CN107024677B - Virtual reality positioning system - Google Patents
Virtual reality positioning system Download PDFInfo
- Publication number
- CN107024677B CN107024677B CN201611004714.5A CN201611004714A CN107024677B CN 107024677 B CN107024677 B CN 107024677B CN 201611004714 A CN201611004714 A CN 201611004714A CN 107024677 B CN107024677 B CN 107024677B
- Authority
- CN
- China
- Prior art keywords
- laser
- scanning
- scanning device
- rotation
- virtual reality
- 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.)
- Active
Links
Images
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
Abstract
The invention discloses a virtual reality positioning system, which comprises a laser emitting device and virtual reality equipment; the laser emission device is fixedly arranged at a preset position in an area to be monitored, the laser emission device comprises M groups of emission units, the single scanning time of the M groups of emission units aiming at the area to be monitored is longer than the scanning time of any group of emission units and is not longer than the time T of one laser rotary scanning device rotating for one circle, and M is a positive integer larger than 1; wherein, including three laser rotary scanning device in every group transmitting element, the laser signal that three laser rotary scanning device launches can be received to the point of receipt on the virtual reality equipment, and then virtual reality equipment realizes once fixing a position according to the laser signal of every group transmitting element transmission of receipt, three laser rotary scanning device starts in order and right treat that the scanning period in monitoring area is inequality for there is the problem of blank window period in the current laser scanning mode of solution.
Description
Technical Field
The invention relates to the field of virtual reality, in particular to a virtual reality positioning system.
Background
Virtual Reality (Virtual Reality for short) is a high and new technology appearing in recent years, and Virtual Reality is a Virtual world which utilizes computer simulation to generate a three-dimensional space, provides simulation of senses of vision, hearing, touch and the like for a user, and enables the user to observe objects in the three-dimensional space in time without limitation as if the user is in his own right.
Present virtual reality positioning system includes the virtual reality helmet and laser positioning basic station, and wherein laser positioning basic station generally is the cuboid basic station that inside contains three laser rotary scanning device, and the fixed wall angle department that sets up in the room usually, every laser rotary scanning device launches laser face in proper order according to the chronogenesis and scans the room, therefore the laser face that three laser rotary scanning device launches can intersect in a point, utilizes triangle-shaped sinusoidal principle can fix a position out the coordinate of intersect. Therefore, the motion state of the head of the user can be accurately tracked, so that different scenes are presented to the user when the image is displayed.
Because only one surface of the existing laser positioning base station can transmit light, each laser rotary scanning device occupies 1/4 scanning period when scanning the whole room (90-degree range), and 3 laser rotary scanning devices occupy 3/4 scanning period, so that the scanning period of 1/4 is always the empty window period when the laser positioning base station scans the whole monitoring area each time. Therefore, a new laser scanning method is needed to solve the problem of the window blank period in the existing laser scanning method.
Disclosure of Invention
The embodiment of the invention provides a virtual reality positioning system, which is used for solving the problem of a blank window period in the existing laser scanning mode.
The method comprises the steps that a virtual reality positioning system comprises a laser emitting device and virtual reality equipment; the laser emission device is fixedly arranged at a preset position in an area to be monitored, the laser emission device comprises M groups of emission units, the single scanning time of the M groups of emission units aiming at the area to be monitored is longer than the scanning time of any group of emission units and is not longer than the time T of one laser rotary scanning device rotating for one circle, and M is a positive integer larger than 1;
wherein, including three laser rotary scanning device in every emission unit of group, the laser face of three laser rotary scanning device transmission can intersect in a point, so that virtual reality equipment realizes once fixing a position through receiving the laser signal of every emission unit transmission receipt of group, three laser rotary scanning device starts in order and right treat that the scanning period in monitoring area is inequality.
