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 PDFInfo
- 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
- Authority
- CN
- China
- Prior art keywords
- virtual reality
- beacon
- reality device
- laser
- location method
- 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
- 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
Landscapes
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
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
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.
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 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106980108A true CN106980108A (en) | 2017-07-25 |
Family
ID=59340790
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610381598.2A Pending CN106980108A (en) | 2016-06-02 | 2016-06-02 | The virtual reality device space-location method scanned based on light field |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106980108A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108333579A (en) * | 2018-02-08 | 2018-07-27 | 高强 | A kind of system and method for the light sensation equipment dense deployment based on Vive Lighthouse |
| CN110631411A (en) * | 2019-09-02 | 2019-12-31 | 北京易智时代数字科技有限公司 | Virtual shooting training control method and system |
Citations (3)
| 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 |
-
2016
- 2016-06-02 CN CN201610381598.2A patent/CN106980108A/en active Pending
Patent Citations (3)
| 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)
| 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》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108333579A (en) * | 2018-02-08 | 2018-07-27 | 高强 | A kind of system and method for the light sensation equipment dense deployment based on Vive Lighthouse |
| CN110631411A (en) * | 2019-09-02 | 2019-12-31 | 北京易智时代数字科技有限公司 | Virtual shooting training control method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3913328A1 (en) | Vehicle positioning apparatus, system and method, and vehicle | |
| CN106226780B (en) | More rotor-wing indoor positioning systems and implementation method based on scanning laser radar | |
| KR101796193B1 (en) | System and method for tracking position using drone | |
| CN110233664B (en) | Tracking and aiming control system and tracking and aiming control method for wireless optical communication | |
| EP3218736A1 (en) | Positional tracking systems and methods | |
| CN110868253B (en) | Capturing, aligning and tracking device for short-distance wireless optical communication | |
| CN108844543A (en) | Indoor AGV navigation control method based on UWB positioning and dead reckoning | |
| CN109239729B (en) | Unmanned variable-view-field solid-state area array laser radar ranging system and method | |
| CN104793637A (en) | Real-time tracking system and method of mobile equipment | |
| CN109818295A (en) | A kind of high-voltage line foreign matter removing system based on unmanned plane | |
| CN107044857A (en) | Asynchronous system map structuring and alignment system and method applied to service robot | |
| CN106980108A (en) | The virtual reality device space-location method scanned based on light field | |
| CN104503473A (en) | Inertial stabilization controller | |
| CN111782064B (en) | 6DOF tracking system of motion type wireless positioning | |
| CN210518336U (en) | Capturing, aligning and tracking device for short-distance wireless optical communication | |
| WO2019054205A1 (en) | Mobile robot system | |
| CN110809118A (en) | Rapid focusing method for gun and ball linkage | |
| CN106950541A (en) | A kind of alignment system, locating base station, locating base station network and positioning terminal | |
| CN213092277U (en) | MR guide terminal and area positioning system | |
| KR101247795B1 (en) | System and method for localizating indoor robot using close range receive sensitivity of wlan | |
| CN210952856U (en) | Indoor positioning and tracking device and system based on laser radar | |
| US20230258804A1 (en) | Detection and communication system, control apparatus, and detection system | |
| CN103076591B (en) | Ultrasonic technology-based industrial robot movement locating method and system | |
| CN102610917A (en) | Method for controlling antennas by high-precision data leading | |
| CN214409706U (en) | Indoor unmanned aerial vehicle positioning system based on machine vision |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| DD01 | Delivery of document by public notice | ||
| DD01 | Delivery of document by public notice |
Addressee: Shanghai Mdt InfoTech Ltd Document name: Notification of Passing Examination on Formalities |
|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190715 Address after: 314400 Area J, Canghai Road, Haining Warp Knitting Industrial Park, Jiaxing City, Zhejiang Province Applicant after: Haining Sinuo Robot Co., Ltd. Address before: Room 701, Building A, 701 Taogan Road, Sheshan Town, Songjiang District, Shanghai, 20102 Applicant before: Shanghai Mdt InfoTech Ltd |
|
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170725 |