CN109269483B - Calibration method, calibration system and calibration base station for motion capture node - Google Patents
Calibration method, calibration system and calibration base station for motion capture node Download PDFInfo
- Publication number
- CN109269483B CN109269483B CN201811099223.2A CN201811099223A CN109269483B CN 109269483 B CN109269483 B CN 109269483B CN 201811099223 A CN201811099223 A CN 201811099223A CN 109269483 B CN109269483 B CN 109269483B
- Authority
- CN
- China
- Prior art keywords
- axis
- calibration
- arrival time
- node
- included angle
- 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
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a calibration method, a calibration system and a calibration base station of a motion capture node. Firstly, establishing a rectangular coordinate system according to a rotating laser beam emitted by a calibration base station; then determining the included angle between each pulse signal and the coordinate axis according to the standard time reference, the actual arrival time of the pulse signal and the scanning speed of the rotating laser beam; and finally, calibrating according to the relative position of each included angle and the motion capture node. Therefore, the invention can realize the calibration of the non-differentiated nodes, a manufacturer does not need to differentiate the nodes when producing the nodes, does not need to download different programs for different nodes, does not need to develop different molds, and does not need to specially differentiate when storing, thereby greatly improving the production efficiency and reducing the production cost. Meanwhile, when the device is used, the nodes do not need to be distinguished, the device does not need to be worn according to a specified position, the device can be worn and then calibrated, the calibration time is short, the learning cost is low, and the device is friendly to users, has a good application prospect, and is convenient to popularize and implement.
Description
Technical Field
The invention relates to the technical field of motion capture, in particular to a calibration method, a calibration system and a calibration base station of a motion capture node.
Background
The current action is caught and is had a plurality of node in use, and the gesture information of the different positions of the collection health of every node then passes to the host computer, and the host computer need distinguish data which node's data when showing. The existing calibration scheme is that each node is burned with different application programs during production, 17 programs are needed if 17 nodes exist, and the programs need to be distinguished on hardware, so that confusion and program downloading errors are easily caused during production, the production efficiency is low, and the generation cost is high. When the user uses, also according to the word suggestion on the node, dress fixed node at fixed position, for example just can only dress head node at the head, not only inconvenient to use, if the user wears the mistake, still can lead to the data error, and then lead to the failure of motion capture.
Disclosure of Invention
The invention aims to provide a calibration method, a calibration system and a calibration base station for motion capture nodes, which can realize the calibration of non-differentiated nodes, and manufacturers do not need to differentiate the nodes during the node production, download different programs for different nodes, develop different molds and do not need to specially differentiate during storage, thereby greatly improving the production efficiency and reducing the production cost. Meanwhile, when the device is used, the nodes do not need to be distinguished, the device does not need to be worn according to a specified position, the device can be worn and then calibrated, the calibration time is short, the learning cost is low, and the device is friendly to users, has a good application prospect, and is convenient to popularize and implement.
In order to achieve the purpose, the invention provides the following scheme:
a calibration method of a motion capture node, the calibration method comprising:
obtaining a rotating laser beam emitted by a calibration base station, wherein the rotating laser beam comprises two beams of surface lasers with mutually vertical rotating shafts;
establishing a rectangular coordinate system by taking the rotating shaft of one beam of the surface laser as an X axis and the rotating shaft of the other beam of the surface laser as a Y axis;
acquiring a calibration time reference, pulse signals of all motion capture nodes, the scanning speed of a rotating laser beam and the relative positions of all the motion capture nodes in the rectangular coordinate system;
recording the actual arrival time of each pulse signal;
determining the included angle between each pulse signal and the coordinate axis of the rectangular coordinate system according to the calibration time reference, the actual arrival time and the scanning speed;
calibrating each motion capture node according to each included angle and the relative position, wherein in the X-axis direction, the abscissa of the motion capture node with the large X-axis included angle is larger than the abscissa of the motion capture node with the small X-axis included angle; the ordinate of the motion capture node having a large Y-axis included angle in the Y-axis direction is larger than the ordinate of the motion capture node having a small Y-axis included angle.
Optionally, the determining, according to the calibration time reference, the actual arrival time, and the scanning speed, an included angle between each pulse signal and a coordinate axis of the rectangular coordinate system specifically includes:
determining the pulse arrival time of each pulse signal according to the calibration time reference and the actual arrival time of each pulse signal, wherein the pulse arrival time comprises X-axis pulse arrival time and Y-axis pulse arrival time;
and determining the included angle between each pulse signal and the coordinate axis of the rectangular coordinate system according to the pulse arrival time and the scanning speed, wherein the included angle comprises an X-axis included angle and a Y-axis included angle.
Optionally, the determining the pulse arrival time of each pulse signal according to the calibration time reference and the actual arrival time of each pulse signal specifically includes:
according to the formula: Δ tx＝tx-t0Determining the X-axis pulse arrival time, wherein atxRepresenting the X-axis pulse arrival time, txRepresenting the actual arrival time, t, of the X-axis pulse0Indicating a calibration time reference;
according to the formula: Δ ty＝ty-t0Determining the Y-axis pulse arrival time, where Δ tyRepresenting the Y-axis pulse arrival time, tyRepresenting the actual arrival time of the Y-axis pulse.
Optionally, the determining an included angle between each pulse signal and a coordinate axis of the rectangular coordinate system according to the pulse arrival time and the scanning speed specifically includes:
according to the formula: thetax＝Δtx×ωxDetermining the angle of the X-axis, wherein thetaxDenotes the angle of X-axis, omegaxThe scanning speed of the surface laser with the rotating shaft as the X axis is shown;
according to the formula: thetay＝Δty×ωyDetermining the Y-axis angle, wherein thetayDenotes the angle of Y-axis, omegayThe scanning speed of the surface laser beam whose rotation axis is the Y axis is shown.