In the embodiment of the invention, by improving the laser emitting device and integrating a plurality of groups of emitting units in the laser emitting device, wherein each group of emitting units comprises three laser rotary scanning devices, a receiving point on the virtual reality equipment can receive laser signals emitted by the three laser rotary scanning devices, and further the virtual reality equipment realizes one-time positioning according to the received laser signals emitted by each group of emitting units, because the laser emitting device is integrated with a plurality of groups of emitting units, the laser emitting device provided by the embodiment of the invention has a larger scanning range compared with the traditional single laser emitting base station, in addition, the single scanning time of M groups of emitting units aiming at the area to be monitored is longer than the scanning time of any group of emitting units and is not longer than the time T of one laser rotary scanning device rotating for one circle, therefore, the laser emitting device provided by the embodiment of the invention can fully utilize each rotation period T, the blank window period is reduced as far as possible, the virtual reality equipment realizes one-time positioning by receiving the laser signals transmitted and received by each group of transmitting units, the position information of the user and the hand posture information of the user are determined according to the positioning result, and the position information and the hand posture information of the user can be displayed in the virtual scene, so that the interaction between the user and the virtual scene is realized, and the virtual reality experience of the user is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a laser emitting device according to an embodiment of the present invention;
fig. 2 is a schematic view of a laser rotation scanning device in a laser emitting device according to an embodiment of the present invention;
FIG. 3 is a schematic view of an assembly of a laser rotary scanning apparatus according to an embodiment of the present invention;
fig. 4 is a scanning timing chart of the laser rotation scanning apparatus for each group of emission units in the laser emission apparatus according to the embodiment of the present invention;
FIG. 5 is a schematic diagram of triangulation provided by an embodiment of the present invention;
fig. 6 is a scanning timing diagram of a first arrangement of the laser rotation scanning apparatus of two groups of emission units in the laser emission apparatus according to the embodiment of the present invention;
FIG. 7 is a diagram illustrating a scanning manner of the X-axis and Z-axis laser rotation scanning device according to the first arrangement of the present invention;
fig. 8 is a scanning timing diagram of a second arrangement manner of the laser rotation scanning apparatus of two groups of emission units in the laser emission apparatus according to the embodiment of the present invention;
fig. 9 is a second synchronous scanning timing chart of the laser rotation scanning apparatus of two groups of emitting units in the laser emitting apparatus according to the embodiment of the present invention;
fig. 10 is a schematic view of an assembly manner of receiving points of virtual reality equipment according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to solve the problems mentioned in the background art, the embodiment of the present invention provides a new laser transmitter, as shown in fig. 1, the laser transmitter is fixedly disposed at a predetermined position in an area to be monitored, the laser transmitter includes M groups of transmitter units, each group of transmitter units in the laser transmitter includes three laser rotary scanning devices, and the three rotary scanning devices A, B, C scan the whole space to be monitored, wherein the rotating directions of the motors of the rotary scanning device a and the rotary scanning device C are the same, and the rotating direction of the motor of the rotary scanning device B is different from (e.g. perpendicular to) the rotating directions of a and C. In addition, the laser emitting device also comprises a synchronization module and a multi-axis linkage control module, wherein the synchronization module is used for emitting a synchronization signal to the laser receiving device to realize initial angle synchronization with the laser receiving device, and the multi-axis linkage control module is used for controlling the rotating speed of a direct current brushless motor and a driver in each laser rotary scanning device and controlling the laser scanning sequence of all the laser rotary scanning devices. In fig. 1, the light source cannot penetrate through the solid line structure of each group of emission units, and the light source penetrates through the dotted line structure. Because every laser rotary scanning device can all launch the laser face and scan the monitoring area, the laser signal that three laser rotary scanning device launches can be received to the receiving point on the virtual reality equipment, and then virtual reality equipment realizes once fixing a position according to the laser signal of every group of transmitting element transmission that receives.
Further, the internal structure of the laser rotary scanning device is as shown in fig. 2, each laser rotary scanning device comprises a laser module, a laser emitting device, a mirror device, a coupler, a dc brushless motor and a driver, the laser emitting module is used for emitting a laser signal to the mirror device, the mirror device is used for reflecting the laser signal emitted by the laser module to the mirror device to the area to be monitored, the coupler is used for fixing the mirror device to the dc brushless motor and the driver, and the dc brushless motor and the driver can rotate at a constant speed so as to drive the mirror device to rotate, thereby realizing laser scanning of the area to be monitored.
The principle of the virtual reality positioning system using the laser emitting device to position the virtual reality device is described in detail below. In the embodiment of the invention, before the virtual reality device is positioned, the position of the laser emitting device is deployed, for example, the laser emitting device is placed at one corner of the monitoring area, so that 90-degree laser scanning of the monitoring area can be realized as long as the mirror device in the laser rotating and scanning device rotates 45 degrees, that is, complete laser scanning of the monitoring area is realized.
