure stable output power, it is to avoid laser tube luminous efficiency decays with the time, one high response speed need to be built Laser tube automated power control (APC) circuit of degree.In order to realize 2MHz modulation, it is desirable to which the switching speed of APC circuits is at least It is that this amplifier is realized from bandwidth 130MHz LMH6643 for 100ns magnitudes.For each scan axis, PGC demodulation it Before, laser tube keeps often bright state;After PGC demodulation, in each measurement period, each measurement axle had 1/4 cycle to tested sky Between be scanned, now laser tube should be at 2MHz modulation conditions.Meanwhile, when another beacon is scanned, in order to avoid Interference, the laser tube of the beacon of current Non-scanning mode state should be closed.

5. needed between two beacons synchronous synchronous by wireless communication between scanning successively to detected space, beacon to ensure Number realize.Beacon A (1) sends primary system synchronizing signal per 33.33ms, and beacon B (2) is realized by receiving this synchronizing signal With beacon A (1) synchronization.The preceding 16.66ms for arranging synchronizing signal is beacon A sweep time, and rear 16.66ms is beacon B's Sweep time., will be by wireless transmission at the time of each scanning starts after its PGC demodulation for each scan axis The ID of current axis.Be positioned at the time of equipment receives wireless signal is at the time of scanning to start, so as to realize that system signal is same Step and motor phase locking signal sending and receive.

Brief description of the drawings

Below in conjunction with the accompanying drawings and embodiment the invention will be further described:

Fig. 1 is whole positioning system structure frame diagram;

Fig. 2 is critical component beacon tooling drawing in the present invention;

Wherein:11 and 7 be motor, and 10 be adapter flange, and 9 be 45 ° of speculums, and 4 be a wordline lens, and 5 be rotation eyeglass Seat, 6 and 8 be infrared pulsed lasers.

Embodiment

Shown in reference picture 1, beacon (1 and 2) transmitting infrared laser wire harness, scanning is entirely positioned space.Beacon laser beam In order to avoid receiving terminal is disturbed by other light sources such as ambient lights, the infrared laser wire harness sent by beacon is adjusted using 2MHz OOK System, the laser sent is received by high sensitivity laser detector in virtual reality device (3), according to received laser signal Phase difference obtains three-dimensional localization of the virtual unit in this space.

I.e. whole positioning flow is:1 and 2 phase is synchronous, and two light in turn.T0-T3The signal lamp tower of moment 1 goes out Light, T4-T7The signal lamp tower light extraction of moment 2.

T0At the moment, 1 sends row scanning commencing signal (x directions)

T1At the moment, 3 receive optical signal, pass through δ1=T1-T0, calculate scanning angle.

T2At the moment, 1 sends column scan commencing signal (y directions)

T3At the moment, 3 receive optical signal, pass through δ2=T3-T2, calculate scanning angle.

T4At the moment, 2 send row scanning commencing signal (x directions)

T5At the moment, 3 receive optical signal, pass through δ3=T5-T4, calculate scanning angle.

T6At the moment, 2 send column scan commencing signal (y directions)

T7At the moment, 3 receive optical signal, pass through δ4=T6-T5, calculate scanning angle.

By trigonometric function, 3 position in space is calculated.

It is described above, the only specific embodiment of the invention.Protection scope of the present invention is not limited thereto, any to be familiar with Those skilled in the art the invention discloses technical scope in, the change or replacement that can be readily occurred in should all be covered Within protection scope of the present invention.Therefore, the protection domain that protection scope of the present invention should be defined using claim as It is accurate.

Claims (6)

1. the virtual reality device space-location method scanned based on light field, the alignment system includes a VR virtual reality device (3) and two beacons (1 and 2), it is characterised in that virtual reality device (3) includes laser detector, beacon (1 and 2) is used to send out Infrared laser wire harness is penetrated, scanning is entirely positioned space.Laser tube (6 and 8) and motor (11 and 7) are the core devices of beacon, One laser tube and a motor are one group, constitute a laser scanning axle.
2. the virtual reality device space-location method according to claim 1 scanned based on light field, it is characterised in that institute Each beacon (1 and 2) is stated with two scan axises, the axle rotated around vertical direction is called X-axis, the axle rotated around vertical direction is Y-axis, each scanning process needs to scan the X-axis Y-axis of two beacons successively.45 ° of speculums (9), wordline in scan axis are saturating Mirror (4) is arranged on revolving mirror bar (5), is connected to by adapter flange (10) on motor (11), and is rotated with motor (11).
3. the virtual reality device space-location method according to claim 1 scanned based on light field, it is characterised in that two The scan axis same-phase of individual beacon (1 and 2), the phase of two scan axis rotations differs 180 °, and two beacon (1 and 2) timesharing go out Light.
4. the virtual reality device space-location method according to claim 1 scanned based on light field, it is characterised in that institute Beacon laser beam is stated in order to avoid receiving terminal is disturbed by other light sources such as ambient lights, the infrared laser wire harness sent by beacon is used 2MHz OOK are modulated.
5. the virtual reality device space-location method according to claim 1 scanned based on light field, it is characterised in that institute It is wireless signal control to state system synchronization signal and motor phase locking signal, to ensure scan axis stabilization of speed.
6. the virtual reality device space-location method according to claim 1 scanned based on light field, it is characterised in that empty Intend real world devices (3) and use high sensitivity laser detector, to ensure signal receiving efficiency and speed.
CN201610381598.2A 2016-06-02 2016-06-02 The virtual reality device space-location method scanned based on light field CN106980108A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610381598.2A CN106980108A (en) 2016-06-02 2016-06-02 The virtual reality device space-location method scanned based on light field

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610381598.2A CN106980108A (en) 2016-06-02 2016-06-02 The virtual reality device space-location method scanned based on light field

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1619330A (en) * 2003-11-17 2005-05-25 中国农业大学 Infrared positioning system and method
CN103760517A (en) * 2014-01-14 2014-04-30 中国矿业大学 Method and device for achieving high-precision tracking and positioning through underground scanning satellites
CN105607034A (en) * 2015-12-23 2016-05-25 北京凌宇智控科技有限公司 Three-dimensional space detection system, positioning method and system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1619330A (en) * 2003-11-17 2005-05-25 中国农业大学 Infrared positioning system and method
CN103760517A (en) * 2014-01-14 2014-04-30 中国矿业大学 Method and device for achieving high-precision tracking and positioning through underground scanning satellites
CN105607034A (en) * 2015-12-23 2016-05-25 北京凌宇智控科技有限公司 Three-dimensional space detection system, positioning method and system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
杨凌辉: "基于光电扫描的大尺度空间坐标测量定位技术研究", 《中国博士学位论文全文数据库 工程科技I辑》 *

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