A calibration system for a motion capture node, the calibration system comprising:
the system comprises a rotary laser beam acquisition module, a calibration base station and a calibration control module, wherein the rotary laser beam acquisition module is used for acquiring a rotary laser beam emitted by the calibration base station, and the rotary laser beam comprises two beams of surface lasers with mutually vertical rotating shafts;
the coordinate system establishing module is used for establishing a rectangular coordinate system by taking the rotating shaft of one beam of the surface laser as an X axis and the rotating shaft of the other beam of the surface laser as a Y axis;
the calibration information acquisition module is used for acquiring a calibration time reference, pulse signals of all the motion capture nodes, the scanning speed of a rotating laser beam and the relative positions of all the motion capture nodes in the rectangular coordinate system;
the recording module is used for recording the actual arrival time of each pulse signal;
the included angle determining module is used for determining the included angle between each pulse signal and the coordinate axis of the rectangular coordinate system according to the calibration time reference, the actual arrival time and the scanning speed;
the node calibration module is used for calibrating each motion capture node according to each included angle and the relative position, wherein in the X-axis direction, the abscissa of the motion capture node with the large X-axis included angle is larger than the abscissa of the motion capture node with the small X-axis included angle; the ordinate of the motion capture node having a large Y-axis included angle in the Y-axis direction is larger than the ordinate of the motion capture node having a small Y-axis included angle.
Optionally, the included angle determining module includes:
the pulse arrival time determining unit is used for determining the pulse arrival time of each pulse signal according to the standard time reference and the actual arrival time of each pulse signal, and the pulse arrival time comprises X-axis pulse arrival time and Y-axis pulse arrival time;
and the included angle determining unit is used for determining the included angle between each pulse signal and the coordinate axis of the rectangular coordinate system according to the pulse arrival time and the scanning speed, and the included angle comprises an X-axis included angle and a Y-axis included angle.
Optionally, the pulse arrival time determining unit includes:
an X-axis pulse arrival time determining subunit for: Δ tx＝tx-t0Determining the X-axis pulse arrival time, wherein atxRepresenting the X-axis pulse arrival time, txRepresenting the actual arrival time, t, of the X-axis pulse0Indicating a calibration time reference;
a Y-axis pulse arrival time determining subunit for: Δ ty＝ty-t0Determining the Y-axis pulse arrival time, where Δ tyRepresenting the Y-axis pulse arrival time, tyRepresenting the actual arrival time of the Y-axis pulse.
Optionally, the included angle determining unit includes:
an X-axis included angle determining subunit for: thetax＝Δtx×ωxDetermining the angle of the X-axis, wherein thetaxDenotes the angle of X-axis, omegaxIndicating rotationThe scanning speed of the surface laser with the axis as the X axis;
a Y-axis included angle determining subunit for: thetay＝Δty×ωyDetermining the Y-axis angle, wherein thetayDenotes the angle of Y-axis, omegayThe scanning speed of the surface laser beam whose rotation axis is the Y axis is shown.
A calibration base station for a motion capture node, the calibration base station configured to calibrate the motion capture node, the calibration base station comprising: a silicon photocell, a rotating beam generating device, a processor and a photocell decoding circuit, wherein,
the rotating beam generating device is used for generating rotating laser beams, and the rotating laser beams comprise two beams of surface lasers with mutually vertical rotating shafts; each motion capture node is provided with one silicon photocell, and a sensitive area of each silicon photocell is arranged corresponding to an emergent light path of the rotary light beam generating device; the photocell decoding circuit is connected with the silicon photocell, the photocell decoding circuit is used for decoding and analyzing signals sent by the silicon photocell to obtain pulse signals of each motion capture node, the processor is connected with the photocell decoding circuit, and the processor is used for calibrating each motion capture node according to the calibration method.
Optionally, the rotating beam generating device includes: an outer rotor motor, a plane mirror, a linear lens and a laser generator, wherein,
the plane mirror and the linear lens are fixedly arranged on a shell of the outer rotor motor, the plane mirror is arranged on an emergent light path of the laser generator, and the linear lens is arranged on a reflection light path of the plane mirror.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a calibration method, a calibration system and a calibration base station of a motion capture node.A rectangular coordinate system is established by taking the rotating shaft of one beam of surface laser in rotating laser beams emitted by the calibration base station as an X axis and the rotating shaft of the other beam of surface laser as a Y axis; then recording the actual arrival time of the pulse signal corresponding to each motion capture node, and determining the included angle between each pulse signal and the coordinate axis of the rectangular coordinate system according to the standard time reference, the actual arrival time and the scanning speed of the rotating laser beam; finally, after the included angles are sorted according to the size relationship, the included angles are compared with the relative positions of the motion capture nodes in a rectangular coordinate system to realize calibration, and in the X-axis direction, the abscissa of the motion capture node with the large X-axis included angle is larger than the abscissa of the motion capture node with the small X-axis included angle; the ordinate of the motion capture node having a large Y-axis included angle in the Y-axis direction is larger than the ordinate of the motion capture node having a small Y-axis included angle. Therefore, the invention can realize the calibration of the non-differentiated nodes, a manufacturer does not need to differentiate the nodes when producing the nodes, does not need to download different programs for different nodes, does not need to develop different molds, and does not need to specially differentiate when storing, thereby greatly improving the production efficiency and reducing the production cost. Meanwhile, when the device is used, the nodes do not need to be distinguished, the device does not need to be worn according to a specified position, the device can be worn and then calibrated, the calibration time is short, the learning cost is low, and the device is friendly to users, has a good application prospect, and is convenient to popularize and implement.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described 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 without creative efforts.
Fig. 1 is a flowchart of a method for calibrating a motion capture node according to an embodiment of the present invention;
fig. 2 is a block diagram of a calibration system of a motion capture node according to an embodiment of the present invention;
fig. 3 is a block diagram of a calibration base station of a motion capture node according to an embodiment of the present invention;
fig. 4 is a schematic diagram of positions of a calibration base station and a node according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a rotating beam generating device according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a rectangular coordinate system according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a wearing position of a node according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and 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.