Referring to fig. 2, a laser module in the laser rotary scanning device emits a laser signal to the mirror device, the mirror device reflects the laser signal to the monitoring area to form a laser plane, and since the mirror device is fixed on the dc brushless motor and driver, for example, optionally, the mirror device is fixed on the dc brushless motor and driver through a coupling, the rotation of the dc brushless motor and driver is driven by the multi-axis linkage control module, thereby driving the mirror device to rotate, and reflecting the laser signal emitted by the laser module to the monitoring area, and a laser surface is formed to scan the monitoring area as long as the laser receiving device is positioned in the monitoring area and in the laser scanning range of the first laser rotary scanning device, the laser receiving device can receive the laser signal emitted by the first laser rotary scanning device.
After the laser emitting devices are deployed, the multi-axis linkage control module controls the plurality of laser rotary scanning devices to respectively perform laser scanning on the monitored area, for example, if three laser rotary scanning devices are provided and are respectively represented by A, B, C, the monitoring area can be controlled to perform periodic laser scanning according to the sequence of A-B-C-A-B-C-A-B-C- … …, and only one laser rotary scanning device can perform laser scanning on the monitored area at the same time.
Optionally, the laser emitting device includes three laser rotation scanning devices, wherein the mirror devices in two laser rotation scanning devices rotate in the horizontal direction and are located on the same horizontal line with the word line laser module; the other mirror device in the laser rotary scanning device rotates along the vertical direction and is positioned on the same vertical line with the word line laser module.
For example, the laser emitting device has three laser rotation scanning devices, and in order to ensure that laser planes emitted by the three laser rotation scanning devices can intersect at a point, the mirror devices in two of the laser rotation scanning devices can rotate along the horizontal direction and are located at the same horizontal line with a word line laser module, and the mirror device in the other laser rotation scanning device rotates along the vertical direction and is located at the same vertical line with the word line laser module, the structure of the laser emitting device is shown in fig. 3, when the laser emitting device is arranged, a light ray outlet surface and a wall surface are arranged at a corner of a ceiling at an angle of 45 degrees, and the upper boundary of the light ray outlet surface is parallel to the ceiling so as to obtain the maximum scanning range. When the laser emitting devices are horizontally arranged, two laser rotary scanning devices perform rotary scanning in the horizontal direction (one line of laser module is vertical), and one laser light source performs rotary scanning in the vertical direction (one line of laser module is horizontal); when the laser emitting devices are vertically placed, two of the laser rotary scanning devices perform vertical rotary scanning (a word line laser module is horizontal), and one of the laser rotary scanning devices performs horizontal rotary scanning (a word line laser module is vertical). So that the laser planes emitted by the three laser rotary scanning devices can intersect at a point.
Of course, the above-mentioned method is only a preferable method, and in practical applications, it is only necessary that the scanning directions of two laser rotary scanning devices are not identical (for example, various oblique deployment methods, etc.), and all of such deployment requirements are to ensure that the laser planes emitted by the respective laser rotary scanning devices can intersect at a point.
As shown in fig. 4, when the motor speed of the laser emitting device reaches 60Hz (3600 rpm), about 16.7ms can scan the receiving point of the helmet/handle D in fig. 4, and during this period, the displacement of the helmet/handle D is small (referring to the moving speed of the head and hand of the human body), and it can be considered that the position of the helmet/handle D is not changed. Initially, phase differences of the three laser rotary scanning devices are arranged by 90 degrees, when the motor rotates to an initial position, the motor flickers through an infrared light source, a photosensitive device is arranged on the helmet/handle D, initial starting time t0 of the first laser rotary scanning device in the first group is obtained, it is assumed that the first laser rotary scanning device in the first group scans the helmet/handle D after t1 time, the rotation angular velocity of the motor is phi, and the rotation angle of the first laser scanning device is: α ═ Φ × (t1-t 0); after the first laser rotary scanning device scans the area to be monitored, sending a synchronization signal to the helmet/handle D through the infrared light source flashing, acquiring the initial starting time t 0' of the second laser rotary scanning device in the first group by the helmet/handle D, and assuming that the second laser scanning device in the first group scans the helmet/handle D after t2 time, the rotation angular velocity of the motor is phi, and the rotation angle of the second laser scanning device is: β ═ Φ × (t2-t 0); by analogy, r ═ Φ × (t3-t0) is obtained because the coordinates of each laser rotary scanning device are known, so that the exact position of the helmet/handle D can be determined using triangulation. Because the rotating speed of a motor of the laser emitting device reaches 60Hz, the rotating angular speed phi of the motor is 21.6 degrees, and the three time differences are respectively 2.7ms, 1.3ms and 3.2 ms; the processor of the virtual reality device can calculate the three angles of the handle relative to the light source as 58.3 degrees, 28.5 degrees and 67.1 degrees respectively, because the coordinates of the three laser rotating and scanning devices in the laser emitting device are known, and therefore the position of the handle in the space can be calculated by using a triangulation method.