The invention aims to provide a calibration method, a calibration system and a calibration base station for motion capture nodes, which can realize the calibration of non-differentiated nodes, and manufacturers do not need to differentiate the nodes during the node production, download different programs for different nodes, develop different molds and do not need to specially differentiate during storage, thereby greatly improving the production efficiency and reducing the production cost. Meanwhile, when the device is used, the nodes do not need to be distinguished, the device does not need to be worn according to a specified position, the device can be worn and then calibrated, the calibration time is short, the learning cost is low, and the device is friendly to users, has a good application prospect, and is convenient to popularize and implement.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a flowchart of a method for calibrating a motion capture node according to an embodiment of the present invention. As shown in fig. 1, a calibration method for a motion capture node includes:
step 101: obtaining a rotating laser beam emitted by a calibration base station, wherein the rotating laser beam comprises two beams of surface lasers with mutually vertical rotating shafts;
step 102: establishing a rectangular coordinate system by taking the rotating shaft of one beam of the surface laser as an X axis and the rotating shaft of the other beam of the surface laser as a Y axis;
step 103: acquiring a calibration time reference, pulse signals of all motion capture nodes, the scanning speed of a rotating laser beam and the relative positions of all the motion capture nodes in the rectangular coordinate system;
step 104: recording the actual arrival time of each pulse signal;
step 105: determining the included angle between each pulse signal and the coordinate axis of the rectangular coordinate system according to the calibration time reference, the actual arrival time and the scanning speed;
step 106: calibrating each motion capture node according to each included angle and the relative position, wherein in the X-axis direction, the abscissa of the motion capture node with the large X-axis included angle is larger than the abscissa of the motion capture node with the small X-axis included angle; the ordinate of the motion capture node having a large Y-axis included angle in the Y-axis direction is larger than the ordinate of the motion capture node having a small Y-axis included angle.
Specifically, the step 105: determining the included angle between each pulse signal and the coordinate axis of the rectangular coordinate system according to the calibration time reference, the actual arrival time and the scanning speed, and specifically comprising:
and determining the pulse arrival time of each pulse signal according to the calibration time reference and the actual arrival time of each pulse signal, wherein the pulse arrival time comprises X-axis pulse arrival time and Y-axis pulse arrival time.
Wherein, according to the formula: Δ tx＝tx-t0Determining the X-axis pulse arrival time, wherein atxRepresenting the X-axis pulse arrival time, txRepresenting the actual arrival time, t, of the X-axis pulse0Indicating a calibration time reference;
according to the formula: Δ ty＝ty-t0Determining the Y-axis pulse arrival time, where Δ tyRepresenting the Y-axis pulse arrival time, tyRepresenting the actual arrival time of the Y-axis pulse.
And determining the included angle between each pulse signal and the coordinate axis of the rectangular coordinate system according to the pulse arrival time and the scanning speed, wherein the included angle comprises an X-axis included angle and a Y-axis included angle.
Wherein, according to the formula: thetax＝Δtx×ωxDetermining the angle of the X-axis, wherein thetaxDenotes the angle of X-axis, omegaxThe scanning speed of the surface laser with the rotating shaft as the X axis is shown;
according to the formula: thetay＝Δty×ωyDetermining the Y-axis angle, wherein thetayDenotes the angle of Y-axis, omegayThe scanning speed of the surface laser beam whose rotation axis is the Y axis is shown.
Fig. 2 is a block diagram of a calibration system of a motion capture node according to an embodiment of the present invention. As shown in fig. 2, a calibration system of a motion capture node includes:
a rotating laser beam obtaining module 201, configured to obtain a rotating laser beam emitted by a calibration base station, where the rotating laser beam includes two beams of surface lasers whose rotation axes are perpendicular to each other;
a coordinate system establishing module 202, configured to establish a rectangular coordinate system with a rotation axis of one of the surface lasers as an X axis and a rotation axis of the other of the surface lasers as a Y axis;
a calibration information obtaining module 203, configured to obtain a calibration time reference, a pulse signal of each motion capture node, a scanning speed of a rotating laser beam, and a relative position of each motion capture node in the rectangular coordinate system;
a recording module 204, configured to record actual arrival times of the pulse signals;
an included angle determining module 205, configured to determine an included angle between each pulse signal and a coordinate axis of the rectangular coordinate system according to the calibration time reference, the actual arrival time, and the scanning speed;
a node calibration module 206, configured to calibrate each motion capture node according to each included angle and the relative position, where in the X-axis direction, an abscissa of the motion capture node with a large X-axis included angle is larger than an abscissa of the motion capture node with a small X-axis included angle; the ordinate of the motion capture node having a large Y-axis included angle in the Y-axis direction is larger than the ordinate of the motion capture node having a small Y-axis included angle.
Specifically, the included angle determining module 205 includes:
and the pulse arrival time determining unit is used for determining the pulse arrival time of each pulse signal according to the standard time reference and the actual arrival time of each pulse signal, and the pulse arrival time comprises X-axis pulse arrival time and Y-axis pulse arrival time.
Further, the pulse arrival time determination unit includes:
an X-axis pulse arrival time determining subunit for: Δ tx＝tx-t0Determining the X-axis pulse arrival time, wherein atxRepresenting the X-axis pulse arrival time, txRepresenting the actual arrival time, t, of the X-axis pulse0Indicating a calibration time reference;
a Y-axis pulse arrival time determining subunit for: Δ ty＝ty-t0Determining the Y-axis pulse arrival time, where Δ tyRepresenting the Y-axis pulse arrival time, tyRepresenting the actual arrival time of the Y-axis pulse.
And the included angle determining unit is used for determining the included angle between each pulse signal and the coordinate axis of the rectangular coordinate system according to the pulse arrival time and the scanning speed, and the included angle comprises an X-axis included angle and a Y-axis included angle.
Further, the included angle determining unit includes:
an X-axis included angle determining subunit for: thetax＝Δtx×ωxDetermining the angle of the X-axis, wherein thetaxDenotes the angle of X-axis, omegaxThe scanning speed of the surface laser with the rotating shaft as the X axis is shown;
a Y-axis included angle determining subunit for: thetay＝Δty×ωyDetermining the Y-axis angle, wherein thetayDenotes the angle of Y-axis, omegayThe scanning speed of the surface laser beam whose rotation axis is the Y axis is shown.