Wherein, referring to fig. 5, it is a schematic diagram of triangulation method, wherein fig. 5 includes three laser rotation scanning devices and they are located on the same horizontal line, wherein, the laser signals emitted by the laser rotation scanning device a and the laser rotation scanning device C scan the monitoring area along the horizontal direction, the laser signals emitted by the laser rotation scanning device B scan the monitoring area along the vertical direction, the positions of the laser rotation scanning device a, the laser rotation scanning device B, and the laser rotation scanning device C in the coordinate system are (a, 0, 0), (0, 0, 0), (C, 0, 0), and the X-axis negative direction is the initial angular position of the laser signals emitted by the laser rotation scanning device a and the laser rotation scanning device C, the Y-axis negative direction is the initial angular position of the laser signals emitted by the laser rotation scanning device B, the laser receiving device determines that the obtained rotation angle of the laser rotary scanning device a is α, the rotation angle of the laser rotary scanning device B is β, the rotation angle of the laser rotary scanning device C is γ, and assuming that the position of the laser receiving device is D (x, y, z), the coordinate of D can be calculated by the following formula:
according to the above equation, since α, β, γ, a, and b are known quantities, the position of the laser receiver is found as D (x, y, z), and since the laser receiver is located at the position of the target object, the position of the laser receiver is found, i.e. the position of the target object is known.
Considering that each scanning cycle of the existing laser scanning mode has a blank window period of 1/4, the embodiment of the invention provides two laser arrangement modes, and the two arrangement modes can effectively shorten the blank window period, so that the scanning cycle can be fully utilized, and the scanning frequency is improved. It is assumed that the laser emitting apparatus includes 2 sets of emitting units.
Arrangement mode one
The rotation angular speeds of 6 laser rotating scanning devices in the laser emitting device are the same; each group of transmitting units respectively occupies the scanning time of the area to be monitored
For each group of emission units, the first laser rotary scanning device and the second laser rotary scanning device are arranged at the first position
Scanning the region to be monitored in a time interval, and rotating and scanning the third laser device at the second position
Scanning the region to be monitored within a time period; the first laser rotary scanning device and the second laser rotary scanning device rotate in a first rotating direction, after the first laser rotary scanning device scans to a set angle, the second laser rotary scanning device starts scanning, the third laser rotary scanning device rotates in a second rotating direction, and the second rotating direction is different from the first rotating direction.
That is, two laser rotary scanning devices with the same rotation direction are synchronously scanned in the same 1/4 scanning period, another laser source is scanned in the next 1/4 period, the scanning time of each group of emission units occupies 1/2 scanning period, and the double base stations cooperate to complete the scanning of the whole scanning period. It is assumed that the motor rotation directions of the laser rotation scanning device in the X-axis and Z-axis directions in one set of emission units coincide. As shown in fig. 6, in the first 1/4 scanning period, the laser rotation scanning devices in the X-axis and Z-axis directions of the first group of emission units scan simultaneously, in the second 1/4 scanning period, the laser rotation scanning devices in the Y-axis direction of the first group of emission units scan simultaneously, in the third 1/4 scanning period, in the X-axis and Z-axis directions of the second group of emission units scan simultaneously, in the fourth 1/4 scanning period, the laser rotation scanning devices in the Y-axis direction of the second group of emission units scan simultaneously. Thus, the two groups of emission units are matched to complete a whole scanning period in one motor rotation period, and the next rotation period is carried out in a circulating mode.
Because the laser rotation scanning devices in the X-axis and Z-axis directions start scanning at the same time and the rotation speeds of the two motors are the same, as shown in fig. 7, when the laser rotation scanning device in the X-axis direction scans the handle D, the laser scanning plane of the laser rotation scanning device in the Z-axis direction is parallel to the XD connection line. After the time delta t, the Z-axis direction laser rotation scanning device scans a point D, and at the moment, the laser scanning plane of the X-axis direction laser rotation scanning device is parallel to the ZD connecting line, so that the condition that the point D simultaneously receives the irradiation of two light sources does not exist, and the condition that the photosensitive device simultaneously receives two beams of laser scanning to cause positioning judgment errors can not occur.