Fig. 3 is a block diagram of a calibration base station of a motion capture node according to an embodiment of the present invention. Fig. 4 is a schematic diagram of positions of a calibration base station and a node according to an embodiment of the present invention. As shown in fig. 3 and 4, a calibration base station of a motion capture node, the calibration base station is used for calibrating a motion capture node 1, and the calibration base station includes: a silicon photocell 2, a rotating beam generating device 3, a processor 4 and a photocell decoding circuit 5, wherein,
the rotating beam generating device 3 is used for generating a rotating laser beam, and the rotating laser beam comprises two beams of plane lasers with mutually vertical rotating shafts; an opening for arranging one silicon photocell 2 is reserved on each motion capture node 1, and a sensitive area of each silicon photocell 2 is arranged corresponding to an emergent light path of the rotary light beam generating device 3; the photocell decoding circuit 5 is connected with the silicon photocell 2, the silicon photocell 2 receives the optical signal and transmits the optical signal to the photocell decoding circuit 5, the photocell decoding circuit 5 is used for decoding and analyzing the signal sent by the silicon photocell 2 to obtain the pulse signal of each motion capture node, the processor 4 is connected with the photocell decoding circuit 5, and the processor 4 is used for calibrating each motion capture node according to the calibration method. In this embodiment, the photocell decoding circuit 5 selects a TS3633 chip, and the silicon photocell 2 is a BPW34 photodiode.
Fig. 5 is a schematic structural diagram of a rotating beam generating device according to an embodiment of the present invention. As shown in fig. 5, the rotating beam generating device 3 includes: an outer rotor motor 301, a plane mirror 302, a linear lens 303 and a laser generator 304, wherein,
the plane mirror 302 and the in-line lens 303 are both fixedly arranged on the outer shell of the outer rotor motor 301, the plane mirror 302 is arranged on an emergent light path of the laser generator 304, and the in-line lens 303 is arranged on a reflected light path of the plane mirror 302. Laser generator 304 sends out a bundle of laser, shines on level crossing 302, and the light path is shot out from a word lens 303 after changing, because the existence of a word lens 303 for laser has become the face laser by original line laser, makes whole space can both receive laser signal through the rotation of external rotor motor 301.
The implementation process of the invention is as follows:
step 1: an additional silicon photocell is added on each motion capture node and used for receiving infrared laser in the X-axis direction and the Y-axis direction emitted by the calibration base station.
Step 2: the user wears the nodes on the corresponding parts of the body without distinction, but the sensitive area of the silicon photocell is required to be ensured to be in front and not to be shielded.
And step 3: and opening the calibration base station, emitting two beams of rotating laser by the base station, scanning the X-axis laser from left to right from the surface of the base station, and scanning the Y-axis laser from top to bottom from the surface of the base station. As shown in fig. 6, assuming that the time of zero is when the laser plane is perpendicular to the surface of the base station, for X-axis laser, it is positive if the node is to the left of the zero plane and negative if the node is to the right of the zero plane. For a Y-axis laser, it is positive if the node is above the zero plane and negative if the node is below the zero plane.
And 4, step 4: as shown in fig. 7, the user is ensured to stand in a "big" shape, and the silicon photocell of each node receives two laser signals sent by the base station. The processor can judge the position of the node in the body according to the time when each node receives the two beams of laser and the relative position of each node. The included angle relationship corresponding to the 8 nodes in the X-axis direction is as follows: thetax1＞θx2＞θx3＞θx4＞θx5＞θx6＞θx7＞θx8，θxiThe X-axis included angle corresponding to the ith node is shown, and the situation of the Y-axis is similar and will not be described again. And the processor finishes the calibration work and sends the ID of the node to the upper computer, and the whole calibration process is finished.
The invention provides a calibration method, a calibration system and a calibration base station of non-differentiated nodes, wherein each node does not need to download different programs in production, does not need to develop different molds, does not need to be specially distinguished during storage, can greatly improve the production efficiency and save the production cost. When the wearable electronic scale is used, the wearable electronic scale does not need to be worn according to a specified position, the wearable electronic scale is firstly worn and then calibrated, the calibration time is short, the learning cost is low, and the wearable electronic scale is friendly to a user and has a good application prospect.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A calibration method for a motion capture node is characterized by comprising the following steps:
obtaining a rotating laser beam emitted by a calibration base station, wherein the rotating laser beam comprises two beams of surface lasers with mutually vertical rotating shafts;
establishing a rectangular coordinate system by taking the rotating shaft of one beam of the surface laser as an X axis and the rotating shaft of the other beam of the surface laser as a Y axis;
scanning the surface laser with the rotating shaft as an X axis from top to bottom from the surface of the calibration base station, and scanning the surface laser with the rotating shaft as a Y axis from left to right from the surface of the calibration base station;
when the surface laser surface is perpendicular to the surface of the calibration base station, the zero time is the zero time, and for the surface laser with the rotating shaft as the X axis, if the node is above the zero plane, the node is positive, and if the node is below the zero plane, the node is negative;
for the surface laser with the rotating shaft as the Y axis, if the node is on the left side of the zero plane, the node is positive, and if the node is on the right side of the zero plane, the node is negative;
acquiring a calibration time reference, pulse signals of all motion capture nodes, the scanning speed of a rotating laser beam and the relative positions of all the motion capture nodes in the rectangular coordinate system;
recording the actual arrival time of each pulse signal;
determining the included angle between each pulse signal and the coordinate axis of the rectangular coordinate system according to the calibration time reference, the actual arrival time and the scanning speed;
calibrating each motion capture node according to each included angle and the relative position, wherein when the left side of one surface, where the user wears the node, is consistent with the left direction of the surface laser with the rotating shaft as the Y axis, which is sent by the calibration base station, and the upper side of one surface, where the user wears the node, is consistent with the upper side of the surface laser with the rotating shaft as the X axis, which is sent by the calibration base station, in the X axis direction, the abscissa of the motion capture node with the large X axis included angle is larger than the abscissa of the motion capture node with the small X axis included angle; the ordinate of the motion capture node having a large Y-axis included angle in the Y-axis direction is larger than the ordinate of the motion capture node having a small Y-axis included angle.
2. The calibration method according to claim 1, wherein the determining an angle between each pulse signal and a coordinate axis of the rectangular coordinate system according to the calibration time reference, the actual arrival time, and the scanning speed specifically includes:
determining the pulse arrival time of each pulse signal according to the calibration time reference and the actual arrival time of each pulse signal, wherein the pulse arrival time comprises X-axis pulse arrival time and Y-axis pulse arrival time;
and determining the included angle between each pulse signal and the coordinate axis of the rectangular coordinate system according to the pulse arrival time and the scanning speed, wherein the included angle comprises an X-axis included angle and a Y-axis included angle.
3. The calibration method according to claim 2, wherein the determining the pulse arrival time of each pulse signal according to the calibration time reference and the actual arrival time of each pulse signal specifically comprises:
according to the formula: Δ tx＝tx-t0Determining the X-axis pulse arrival time, wherein atxRepresenting the X-axis pulse arrival time, txRepresenting the actual arrival time, t, of the X-axis pulse0Indicating a calibration time reference;
according to the formula: Δ ty＝ty-t0Determining the Y-axis pulse arrival time, where Δ tyRepresenting the Y-axis pulse arrival time, tyRepresenting the actual arrival time of the Y-axis pulse.
4. The calibration method according to claim 3, wherein the determining an angle between each pulse signal and a coordinate axis of the rectangular coordinate system according to the pulse arrival time and the scanning speed specifically comprises:
according to the formula: thetax＝Δtx×ωyDetermining the angle of the X-axis, wherein thetaxDenotes the angle of X-axis, omegayThe scanning speed of the surface laser with the rotating shaft as the Y axis is shown;
according to the formula: thetay＝Δty×ωxDetermining the Y-axis angle, wherein thetayDenotes the angle of Y-axis, omegaxThe scanning speed of the surface laser beam whose rotation axis is the X axis is shown.
5. A calibration system for a motion capture node, the calibration system comprising:
the system comprises a rotary laser beam acquisition module, a calibration base station and a calibration control module, wherein the rotary laser beam acquisition module is used for acquiring a rotary laser beam emitted by the calibration base station, and the rotary laser beam comprises two beams of surface lasers with mutually vertical rotating shafts;
the coordinate system establishing module is used for establishing a rectangular coordinate system by taking the rotating shaft of one beam of the surface laser as an X axis and the rotating shaft of the other beam of the surface laser as a Y axis;
scanning the surface laser with the rotating shaft as an X axis from top to bottom from the surface of the calibration base station, and scanning the surface laser with the rotating shaft as a Y axis from left to right from the surface of the calibration base station;
when the surface laser surface is perpendicular to the surface of the calibration base station, the zero time is the zero time, and for the surface laser with the rotating shaft as the X axis, if the node is above the zero plane, the node is positive, and if the node is below the zero plane, the node is negative;
for the surface laser with the rotating shaft as the Y axis, if the node is on the left side of the zero plane, the node is positive, and if the node is on the right side of the zero plane, the node is negative;
the calibration information acquisition module is used for acquiring a calibration time reference, pulse signals of all the motion capture nodes, the scanning speed of a rotating laser beam and the relative positions of all the motion capture nodes in the rectangular coordinate system;
the recording module is used for recording the actual arrival time of each pulse signal;
the included angle determining module is used for determining the included angle between each pulse signal and the coordinate axis of the rectangular coordinate system according to the calibration time reference, the actual arrival time and the scanning speed;
the node calibration module is used for calibrating each motion capture node according to each included angle and the relative position, and when the left side of one side, where the user wears the node, is consistent with the left direction of the surface laser with the rotating shaft as the Y axis, and the upper side of one side, where the user wears the node, is consistent with the upper side of the surface laser with the rotating shaft as the X axis, which is sent by the calibration base station, the abscissa of the motion capture node with the large X-axis included angle is larger than the abscissa of the motion capture node with the small X-axis included angle in the X-axis direction; the ordinate of the motion capture node having a large Y-axis included angle in the Y-axis direction is larger than the ordinate of the motion capture node having a small Y-axis included angle.
6. The calibration system as set forth in claim 5, wherein the included angle determining module comprises:
the pulse arrival time determining unit is used for determining the pulse arrival time of each pulse signal according to the standard time reference and the actual arrival time of each pulse signal, and the pulse arrival time comprises X-axis pulse arrival time and Y-axis pulse arrival time;
and the included angle determining unit is used for determining the included angle between each pulse signal and the coordinate axis of the rectangular coordinate system according to the pulse arrival time and the scanning speed, and the included angle comprises an X-axis included angle and a Y-axis included angle.
7. The calibration system according to claim 6, wherein the pulse arrival time determining unit comprises:
an X-axis pulse arrival time determining subunit for: Δ tx＝tx-t0Determining the X-axis pulse arrival time, wherein atxRepresenting the X-axis pulse arrival time, txRepresenting the actual arrival time, t, of the X-axis pulse0Indicating a calibration time reference;
a Y-axis pulse arrival time determining subunit for: Δ ty＝ty-t0Determining the Y-axis pulse arrival time, where Δ tyRepresenting the Y-axis pulse arrival time, tyRepresenting the actual arrival time of the Y-axis pulse.
8. The calibration system according to claim 7, wherein the included angle determining unit comprises:
an X-axis included angle determining subunit for: thetax＝Δtx×ωyDetermining the angle of the X-axis, wherein thetaxDenotes the angle of X-axis, omegayThe scanning speed of the surface laser with the rotating shaft as the Y axis is shown;
a Y-axis included angle determining subunit for: thetay＝Δty×ωxDetermining the Y-axis angle, wherein thetayDenotes the angle of Y-axis, omegaxThe scanning speed of the surface laser beam whose rotation axis is the X axis is shown.