Arrangement mode two
The rotation angular velocity of the laser rotation scanning device in each group of emission units in the laser emission device is the same, the second rotation angular velocity of the second group of emission units is K times of the first rotation angular velocity of the first group of emission units, and K is more than or equal to 4;
the scanning duration of the first group of transmitting units aiming at the area to be monitored is
The scanning duration of the second group of transmitting units aiming at the area to be monitored is
For a first group of transmitting units, in
In the time interval, the first laser rotary scanning device is at the first
Scanning the region to be monitored at a first rotation angular velocity in a time interval, and scanning the region to be monitored at a second rotation speed by a second laser scanning device
Scanning the region to be monitored at a first rotation angular velocity in a time interval, and scanning with a third laser rotation scanning device at a third rotation angular velocity
Scanning the region to be monitored with a first rotation angular velocity over a period of time; the first laser rotary scanning device and the second laser rotary scanning device rotate in a first rotating direction, the third laser rotary scanning device rotates in a second rotating direction, and the second rotating direction is different from the first rotating direction;
for the second group of transmitting units, in the fourth
In the time interval, the first laser rotary scanning device is at the first
Scanning the region to be monitored at a second rotation angular velocity in a time interval, and using a second laser rotation scanning device at a second position
Scanning the region to be monitored at a second rotation angular velocity in a time period, and using a third laser rotation scanning device to scan the region to be monitored at a third rotation angular velocity
Scanning the region to be monitored with a second rotation angular velocity in a time period; the first laser rotary scanning device and the second laser rotary scanning device rotate in a first rotating direction, and the third laser rotary scanning device rotates in a second rotating direction.
That is, at this time, the laser emitting device is divided into the main emitting unit and the auxiliary emitting unit, so that when the rotation speed of the motor in the auxiliary emitting unit reaches 4 times of the rotation speed of the motor in the main emitting unit, the scanning can be completed by the empty window period of 1/4 scanning cycles occupied by the auxiliary emitting unit, and when the main emitting unit scans again, the auxiliary emitting unit is turned off and the process is repeated. As shown in fig. 8, the arrangement can also make full use of the scanning time and increase the scanning frequency.
In addition, if each group of emission units only sends a synchronization signal to the virtual reality device when the first laser rotary scanning device starts scanning, as shown in fig. 9, that is, the virtual reality device determines that the initial time of the other group of emission units is T10 and T20, the times when the three laser rotary scanning devices of X1Y1Z1 in the first group of emission units scan to the receiving end are T1X, T1Y and T1Z, and the times when the three laser rotary scanning devices of X2Y2Z2 in the second group of emission units scan to the receiving end are T2X, T2Y and T2Z, respectively. Because the scanning directions of the X-axis motor and the Z-axis motor are consistent, the phase difference among the X-axis motor, the Y-axis motor and the Z-axis motor is respectively 90 degrees. Assuming that the rotation angular velocity of the motor of the first group of emission units is phi 1, when the first group of emission units positions the virtual reality device, the rotation angular angle a of the first laser rotation scanning device is phi 1x (T1 x-T10); as the rotation angle Z of the laser rotation scanning device is consistent with the X rotation direction, the rotation angle b of the second laser rotation scanning device is 360-phi 1X (T1Z-T10); the rotation angle c of the third laser rotation scanning device is equal to the actual rotation angle, and the phase difference is 90 degrees, equal to phi 1x (T1y-T10) and equal to 90 degrees.
Assuming that the rotation angular speed of the motor of the second group of transmitting units is phi 2, and the same can be obtained, when the second group of transmitting units locates the virtual reality device, the angle d is phi 2x (T2 x-T20); angle e is 360 ° - Φ 2 × (T2 z-T20); angle f is ═ 2 × (T2y-T20) -90 °.
For the first programming mode, under the condition that an initial time T0 exists in one scanning period, no phase difference exists between X-axis and Z-axis laser rotation scanning devices in the laser emitting device at the initial position, so that ═ a ═ φ X (T1Z-T0); the other two angle calculation modes are not changed, and the angle b is phi x (T1 x-T0); angle c ═ Φ × (T1y-T10) -90 °. Because the two laser rotary scanning devices of X2 and Z2 in the laser emitting device 2 are initially 180 degrees out of phase, the angle d is equal to phi X (T2X-T0) -180 degrees; angle e ═ Φ × (T2z-T0) -180 °; the laser rotation scanning device Y2 is initially phase-shifted by 270 °, so ═ f ═ Φ × (T2Y-T0) -270 °.