9. A calibration base station of a motion capture node, the calibration base station being configured to calibrate the motion capture node, the calibration base station comprising: a rotating beam generating device, a processor and a photocell decoding circuit, wherein,
the rotating beam generating device is used for generating rotating laser beams, and the rotating laser beams comprise two beams of surface lasers with mutually vertical rotating shafts; each motion capture node is provided with a silicon photocell, and a sensitive area of each silicon photocell is arranged corresponding to an emergent light path of the rotary light beam generating device; the photocell decoding circuit is connected with the silicon photocell, the photocell decoding circuit is used for decoding and analyzing signals sent by the silicon photocell to obtain pulse signals of each motion capture node, the processor is connected with the photocell decoding circuit, and the processor is used for calibrating each motion capture node according to the calibration method of any one of claims 1-4.
10. The calibration base station of claim 9, wherein the rotating beam generating device comprises: an outer rotor motor, a plane mirror, a linear lens and a laser generator, wherein,
the plane mirror and the linear lens are fixedly arranged on a shell of the outer rotor motor, the plane mirror is arranged on an emergent light path of the laser generator, and the linear lens is arranged on a reflection light path of the plane mirror.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811099223.2A CN109269483B (en) | 2018-09-20 | 2018-09-20 | Calibration method, calibration system and calibration base station for motion capture node |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811099223.2A CN109269483B (en) | 2018-09-20 | 2018-09-20 | Calibration method, calibration system and calibration base station for motion capture node |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109269483A CN109269483A (en) | 2019-01-25 |
| CN109269483B true CN109269483B (en) | 2020-12-15 |
Family
ID=65197703
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811099223.2A Active CN109269483B (en) | 2018-09-20 | 2018-09-20 | Calibration method, calibration system and calibration base station for motion capture node |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109269483B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110986864A (en) * | 2019-12-05 | 2020-04-10 | 中国农业科学院农业信息研究所 | Land area measuring device after farmland is changed from abandoned homestead |
Citations (40)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2539957Y (en) * | 2001-07-19 | 2003-03-12 | 吉林大学 | Measuring mark for traffic accident scene |
| CN1495665A (en) * | 2002-08-30 | 2004-05-12 | ����˹���ʹ�˾ | Indicator and scanner, robot, mobile communication equipment and electronic dictionary using said device |
| CN2735933Y (en) * | 2004-04-27 | 2005-10-26 | 清华大学 | Human joint motion attitude measuring instrument based on sensor |
| CN1784612A (en) * | 2003-03-11 | 2006-06-07 | 梅纳谢有限公司 | Radio frequency motion tracking system and method |
| CN2828944Y (en) * | 2005-08-19 | 2006-10-18 | 国家体育总局体育科学研究所 | Intelligent multi-channel two-state high precision timing analysing device |
| WO2007045000A2 (en) * | 2005-10-14 | 2007-04-19 | Vantus Technology Corporation | Personal fit medical implants and orthopedic surgical instruments and methods for making |
| CN101194275A (en) * | 2005-04-28 | 2008-06-04 | 菲尼萨公司 | Optical identification chips |
| CN101216299A (en) * | 2007-12-28 | 2008-07-09 | 合肥工业大学 | Six-freedom degree articulated flexible COMERO high precision calibration method |
| CN101354609A (en) * | 2008-09-18 | 2009-01-28 | 北京理工大学 | Novel data gloves based on CCD sensor |
| CN101441776A (en) * | 2008-12-04 | 2009-05-27 | 浙江大学 | Three-dimensional human body motion editing method driven by demonstration show based on speedup sensor |
| CN101477627A (en) * | 2009-02-12 | 2009-07-08 | 北京像素软件科技股份有限公司 | Movement recognition method and system |
| CN101520902A (en) * | 2009-02-24 | 2009-09-02 | 上海大学 | System and method for low cost motion capture and demonstration |
| CN101813977A (en) * | 2010-03-26 | 2010-08-25 | 北京物资学院 | Motion capture method and system based on ultrasonic waves |
| CN101819036A (en) * | 2009-11-25 | 2010-09-01 | 煤炭科学研究总院太原研究院 | Method for automatically measuring special position of tunnel boring machine |
| KR20100136385A (en) * | 2009-06-18 | 2010-12-28 | (주) 알디텍 | System for analysis of archery shooting and calibration for the same |
| CN102622591A (en) * | 2012-01-12 | 2012-08-01 | 北京理工大学 | 3D (three-dimensional) human posture capturing and simulating system |
| CN202908702U (en) * | 2012-08-08 | 2013-05-01 | 国家体育总局体育科学研究所 | Mini-type wireless three-dimensional space gesture collecting device |
| CN103279186A (en) * | 2013-05-07 | 2013-09-04 | 兰州交通大学 | Multiple-target motion capturing system integrating optical localization and inertia sensing |
| CN103558916A (en) * | 2013-11-07 | 2014-02-05 | 百度在线网络技术（北京）有限公司 | Man-machine interaction system, method and device |
| CN103759739A (en) * | 2014-01-21 | 2014-04-30 | 北京诺亦腾科技有限公司 | Multimode motion measurement and analysis system |
| WO2014114967A1 (en) * | 2013-01-25 | 2014-07-31 | WENNER, Fabian | Self-calibrating motion capture system |
| CN104520732A (en) * | 2012-02-10 | 2015-04-15 | Isis创新有限公司 | Method of locating sensor and related apparatus |
| CN104756045A (en) * | 2012-10-04 | 2015-07-01 | 微软公司 | Wearable sensor for tracking articulated body-parts |
| CN105138135A (en) * | 2015-09-15 | 2015-12-09 | 北京国承万通信息科技有限公司 | Head-mounted type virtual reality device and virtual reality system |
| CN105157697A (en) * | 2015-07-31 | 2015-12-16 | 天津大学 | Indoor mobile robot pose measurement system and measurement method based on optoelectronic scanning |
| CN105183166A (en) * | 2015-09-15 | 2015-12-23 | 北京国承万通信息科技有限公司 | Virtual reality system |
| CN105468896A (en) * | 2015-11-13 | 2016-04-06 | 上海逸动医学科技有限公司 | Arthrosis movement detection system and method |
| CN205158280U (en) * | 2015-12-02 | 2016-04-13 | 佟卉斌 | Recreation sensing device is controlled to health |
| CN105849502A (en) * | 2013-10-24 | 2016-08-10 | 阿里·科尔德 | Motion capture system |
| CN105978727A (en) * | 2016-06-16 | 2016-09-28 | 深圳先进技术研究院 | Node firmware updating method of wearable human body motion capture system |
| CN106484121A (en) * | 2016-11-14 | 2017-03-08 | 陈华丰 | A kind of motion capture system and method |
| CN106514601A (en) * | 2016-11-30 | 2017-03-22 | 成都跟驰科技有限公司 | System for assisting manipulator arm to work with motion capture technology |
| CN206224384U (en) * | 2016-10-17 | 2017-06-06 | 北京诺亦腾科技有限公司 | External fixation kit, gloves and motion capture gloves |
| CN106970705A (en) * | 2017-03-09 | 2017-07-21 | 北京神州四达科技有限公司 | Motion capture method, device and electronic equipment |
| CN206400088U (en) * | 2015-12-23 | 2017-08-11 | 北京凌宇智控科技有限公司 | A kind of sender unit |
| CN207215013U (en) * | 2016-08-25 | 2018-04-10 | 深圳市虚拟现实技术有限公司 | Virtual reality posture and coordinate location device |
| CN107930048A (en) * | 2017-03-20 | 2018-04-20 | 深圳市太空科技南方研究院 | A kind of space somatosensory recognition motion analysis system and method for motion analysis |
| CN107995855A (en) * | 2015-03-26 | 2018-05-04 | 拜欧米特制造有限责任公司 | For planning and performing the method and system of joint replacement flow using motion capture data |
| CN108392813A (en) * | 2018-02-02 | 2018-08-14 | 梦卓科技（深圳）有限公司 | The method that the setting of body sensor network node location is realized in Fusion training warming-up exercise |
| CN108414979A (en) * | 2018-02-08 | 2018-08-17 | 北京理工大学 | A kind of optical tracking method based on expansible base station array |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6831603B2 (en) * | 2002-03-12 | 2004-12-14 | Menache, Llc | Motion tracking system and method |
| US7804998B2 (en) * | 2006-03-09 | 2010-09-28 | The Board Of Trustees Of The Leland Stanford Junior University | Markerless motion capture system |
| KR101616926B1 (en) * | 2009-09-22 | 2016-05-02 | 삼성전자주식회사 | Image processing apparatus and method |
| KR20140018253A (en) * | 2011-01-25 | 2014-02-12 | 노파르티스 아게 | Systems and methods for medical use of motion imaging and capture |
| CN202120328U (en) * | 2011-07-08 | 2012-01-18 | 东莞市科学技术博物馆 | Motion capture system |
| CN103136912A (en) * | 2013-03-05 | 2013-06-05 | 广西师范大学 | Moving posture capture system |
| CN104461013B (en) * | 2014-12-25 | 2017-09-22 | 中国科学院合肥物质科学研究院 | A kind of human action reconstruct and analysis system and method based on inertia sensing unit |
| US10670687B2 (en) * | 2016-06-15 | 2020-06-02 | The United States Of America, As Represented By The Secretary Of The Navy | Visual augmentation system effectiveness measurement apparatus and methods |
-
2018
- 2018-09-20 CN CN201811099223.2A patent/CN109269483B/en active Active
Patent Citations (40)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2539957Y (en) * | 2001-07-19 | 2003-03-12 | 吉林大学 | Measuring mark for traffic accident scene |
| CN1495665A (en) * | 2002-08-30 | 2004-05-12 | ����˹���ʹ�˾ | Indicator and scanner, robot, mobile communication equipment and electronic dictionary using said device |
| CN1784612A (en) * | 2003-03-11 | 2006-06-07 | 梅纳谢有限公司 | Radio frequency motion tracking system and method |
| CN2735933Y (en) * | 2004-04-27 | 2005-10-26 | 清华大学 | Human joint motion attitude measuring instrument based on sensor |
| CN101194275A (en) * | 2005-04-28 | 2008-06-04 | 菲尼萨公司 | Optical identification chips |
| CN2828944Y (en) * | 2005-08-19 | 2006-10-18 | 国家体育总局体育科学研究所 | Intelligent multi-channel two-state high precision timing analysing device |
| WO2007045000A2 (en) * | 2005-10-14 | 2007-04-19 | Vantus Technology Corporation | Personal fit medical implants and orthopedic surgical instruments and methods for making |
| CN101216299A (en) * | 2007-12-28 | 2008-07-09 | 合肥工业大学 | Six-freedom degree articulated flexible COMERO high precision calibration method |
| CN101354609A (en) * | 2008-09-18 | 2009-01-28 | 北京理工大学 | Novel data gloves based on CCD sensor |
| CN101441776A (en) * | 2008-12-04 | 2009-05-27 | 浙江大学 | Three-dimensional human body motion editing method driven by demonstration show based on speedup sensor |
| CN101477627A (en) * | 2009-02-12 | 2009-07-08 | 北京像素软件科技股份有限公司 | Movement recognition method and system |
| CN101520902A (en) * | 2009-02-24 | 2009-09-02 | 上海大学 | System and method for low cost motion capture and demonstration |
| KR20100136385A (en) * | 2009-06-18 | 2010-12-28 | (주) 알디텍 | System for analysis of archery shooting and calibration for the same |
| CN101819036A (en) * | 2009-11-25 | 2010-09-01 | 煤炭科学研究总院太原研究院 | Method for automatically measuring special position of tunnel boring machine |
| CN101813977A (en) * | 2010-03-26 | 2010-08-25 | 北京物资学院 | Motion capture method and system based on ultrasonic waves |
| CN102622591A (en) * | 2012-01-12 | 2012-08-01 | 北京理工大学 | 3D (three-dimensional) human posture capturing and simulating system |