Further, for the virtual reality device, in order to accurately and effectively receive the scanning of the laser, the receiving end should be arranged with the photosensitive devices on the surface of the receiving end as many as possible, and on the other hand, the increase of the photosensitive devices leads to the increase of the production cost and the difficulty of the structural arrangement. To satisfy this balance, embodiments of the present invention provide the following deployment methods. Considering that the scanning area of the laser emitting device is 90 °, if it is ensured that the object can be scanned by the three light sources of the base station in any state, at least one photosensor is required in the 90 ° range.
For convex objects (such as cuboids, cubes, spheres, cylinders and the like) with standard shapes, a space coordinate axis (xyz) can be established by taking the central point of the convex object as an origin, and the node of the coordinate axis and the surface can be used as the deployment position of the photosensitive device. The requirements can be met by respectively arranging one photosensitive device on six surfaces like a cuboid, and the photosensitive devices can be arranged on six symmetrical directions of front, back, left, right, upper and lower in a spherical shape.
For irregular objects, the deployment method of the photosensitive device adopts the same mode, the photosensitive device is divided into eight parts by a space coordinate system by taking the position close to the center of the interior of the photosensitive device as an origin, and the photosensitive device is deployed at the center of each part, so that the minimum number of deployed devices can be met, and no missing points exist.
As shown in fig. 10, it can be seen from fig. 10 that a plane formed by xy divides the wheel-like annular object into two parts, i.e., a front part and a rear part, and if the front part is scanned within a range of 90 °, four photosensors can be disposed at the intersection of the xy axis and the annular body, and similarly, in order to ensure that the object can be scanned during any rotation, four photosensors should be disposed at the corresponding positions of the rear part, and 8 photosensors are disposed on the surface of the object in total. Therefore, the scanning of the laser can be accurately and effectively received, and the number of photosensitive devices is reduced as much as possible. The generation is saved.
To sum up, the embodiment of the present invention integrates multiple sets of emission units in a laser emission device by improving a laser emission device, wherein each set of emission unit includes three laser rotation scanning devices, a receiving point on a virtual reality device can receive laser signals emitted by the three laser rotation scanning devices, and further the virtual reality device realizes one-time positioning according to the received laser signals emitted by each set of emission units, because the laser emission device integrates multiple sets of emission units, the laser emission device provided in the embodiment of the present invention has a larger scanning range compared with a conventional single laser emission base station, and in addition, the time length of a single scanning of M sets of emission units for the region to be monitored is longer than the scanning time length of any set of emission units and is not longer than the time T of one rotation of one laser rotation scanning device, so the laser emission device provided in the embodiment of the present invention can fully utilize each rotation period T, the blank window period is reduced as far as possible, then the virtual reality equipment can be positioned once more accurately by receiving the laser signals transmitted and received by each group of transmitting units, the position information of the user and the hand posture information of the user are determined according to the positioning result, and the position information and the hand posture information of the user can be displayed in a virtual scene, so that the interaction between the user and the virtual scene is realized, and the virtual reality experience of the user is improved.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. A virtual reality positioning system is characterized by comprising a laser emitting device and virtual reality equipment; the laser emission device is fixedly arranged at a preset position in an area to be monitored, the laser emission device comprises M groups of emission units, the single scanning time of the M groups of emission units aiming at the area to be monitored is longer than the scanning time of any group of emission units and is not longer than the time T of one laser rotary scanning device rotating for one circle, and M is a positive integer larger than 1;
each group of emission units comprises three laser rotary scanning devices, laser surfaces emitted by the three laser rotary scanning devices can intersect at one point, so that the virtual reality equipment can realize one-time positioning by receiving laser signals emitted and received by each group of emission units, and the three laser rotary scanning devices are started in sequence and have different scanning time periods for the areas to be monitored;
the laser emitting device comprises 2 groups of emitting units, and the rotating angular speeds of 6 laser rotating scanning devices are the same; each group of transmitting units respectively occupies the scanning time of the area to be monitored
For each group of emission units, the first laser rotary scanning device and the second laser rotary scanning device are arranged at the first position
Scanning the region to be monitored in a time interval, and rotating and scanning the third laser device at the second position
Scanning the region to be monitored within a time period; the first laser rotary scanning device and the second laser rotary scanning device rotate in a first rotating direction, after the first laser rotary scanning device scans to a set angle, the second laser rotary scanning device starts scanning, the third laser rotary scanning device rotates in a second rotating direction, and the second rotating direction is different from the first rotating direction.
2. The virtual reality positioning system of claim 1, wherein eachThe laser rotary scanning device sends a synchronous signal to the laser receiving device when starting scanning so that the laser receiving device determines the laser rotary scanning device of the received laser signal according to the received synchronous signal, wherein the scanning time of each laser rotary scanning device aiming at the area to be monitored is not more than
3. The virtual reality positioning system of claim 1, wherein the laser emitting device comprises 2 groups of emitting units, the rotational angular velocity of the laser rotation scanning device in each group of emitting units is the same, and the second rotational angular velocity of the second group of emitting units is K times the first rotational angular velocity of the first group of emitting units, K being greater than or equal to 4;
the scanning duration of the first group of transmitting units aiming at the area to be monitored is
The scanning duration of the second group of transmitting units aiming at the area to be monitored is
For a first group of transmitting units, in
In the time interval, the first laser rotary scanning device is at the first
Scanning the region to be monitored at a first rotation angular velocity in a time interval, and scanning the region to be monitored at a second rotation speed by a second laser scanning device
Scanning the region to be monitored with a first angular velocity of rotation over a period of time, a third laserRotary scanning devices in the third
Scanning the region to be monitored with a first rotation angular velocity over a period of time; the first laser rotary scanning device and the second laser rotary scanning device rotate in a first rotating direction, the third laser rotary scanning device rotates in a second rotating direction, and the second rotating direction is different from the first rotating direction;
for the second group of transmitting units, in the fourth
In the time interval, the first laser rotary scanning device is at the first
Scanning the region to be monitored at a second rotation angular velocity in a time interval, and using a second laser rotation scanning device at a second position
Scanning the region to be monitored at a second rotation angular velocity in a time period, and using a third laser rotation scanning device to scan the region to be monitored at a third rotation angular velocity
Scanning the region to be monitored with a second rotation angular velocity in a time period; the first laser rotary scanning device and the second laser rotary scanning device rotate in a first rotating direction, and the third laser rotary scanning device rotates in a second rotating direction.
4. The virtual reality positioning system of any one of claims 1 to 3, wherein the laser rotation scanning device comprises a laser module, a DC brushless motor and driver, and a mirror device, and the mirror device is fixed to the DC brushless motor and driver;
the laser signal is emitted by the laser rotary scanning device in the following way, comprising:
the laser rotary scanning device reflects a laser signal emitted by the line laser module to a monitoring area through the mirror device to form a laser surface, and the mirror device is driven to rotate through the rotation of the direct-current brushless motor and the driver, so that the laser surface is enabled to scan the monitoring area in a rotary mode.
5. The virtual reality positioning system of claim 4, wherein a synchronization signal is emitted by the laser rotary scanning device as follows:
when the laser rotary scanning device detects that the direct current brushless motor and the driver rotate to the initial angle required to start scanning through an angle sensor in the laser rotary scanning device, the synchronous signal is transmitted to the monitoring area through a synchronous module.
6. The virtual reality positioning system of claim 4, wherein the laser positioning base station comprises 2 sets of laser rotation scanning devices, each set of laser rotation scanning device comprises three laser rotation scanning devices, wherein the mirror device of each set of two laser rotation scanning devices rotates along the horizontal direction and is located at the same horizontal line with a word line laser module, and the mirror device of the other laser rotation scanning device rotates along the vertical direction and is located at the same vertical line with a word line laser module.
7. The virtual reality positioning system of any one of claims 1 to 2, wherein the virtual reality device is specifically configured to:
recording a first time of a synchronous signal transmitted by each laser rotary scanning device and a second time of a laser signal transmitted by each laser rotary scanning device, which are respectively received by the positioning light beam receiver;
determining a receiving time length according to the first time and the second time, wherein the receiving time length is used for representing a time interval from the receiving of the synchronous signal to the receiving of the laser signal;
determining the rotation angle of each laser rotary scanning device according to the receiving duration;
and determining the position of the virtual reality equipment by a triangulation method according to the rotation angle of each laser rotation scanning device of the M groups of laser rotation scanning devices and the position of each laser rotation scanning device.