| CN104520732A (en) * | 2012-02-10 | 2015-04-15 | Isis创新有限公司 | Method of locating sensor and related apparatus |
| CN202908702U (en) * | 2012-08-08 | 2013-05-01 | 国家体育总局体育科学研究所 | Mini-type wireless three-dimensional space gesture collecting device |
| CN104756045A (en) * | 2012-10-04 | 2015-07-01 | 微软公司 | Wearable sensor for tracking articulated body-parts |
| WO2014114967A1 (en) * | 2013-01-25 | 2014-07-31 | WENNER, Fabian | Self-calibrating motion capture system |
| CN103279186A (en) * | 2013-05-07 | 2013-09-04 | 兰州交通大学 | Multiple-target motion capturing system integrating optical localization and inertia sensing |
| CN105849502A (en) * | 2013-10-24 | 2016-08-10 | 阿里·科尔德 | Motion capture system |
| CN103558916A (en) * | 2013-11-07 | 2014-02-05 | 百度在线网络技术（北京）有限公司 | Man-machine interaction system, method and device |
| CN103759739A (en) * | 2014-01-21 | 2014-04-30 | 北京诺亦腾科技有限公司 | Multimode motion measurement and analysis system |
| CN107995855A (en) * | 2015-03-26 | 2018-05-04 | 拜欧米特制造有限责任公司 | For planning and performing the method and system of joint replacement flow using motion capture data |
| CN105157697A (en) * | 2015-07-31 | 2015-12-16 | 天津大学 | Indoor mobile robot pose measurement system and measurement method based on optoelectronic scanning |
| CN105138135A (en) * | 2015-09-15 | 2015-12-09 | 北京国承万通信息科技有限公司 | Head-mounted type virtual reality device and virtual reality system |
| CN105183166A (en) * | 2015-09-15 | 2015-12-23 | 北京国承万通信息科技有限公司 | Virtual reality system |
| CN105468896A (en) * | 2015-11-13 | 2016-04-06 | 上海逸动医学科技有限公司 | Arthrosis movement detection system and method |
| CN205158280U (en) * | 2015-12-02 | 2016-04-13 | 佟卉斌 | Recreation sensing device is controlled to health |
| CN206400088U (en) * | 2015-12-23 | 2017-08-11 | 北京凌宇智控科技有限公司 | A kind of sender unit |
| CN105978727A (en) * | 2016-06-16 | 2016-09-28 | 深圳先进技术研究院 | Node firmware updating method of wearable human body motion capture system |
| CN207215013U (en) * | 2016-08-25 | 2018-04-10 | 深圳市虚拟现实技术有限公司 | Virtual reality posture and coordinate location device |
| CN206224384U (en) * | 2016-10-17 | 2017-06-06 | 北京诺亦腾科技有限公司 | External fixation kit, gloves and motion capture gloves |
| CN106484121A (en) * | 2016-11-14 | 2017-03-08 | 陈华丰 | A kind of motion capture system and method |
| CN106514601A (en) * | 2016-11-30 | 2017-03-22 | 成都跟驰科技有限公司 | System for assisting manipulator arm to work with motion capture technology |
| CN106970705A (en) * | 2017-03-09 | 2017-07-21 | 北京神州四达科技有限公司 | Motion capture method, device and electronic equipment |
| CN107930048A (en) * | 2017-03-20 | 2018-04-20 | 深圳市太空科技南方研究院 | A kind of space somatosensory recognition motion analysis system and method for motion analysis |
| CN108392813A (en) * | 2018-02-02 | 2018-08-14 | 梦卓科技（深圳）有限公司 | The method that the setting of body sensor network node location is realized in Fusion training warming-up exercise |
| CN108414979A (en) * | 2018-02-08 | 2018-08-17 | 北京理工大学 | A kind of optical tracking method based on expansible base station array |
Non-Patent Citations (1)
| Title |
|---|
| 人体动作捕捉技术综述以及一种新的动作捕捉方案陈述;李晓丹等;《中国西部科技》;20110525;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109269483A (en) | 2019-01-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR100408518B1 (en) | Pen input device and Measuring method of coordinate | |
| CN104094081A (en) | Inspection method with barcode identification | |
| CN109655837B (en) | Laser ranging method and laser range finder | |
| EP3343242B1 (en) | Tracking system, tracking device and tracking method | |
| CN109269483B (en) | Calibration method, calibration system and calibration base station for motion capture node | |
| JP2004233177A (en) | Apparatus and method for three-dimensional measurement | |
| CN117288151B (en) | Three-dimensional attitude determination method and device of projection equipment and electronic equipment | |
| JP6805700B2 (en) | Distance measuring device, distance measuring method, and distance measuring program | |
| JP2015152381A (en) | Surface shape measurement instrument and machine tool including the same | |
| CN110726534B (en) | Visual field range testing method and device for visual device | |
| CN106878944A (en) | A kind of method and locating calibration device for calibrating locating base station coordinate system | |
| US20200042821A1 (en) | Interactive method and interactive system | |
| CN107966682B (en) | Auxiliary device for lighthouse positioning system | |
| CN102455169B (en) | Zero-position sensor | |
| CN204807044U (en) | Great -scale displacement sensor | |
| CN106524932A (en) | Symmetrical optical bridge type self-stabilizing laser diameter measurement system, and calibration method and measurement method thereof | |
| JPH01188254A (en) | Noncontact copying digitizing | |
| CN206235304U (en) | A kind of laser measuring apparatus | |
| CN101930071A (en) | Device and method for detecting movement of object | |
| CN104655409A (en) | On-orbit gravity release detection simulation method of space optical remote senor focusing mechanism | |
| US20240296580A1 (en) | Virtual reality experience safe area updating method and apparatus | |
| CN108422268A (en) | A kind of contactless tool auto-checking instrument | |
| JP2006134362A (en) | Light emission detector and coordinate detector | |
| CN215432018U (en) | Laser galvanometer detection and correction device | |
| CN111208525B (en) | Optical fiber sensor and object position and posture monitoring method |
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 |