8. The virtual reality positioning system of claim 7, wherein the virtual reality device determines the rotation angle of each laser rotary scanning device according to the product of the receiving duration of each laser rotary scanning device and the rotation angular velocity of each laser rotary scanning device.
9. The virtual reality positioning system of any one of claims 1 to 2, wherein the outer surface of the housing of the virtual reality device has a plurality of differently oriented faces on which a plurality of positioning beam receivers are uniformly mounted so that a positioning beam receiver on any one face can receive the laser signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611004714.5A CN107024677B (en) | 2016-11-15 | 2016-11-15 | Virtual reality positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611004714.5A CN107024677B (en) | 2016-11-15 | 2016-11-15 | Virtual reality positioning system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107024677A CN107024677A (en) | 2017-08-08 |
| CN107024677B true CN107024677B (en) | 2021-07-27 |
Family
ID=59526059
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611004714.5A Active CN107024677B (en) | 2016-11-15 | 2016-11-15 | Virtual reality positioning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107024677B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107811331A (en) * | 2017-11-08 | 2018-03-20 | 季孝伟 | A kind of manufacture method of 3D frivolous ventilatives athletic undergarment |
| CN108061879B (en) * | 2017-11-30 | 2020-10-09 | 歌尔科技有限公司 | Space positioning method and device, electronic equipment and system |
| CN108966342B (en) * | 2018-06-08 | 2021-01-08 | 上海乐相科技有限公司 | VR positioning method, device and system |
| WO2020047858A1 (en) * | 2018-09-07 | 2020-03-12 | 深圳市大疆创新科技有限公司 | Laser ranging method and device |
| CN110865336B (en) * | 2019-11-28 | 2023-05-23 | 柳州辉视科技有限公司 | Laser tracking and positioning device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8397181B2 (en) * | 2008-11-17 | 2013-03-12 | Honeywell International Inc. | Method and apparatus for marking a position of a real world object in a see-through display |
| 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 |
| CN106093863B (en) * | 2016-05-31 | 2018-08-14 | 上海乐相科技有限公司 | A kind of object localization method and laser receiver using laser scanning |
-
2016
- 2016-11-15 CN CN201611004714.5A patent/CN107024677B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107024677A (en) | 2017-08-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107024677B (en) | Virtual reality positioning system | |
| CN106093863B (en) | A kind of object localization method and laser receiver using laser scanning | |
| US20220308167A1 (en) | Positional Tracking Systems and Methods | |
| CN206400088U (en) | A kind of sender unit | |
| US10725147B2 (en) | Positioning light beam emission system, method and indoor positioning system | |
| CN106443699B (en) | A kind of multi-composite type laser radar apparatus and corresponding scan method | |
| CN106851575B (en) | Method for uniformly positioning base station coordinate system and positioning calibration device | |
| CN105138135A (en) | Head-mounted type virtual reality device and virtual reality system | |
| US20230012240A1 (en) | Data acquisition device, data correction method and apparatus, and electronic device | |
| CN108398696A (en) | Multi-thread rotary laser radar installations | |
| CN106878944B (en) | Method for calibrating coordinate system of positioning base station and positioning calibration device | |
| CN109215111A (en) | A kind of indoor scene three-dimensional modeling method based on laser range finder | |
| CN107346013B (en) | A kind of method and device for calibrating locating base station coordinate system | |
| CN107064953A (en) | A kind of localization method and device based on laser radar | |
| CN106054377A (en) | Light beam scanning mechanism, light beam scanning device and positioning system | |
| CN108226865A (en) | A kind of object localization method and device using laser scanning | |
| CN106792537A (en) | A kind of alignment system | |
| CN106324564B (en) | Positioning method, device, equipment and system | |
| Islam et al. | Indoor positional tracking using dual-axis rotating laser sweeps | |
| US20210348922A1 (en) | Eyewear display system and eyewear display method | |
| CN210952856U (en) | Indoor positioning and tracking device and system based on laser radar | |
| CN206248822U (en) | A kind of locating base station and alignment system | |
| CN110166653A (en) | The tracking system and method for camera position and posture | |
| CN206775653U (en) | More depth camera compact panoramic scanning equipment | |
| CN206209095U (en) | A kind of locating base station and alignment system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |