CN115235462A - Method for intelligently detecting three-dimensional coordinates of spatial locus and application thereof - Google Patents

Method for intelligently detecting three-dimensional coordinates of spatial locus and application thereof Download PDF

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CN115235462A
CN115235462A CN202210915825.0A CN202210915825A CN115235462A CN 115235462 A CN115235462 A CN 115235462A CN 202210915825 A CN202210915825 A CN 202210915825A CN 115235462 A CN115235462 A CN 115235462A
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axis
coordinate system
rotating around
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chip microcomputer
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夏剑静
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Xia Jianjing
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration

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Abstract

The invention discloses a method for intelligently detecting three-dimensional coordinates of a spatial locus and application thereof. The method is characterized in that a nine-axis gyroscope sensor and at least one distance measuring sensor are arranged on a carrier, a corresponding calculation formula about the three-dimensional coordinate of a space point in a reference coordinate system is constructed by using an optional point on the carrier as the origin O of the reference coordinate system and the direction of a preset space coordinate system and according to 6 internal rotation sequences of the nine-axis gyroscope sensor, and only a posture angle and the distance between the space point to be measured and the origin of the coordinate system where the distance measuring sensor corresponding to the posture angle is located are variable in the constructed calculation formula, but the posture angle and the distance can be obtained by the nine-axis gyroscope sensor and the distance measuring sensor in real time respectively.

Description

Method for intelligently detecting three-dimensional coordinates of spatial locus and application thereof
Technical Field
The invention relates to a method for intelligently detecting a three-dimensional coordinate of a spatial point and application of the method to prevention of myopia and topographic mapping products, belonging to the technical field of intelligent detection.
Background
With the rapid development of intelligent science and technology, the intelligent implementation in multiple industries all involve the problem of how to accurately locate spatial targets, for example: the intelligent detection method for the space site three-dimensional coordinate comprises the fields of intelligent wearable equipment, robot online quality monitoring, mapping, rescue exploration and the like, and the problem of intelligent detection of the space site three-dimensional coordinate needs to be solved to realize accurate positioning of a space target. Because the existing intelligent monitoring of spatial loci basically adopts a visual image technology or a navigation technology combined with a radar, the technology has the problems of complex data processing, high operation cost and the like, the detection precision is influenced by the performance of visual equipment or/and radar equipment, the requirement on a data processing system is very high, the high-speed detection efficiency is usually met, the intelligent processing system has huge volume and high detection cost, and the wide application of the technology is limited.
The main products for preventing myopia in the current market are two types: firstly, sitting posture correction equipment is physically difficult to disassemble and has larger potential safety hazard because the equipment needs to be installed on a study desk; the distance measurement alarm equipment has the advantages that although the direction of the equipment is not wrong, the existing equipment has the problems of poor precision and frequent false alarm, and is large in size and short in endurance service life, so that the equipment cannot be popularized and used, and the practicability is not high.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a method for intelligently detecting three-dimensional coordinates of a spatial point and application thereof in topographic mapping and myopia prevention products.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for intelligently detecting three-dimensional coordinates of a spatial locus comprises a nine-axis gyroscope sensor and at least one distance measuring sensor, wherein the nine-axis gyroscope sensor and the distance measuring sensor are both arranged on a carrier capable of realizing synchronous motion of the nine-axis gyroscope sensor and the distance measuring sensor, and the method comprises the following steps:
1) And (2) optionally selecting one point on the carrier as a reference coordinate system origin O, and setting: the horizontal east direction is an X axis, the horizontal north direction is a Y axis, the vertical sky direction is a Z axis, theta is an attitude angle rotating around the X axis according to the right-hand rule,
Figure BDA0003775499390000011
is the attitude angle of the rotation around the Y axis following the right-hand rule, and psi is the attitude angle of the rotation around the Z axis following the right-hand rule; alpha is alpha O Is the origin O of the coordinate system where the distance measuring sensor is located A Line O connecting with origin O of reference coordinate system A Angle of O to the X axis, β O Is said connecting line O A Angle of-O to Y-axis, γ O Is said connecting line O A -O is at an angle to the Z axis; alpha is alpha A Is the origin O of the coordinate system where the distance measuring sensor is located A Connecting line O with space site to be measured (marked as point A) A Angle of A to the X axis, β A Is said connecting line O A Angle of A to the Y axis, γ A Is said connecting line O A -the angle of A with the Z axis; and, a represents O A The length of the A link, m represents O A -the length of the O-line;
2) The internal rotation sequence of the attitude angles of the nine-axis gyroscope sensor is totally 6, which are respectively as follows: Z-Y-X, Z-X-Y, Y-Z-X, Y-X-Z, X-Y-Z and X-Z-Y, therefore, the three-dimensional coordinate of the space position A to be measured in the reference coordinate system is calculated according to the following corresponding formula according to the specific internal rotation sequence of the attitude angle of the selected nine-axis gyroscope sensor, and specifically:
21 If the internal rotation sequence is Z-Y-X, then: firstly rotating around the Z axis, then rotating around the Y axis, and finally rotating around the X axis, so that the three-dimensional coordinate of the space site A to be measured in the reference coordinate system
Figure BDA0003775499390000021
The calculation formula (denoted as formula 1) is as follows:
Figure BDA0003775499390000022
Figure BDA0003775499390000023
Figure BDA0003775499390000024
22 If the internal rotation sequence is Z-X-Y, that is: firstly rotating around the Z axis, then rotating around the X axis, and finally rotating around the Y axis, so that the three-dimensional coordinate of the space site A to be measured in the reference coordinate system
Figure BDA0003775499390000025
The calculation formula (denoted as formula 2) is as follows:
Figure BDA0003775499390000026
Figure BDA0003775499390000027
Figure BDA0003775499390000031
23 If the internal rotation order is Y-X-Z, i.e.: firstly rotating around the Y axis, then rotating around the X axis, and finally rotating around the Z axis, so that the three-dimensional coordinate of the space site A to be measured in the reference coordinate system
Figure BDA0003775499390000032
The calculation formula (denoted as formula 3) is as follows:
Figure BDA0003775499390000033
Figure BDA0003775499390000034
Figure BDA0003775499390000035
24 If the internal rotation order is Y-Z-X, i.e.: firstly rotating around the Y axis, then rotating around the Z axis, and finally rotating around the X axis, so that the three-dimensional coordinate of the space site A to be measured in the reference coordinate system
Figure BDA0003775499390000036
The calculation formula (denoted as formula 4) is as follows:
Figure BDA0003775499390000037
Figure BDA0003775499390000038
Figure BDA0003775499390000039
25 If the internal rotation sequence is X-Z-Y, then: firstly rotating around the X axis, then rotating around the Z axis and finally rotating around the Y axis, thus obtaining the three-dimensional coordinate of the space site A to be measured in the reference coordinate system
Figure BDA0003775499390000041
The calculation formula (denoted as formula 5) is as follows:
Figure BDA0003775499390000042
Figure BDA0003775499390000043
Figure BDA0003775499390000044
26 If the internal rotation order is X-Y-Z, i.e.: firstly rotating around the X axis, then rotating around the Y axis and finally rotating around the Z axis, thus obtaining the three-dimensional coordinates of the space site A to be measured in the reference coordinate system
Figure BDA0003775499390000045
The calculation formula (denoted as formula 6) is as follows:
Figure BDA0003775499390000046
Figure BDA0003775499390000047
Figure BDA0003775499390000048
in one embodiment, the attitude angle θ,
Figure BDA0003775499390000049
The value range of psi is-180 deg.
An intelligent device for preventing myopia comprises a head-wearing carrier, a nine-axis gyroscope sensor, at least 3 distance measuring sensors and a single chip microcomputer, wherein the nine-axis gyroscope sensor and the distance measuring sensors are fixedly mounted on the head-wearing carrier, and are in signal communication connection with the single chip microcomputer; the method is characterized in that: at least 3 groups of calculation formulas for calculating the three-dimensional coordinates of the space positions in the reference coordinate system according to the method are preset in the single chip microcomputer, and attitude angles theta, theta and theta related to all the calculation formulas,
Figure BDA0003775499390000051
Psi numerical value is obtained and sent to the singlechip by nine-axis gyroscope sensor in real time, and alpha in each group of calculation formula O 、β O 、γ O 、α A 、β A 、γ A The parameter values of the m and the m are determined by the coordinate system origin where the ranging sensors corresponding to each group of formulas are located, the fixed value is set in each group of formulas, the parameter a value in each group of calculation formulas refers to the distance between the coordinate system origin where the ranging sensors corresponding to each group of formulas are located and the space site to be measured, and the parameter a value is obtained and sent to the single chip microcomputer by the corresponding ranging sensors in real time。
In one embodiment, a midpoint between two eyes of a user on a head-mounted carrier is used as a reference coordinate system origin O, a total of 6 distance measuring sensors are arranged on the head-mounted carrier, and the coordinate system origins in which the distance measuring sensors are arranged are respectively marked as O A 、O B 、O C 、O D 、 O E 、O F (ii) a And is provided with: the horizontal east-facing direction is an X-axis, the horizontal north-facing direction is a Y-axis, the vertical sky-facing direction is a Z-axis, theta is an attitude angle which rotates around the X-axis according to the right-hand rule and represents the head raising and lowering angles of a user,
Figure BDA0003775499390000052
the attitude angle for right-hand rotation about the Y-axis represents the angle at which the user is left-right askew, and ψ is the attitude angle for right-hand rotation about the Z-axis represents the angle at which the user is facing the direction; and a coordinate system origin O respectively corresponding to the distance measuring sensors is preset in the singlechip A 、O B 、O C 、O D 、O E 、O F 6 corresponding groups of calculation formulas for calculating the three-dimensional coordinates of the space position points in the reference coordinate system according to the method, wherein alpha in each group of calculation formulas O Refers to the origin O of the coordinate system where the corresponding distance measuring sensor is located A /O B /O C /O D /O E /O F Line O connecting with origin O of reference coordinate system A -O/O B -O/O C -O/O D -O/O E -O/O F Angle of O to the X axis, β O Is said connecting line O A -O/O B -O/O C -O/O D -O/O E -O/O F Angle of O to Y axis, γ O Is said connecting line O A -O/O B -O/O C -O/O D -O/O E -O/O F -O angle to Z axis; alpha in each set of calculation formula A Refers to the origin O of the coordinate system where the corresponding distance measuring sensor is located A /O B /O C /O D /O E /O F A connection line (such as O) with a space site to be detected (which can be correspondingly marked as A/B/C/D/E/F point) A -A/O B -B/O C -C/O D -D/O E -E/O F -F) angle to the X-axis, β A Is said connecting line (e.g. O) A -A/O B -B/O C -C/O D -D/O E -E/O F -F) angle to the Y axis, γ A Is said connecting line (e.g. O) A -A/O B -B/O C -C/O D -D/O E -E/O F -F) angle to the Z axis; and a in each group of calculation formula is a coordinate system origin O which represents the position of the corresponding distance measuring sensor A /O B /O C /O D /O E /O F A connection line (such as O) with a space site to be detected (which can be correspondingly marked as A/B/C/D/E/F point) A -A/O B -B/O C -C/O D -D/O E -E/O F -F), m in each set of calculation formulas being the origin O of the coordinate system in which the corresponding distance measuring sensor is located A /O B /O C /O D /O E /O F Line O connecting with origin O of reference coordinate system A -O/O B -O/O C -O/O D -O/O E -O/O F -the length of O.
In a preferred embodiment, the 6 distance measuring sensors disposed on the head-mounted carrier are distributed on the left and right sides of the origin O of the reference coordinate system in a left-right symmetrical manner.
In one embodiment, the head-mounted carrier is further provided with a warning module, and the warning module is in signal communication connection with the single chip microcomputer.
In a further embodiment, the warning module is any one or a combination of a vibration prompting module, a voice prompting module and an indicator light prompting module.
In one embodiment, the head-mounted carrier is further provided with a timing module, and the timing module is in signal communication connection with the single chip microcomputer.
In one embodiment, the head-mounted carrier is further provided with an illuminance sensor, and the illuminance sensor is in signal communication connection with the single chip microcomputer.
In one embodiment, the head-mounted carrier is further provided with a touch switch.
In one embodiment, the head mount is a spectacle frame, the spectacle frame may or may not include a lens, and the lens may be a piano lens or a myopic lens.
In one embodiment, the single chip microcomputer is preset with a module for determining whether the single chip microcomputer is in a learning state, and the specific determination method is as follows:
when the numerical value of the attitude angle psi accords with omega-25 DEG < psi < omega +25 DEG, judging the attitude angle psi is in a learning state, otherwise, judging the attitude angle psi is in a non-learning state; wherein: omega is the angle value of the initial attitude angle psi corresponding to the user facing the desk;
or/and
when the numerical value of the attitude angle theta is consistent with the condition that theta is less than 10 degrees, the state is judged to be a learning state, otherwise, the state is judged to be a non-learning state;
or/and
if the Z-axis coordinate of at least 2 monitoring points in the 3 monitoring points on the desktop in the reference coordinate system is larger than-500 mm, the monitoring point is judged to be in a learning state, and otherwise, the monitoring point is judged to be in a non-learning state.
In one embodiment, the single chip microcomputer is also preset with the following functions:
when the numerical value of the attitude angle theta is in accordance with the condition that theta is less than-40 degrees and the duration time reaches at least 10 +/-5 seconds, triggering a low-head warning reminder and storing related records, and stopping the warning reminder until the numerical value of the attitude angle theta is restored to the range of theta being more than or equal to-40 degrees and less than 10 degrees.
In one embodiment, the following functions are also preset in the single chip:
when the attitude angle
Figure BDA0003775499390000061
Or
Figure BDA0003775499390000062
When the duration time reaches at least 10 +/-5 seconds, the warning device triggers the warning of head deviation and stores related records, and the warning is continued until the attitude angle
Figure BDA0003775499390000063
Is restored to
Figure BDA0003775499390000064
The range is stopped.
In one embodiment, the single chip microcomputer is also preset with the following functions:
if the distance between at least 2 sites and the origin of the coordinate system where the corresponding distance measuring sensor is located is less than 330mm and is kept for at least 10 +/-5 seconds in 3 monitoring sites on the book, warning reminding and relevant records of the fact that the distance between the eyes and the book is too close are triggered, and the warning reminding is stopped until the distance between at least 2 sites is recovered to be more than or equal to 330 mm.
In one embodiment, the single chip microcomputer is also preset with the following functions:
if the monitoring points are located in 3 monitoring points on the desktop, at least 2 monitoring points have Z-axis coordinates Z in the reference coordinate system 0 Is-280 mm and is kept for at least 10 +/-5 seconds, the warning prompt and the related record are triggered when the distance between the eyes and the desktop is too close, and the warning prompt is continued until the Z-axis coordinate of at least 2 points in the reference coordinate system is restored to-500 mm < Z 0 Stopping when the thickness is less than or equal to-280 mm.
According to a preferable scheme, when the intelligent equipment for preventing myopia is started, firstly, the wearing state is judged, then, the learning state is judged, and then, the functions needing to be started and the rest functions are determined.
According to the embodiment, the temperature sensing sensor is arranged on the head-mounted carrier and is in signal communication connection with the single chip microcomputer, and whether the sensed temperature is greater than the room temperature or not is judged to be in a wearing state or not, specifically: if the temperature sensed by the temperature sensor is greater than the room temperature and is kept for at least 10 +/-5 seconds, the wearing state is judged.
The utility model provides an optimal scheme, foretell intelligent equipment of myopia prevention still includes high in the clouds server, high in the clouds server is equipped with every user's health file with the eye to real-time statistics and demonstration every user's visual condition and habit of using the eye.
An intelligent device for topographic mapping comprises a nine-axis gyroscope sensor, a plurality of distance measuring sensors, a single chip microcomputer and a carrying body for fixedly mounting the hardware, wherein the nine-axis gyroscope sensor and the distance measuring sensors are in signal communication connection with the single chip microcomputer; the method is characterized in that: at least a plurality of groups of calculation formulas for calculating the three-dimensional coordinates of the space points in the reference coordinate system according to the method are preset in the singlechip, and the attitude angles theta, theta and theta related in all the calculation formulas,
Figure BDA0003775499390000071
Psi numerical value is obtained and sent to the singlechip by the nine-axis gyroscope sensor in real time, and parameter alpha in each group of calculation formula O 、β O 、γ O 、α A 、β A 、γ A And the value of m is determined by the coordinate system origin where the distance measuring sensor corresponding to each group of formulas is located, the value in each group of formulas is a fixed value, the parameter a value in each group of calculation formulas refers to the distance between the coordinate system origin where the distance measuring sensor corresponding to each group of formulas is located and the space site to be measured, and the corresponding distance measuring sensor acquires and sends the distance to the single chip microcomputer in real time.
In one embodiment, the carrying body is a tripod or a drone.
In one embodiment, the single chip microcomputer is also preset with the following functions: and constructing a 3D model diagram according to the three-dimensional coordinate values of the plurality of spatial positions in the reference coordinate system.
In one embodiment, the single chip microcomputer is also preset with the following functions: and judging whether the plane is horizontal or vertical according to whether the difference exists between the coordinate values of the plurality of spatial points on the same plane in the same direction.
In addition, the distance measuring sensor described in the present invention includes, but is not limited to, any one of a laser distance measuring sensor, an ultrasonic distance measuring sensor, and an infrared distance measuring sensor, and the laser distance measuring sensor is preferable.
Compared with the prior art, the invention has the beneficial technical effects that:
the invention skillfully constructs the three-dimensional coordinate value of a space locus (such as a point A) in a reference coordinate system by mounting a nine-axis gyroscope sensor and a distance measuring sensor on a carrier which can make the nine-axis gyroscope sensor and the distance measuring sensor synchronously move and utilizing the mathematical conversion principle of the reference coordinate system
Figure BDA0003775499390000072
And each attitude angle theta,
Figure BDA0003775499390000073
Psi and installation direction angle alpha of distance measuring sensor A 、β A 、γ A The direction angle alpha of the origin of the coordinate system where the distance measuring sensor is located with respect to the origin of the reference coordinate system o 、β o 、γ o A mathematical relation between the connecting line length m of the origin of the coordinate system where the ranging sensor is located and the origin of the reference coordinate system and the connecting line length a of the origin of the coordinate system where the ranging sensor is located and the space site to be measured; because in the mathematical relation formula, the installation direction angle alpha of the distance measuring sensor A 、β A 、γ A The direction angle alpha of the origin of the coordinate system where the distance measuring sensor is located with respect to the origin of the reference coordinate system o 、β o 、γ o The length m of the connecting line between the origin of the coordinate system where the distance measuring sensor is located and the origin of the reference coordinate system, after the origin of the reference coordinate system and the origin of the coordinate system where the distance measuring sensor is located are determined, the fixed values are both obtained, and wherein the attitude angle theta,
Figure BDA0003775499390000074
The psi can be obtained by the nine-axis gyroscope sensor in real time, and the connecting line length a between the origin of the coordinate system where the distance measuring sensor is located and the space position point to be measured can be obtained by the corresponding distance measuring sensor in real time, so that the method disclosed by the invention can realize the detection and calculation of the three-dimensional coordinate of the space position point in the reference coordinate system, is very simple, is easy to realize high-efficiency and low-cost detection processing, and can be popularized and applied to multiple fields, such as: can be applied to intelligent equipment for preventing myopia and intelligent device for topographic mapping, thereby having remarkable practicabilityThe use value of the method is remarkably improved compared with the prior art.
Drawings
Fig. 1 shows the setting directions of a space coordinate system and a posture angle in the method for intelligently detecting three-dimensional coordinates of a space locus in embodiment 1 of the invention;
FIG. 2 is a diagram illustrating the parameter α in the method for intelligently detecting three-dimensional coordinates of spatial points according to embodiment 1 of the present invention o 、β o 、γ o 、α A 、β A 、γ A A and m are each as defined above;
FIG. 3 shows three attitude angles θ,
Figure BDA0003775499390000081
A detection state diagram (shown by a solid line) when ψ is all zero degrees, and three attitude angles θ,
Figure BDA0003775499390000082
A detection state diagram (indicated by a dotted line) when neither ψ is zero degrees;
fig. 4 shows the setting of the origin of the coordinate system and the origin and coordinate system of the coordinate system where the reference coordinate system and the ranging sensor are located in the intelligent device for preventing myopia according to embodiment 2 of the present invention;
FIG. 5 is a schematic diagram showing a myopia prevention intelligent device used for spatial locus detection in embodiment 2 of the invention;
fig. 6 is a schematic diagram illustrating the intelligent device for preventing myopia according to embodiment 2 of the present invention, when determining whether the device is in a learning state according to the attitude angle ψ;
fig. 7 is a schematic diagram showing the intelligent device for preventing myopia according to embodiment 2 of the present invention, when determining whether the device is in a learning state according to the attitude angle θ;
fig. 8 is a schematic view showing that the intelligent device for preventing myopia according to embodiment 2 of the present invention determines whether the intelligent device is in a learning state by using the Z-axis coordinate of the monitoring point located on the desktop in the reference coordinate system;
FIGS. 9 and 10 are schematic diagrams showing the intelligent myopia prevention device used for intelligent eye use monitoring during learning in embodiment 2 of the invention;
fig. 11 shows an arrangement of a reference coordinate system origin and a coordinate system where a distance measuring sensor is located in the intelligent device for topographic mapping according to embodiment 3 of the present invention;
fig. 12 is a schematic diagram showing the intelligent device for topographic mapping in accordance with embodiment 3 of the present invention used in spatial location detection;
fig. 13 and 14 are schematic diagrams illustrating the detection of whether the intelligent device for topographic mapping is used for horizontal and/or vertical wall and ground in embodiment 3 of the present invention.
Detailed Description
The technical solution of the present invention will be further clearly and completely described below with reference to the accompanying drawings and examples.
Example 1
Referring to fig. 1 to 3, a method for intelligently detecting three-dimensional coordinates of a spatial location according to the present invention includes a nine-axis gyro sensor (not shown, a known commercially available product is selected) and at least one distance measuring sensor (not shown, a known commercially available product is selected), and the nine-axis gyro sensor and the distance measuring sensor are both mounted on a carrier 01 capable of achieving synchronous movement of the nine-axis gyro sensor and the distance measuring sensor (the specific mounting positions of the nine-axis gyro sensor and the distance measuring sensor on the carrier 01 are not limited as long as the nine-axis gyro sensor and the distance measuring sensor can achieve synchronous movement (e.g., rotation) along with movement (e.g., rotation) of the carrier 01), and the method specifically includes the following steps:
1) Optionally selecting one point on the carrier 01 as a reference coordinate system origin O, and setting the following points: the horizontal east direction is an X axis, the horizontal north direction is a Y axis, the vertical sky direction is a Z axis, theta is an attitude angle rotating around the X axis according to the right-hand rule,
Figure BDA00037754993900000912
for the attitude angle of right-hand rotation about the Y-axis and psi for the attitude angle of right-hand rotation about the Z-axis, see particularly the drawings1. Shown;
2) Please refer to fig. 2 again: alpha (alpha) ("alpha") O Is the origin O of the coordinate system where the distance measuring sensor is located A Line O connecting with origin O of reference coordinate system A Angle of O to the X axis, β O Is said connecting line O A Angle of-O to Y-axis, γ O Is said connecting line O A -O is at an angle to the Z axis; alpha (alpha) ("alpha") A Is the origin O of the coordinate system where the distance measuring sensor is located A Connecting line O with space site to be measured (marked as point A) A Angle of A to the X axis, β A Is said connecting line O A Angle of A to the Y axis, γ A Is said connecting line O A -the angle of a to the Z axis; and, a represents O A The length of the A link, m represents O A -length of O connection line;
please refer to fig. 3 again: at three attitude angles theta,
Figure BDA0003775499390000091
At the initial state where psi is zero degree, the coordinates of O point
Figure BDA0003775499390000092
To indicate the coordinates of point A
Figure BDA0003775499390000093
Are expressed, their three-dimensional coordinates in the respective coordinate systems are expressed as follows:
Figure BDA0003775499390000094
Figure BDA0003775499390000095
if passing through three attitude angles theta along with the carrier 01,
Figure BDA0003775499390000096
After the psi is rotated, the device is,
Figure BDA0003775499390000097
point becomes
Figure BDA0003775499390000098
The point(s) is (are) such that,
Figure BDA0003775499390000099
point becomes
Figure BDA00037754993900000910
Point;
and because the internal rotation sequence of the attitude angles of the nine-axis gyroscope sensor is totally 6, the sequences are respectively as follows: Z-Y-X, Z-X-Y, Y-Z-X, Y-X-Z, X-Y-Z and X-Z-Y, therefore, a formula corresponding to the selected specific internal rotation sequence of the attitude angles of the nine-axis gyroscope sensor is selected to calculate the three-dimensional coordinate of the space site A to be measured in the reference coordinate system
Figure BDA00037754993900000911
The method specifically comprises the following steps:
21 If the internal rotation order is Z-Y-X, i.e.: firstly rotating around the Z axis, then rotating around the Y axis, and finally rotating around the X axis,
Figure BDA0003775499390000101
the formula for calculating the three-dimensional coordinates of the points is:
Figure BDA0003775499390000102
Figure BDA0003775499390000103
Figure BDA0003775499390000104
Figure BDA0003775499390000105
of three-dimensional coordinates of pointsThe calculation formula is:
Figure BDA0003775499390000106
Figure BDA0003775499390000107
Figure BDA0003775499390000108
according to the mathematical principle of coordinate transformation, the three-dimensional coordinates of the space site A to be measured in the reference coordinate system
Figure BDA0003775499390000109
The calculation method of (2) is as follows:
Figure BDA00037754993900001010
thus, according to the above
Figure BDA00037754993900001011
The following specific calculation formula (expressed as formula 1) can be obtained by simplifying the calculation formula (c):
Figure BDA00037754993900001012
Figure BDA0003775499390000111
Figure BDA0003775499390000112
22 If the internal rotation order is Z-X-Y, i.e.: firstly rotating around the Z axis, then rotating around the X axis, and finally rotating around the Y axis,
Figure BDA0003775499390000113
the formula for calculating the three-dimensional coordinates of the points is:
Figure BDA0003775499390000114
Figure BDA0003775499390000115
Figure BDA0003775499390000116
Figure BDA0003775499390000117
the formula for calculating the three-dimensional coordinates of the points is:
Figure BDA0003775499390000118
Figure BDA0003775499390000119
Figure BDA00037754993900001110
according to the mathematical principle of coordinate transformation, the three-dimensional coordinates of the space site A to be measured in the reference coordinate system
Figure BDA00037754993900001111
The calculation method of (2) is as follows:
Figure BDA0003775499390000121
therefore, the temperature of the molten metal is controlled,according to the above
Figure BDA0003775499390000122
The following specific calculation formula (expressed as formula 2) can be obtained by simplifying the calculation formula (c):
Figure BDA0003775499390000123
Figure BDA0003775499390000124
Figure BDA0003775499390000125
23 If the internal rotation order is Y-X-Z, i.e.: firstly rotating around the Y axis, then rotating around the X axis, and finally rotating around the Z axis,
Figure BDA0003775499390000126
the formula for calculating the three-dimensional coordinates of the points is:
Figure BDA0003775499390000127
Figure BDA0003775499390000128
Figure BDA0003775499390000129
Figure BDA00037754993900001210
the formula for calculating the three-dimensional coordinates of the points is:
Figure BDA0003775499390000131
Figure BDA0003775499390000132
Figure BDA0003775499390000133
according to the mathematical principle of coordinate transformation, the three-dimensional coordinates of the space site A to be measured in the reference system
Figure BDA0003775499390000134
The calculation method of (2) is as follows:
Figure BDA0003775499390000135
according to the above
Figure BDA0003775499390000136
The following specific calculation formula (expressed as formula 3) can be obtained by simplifying the calculation formula (c):
Figure BDA0003775499390000137
Figure BDA0003775499390000138
Figure BDA0003775499390000139
24 If the internal rotation order is Y-Z-X, i.e.: firstly rotating around the Y axis, then rotating around the Z axis, and finally rotating around the X axis,
Figure BDA00037754993900001310
the formula for calculating the three-dimensional coordinates of the points is:
Figure BDA00037754993900001311
Figure BDA0003775499390000141
Figure BDA0003775499390000142
Figure BDA0003775499390000143
the formula for calculating the three-dimensional coordinates of the points is:
Figure BDA0003775499390000144
Figure BDA0003775499390000145
Figure BDA0003775499390000146
according to the mathematical principle of coordinate transformation, the three-dimensional coordinates of the space site A to be measured in the reference coordinate system
Figure BDA0003775499390000147
The calculation method of (2) is as follows:
Figure BDA0003775499390000148
thus, according to the above
Figure BDA0003775499390000149
Can be simplified to obtain the following concreteCalculating formula (expressed as formula 4):
Figure BDA00037754993900001410
Figure BDA00037754993900001411
Figure BDA0003775499390000151
25 If the internal rotation order is X-Z-Y, i.e.: firstly rotating around the X axis, then rotating around the Z axis, and finally rotating around the Y axis,
Figure BDA0003775499390000152
the formula for calculating the three-dimensional coordinates of the points is:
Figure BDA0003775499390000153
Figure BDA0003775499390000154
Figure BDA0003775499390000155
Figure BDA0003775499390000156
the formula for calculating the three-dimensional coordinates of the points is:
Figure BDA0003775499390000157
Figure BDA0003775499390000158
Figure BDA0003775499390000159
according to the mathematical principle of coordinate transformation, the three-dimensional coordinates of the space site A to be measured in the reference coordinate system
Figure BDA00037754993900001510
The calculation method of (2) is as follows:
Figure BDA00037754993900001511
thus, according to the above
Figure BDA0003775499390000161
The following specific calculation formula (expressed as formula 5) can be obtained by simplifying the calculation formula (c):
Figure BDA0003775499390000162
Figure BDA0003775499390000163
Figure BDA0003775499390000164
26 If the internal rotation order is X-Y-Z, i.e.: firstly rotating around the X axis, then rotating around the Y axis, and finally rotating around the Z axis,
Figure BDA0003775499390000165
the formula for calculating the three-dimensional coordinates of a point is:
Figure BDA0003775499390000166
Figure BDA0003775499390000167
Figure BDA0003775499390000168
Figure BDA0003775499390000169
the formula for calculating the three-dimensional coordinates of a point is:
Figure BDA00037754993900001610
Figure BDA0003775499390000171
Figure BDA0003775499390000172
according to the mathematical principle of coordinate transformation, the three-dimensional coordinates of the space site A to be measured in the reference system
Figure BDA0003775499390000173
The calculation method of (2) is as follows:
Figure BDA0003775499390000174
according to the above
Figure BDA0003775499390000175
The following specific calculation formula (expressed as formula 6) can be obtained by simplifying the calculation formula (c):
Figure BDA0003775499390000176
Figure BDA0003775499390000177
Figure BDA0003775499390000178
since it can be seen from fig. 2 that when the reference coordinate system origin O and the coordinate system origin O where the distance measuring sensor is located are selected on the carrier 01 A Then, α in the above formula can be expressed o 、β o 、γ o 、α A 、β A 、γ A The values of m and m are all quantitative values, only the value of the parameter a is a variable which can change along with the change of the space site to be measured, but the parameter value can be measured and acquired by a corresponding distance measuring sensor in real time; in addition, the attitude angle theta in the above formula,
Figure BDA0003775499390000179
Psi can be known in real time by a nine-axis gyroscope sensor; therefore, the method of the invention can make the detection and calculation of the three-dimensional coordinates of the space position points in the reference coordinate system very simple, and is easy to realize the detection processing with high efficiency and low cost.
In one embodiment, the attitude angle θ,
Figure BDA00037754993900001710
The value range of psi is-180 deg.
Example 2
Please refer to fig. 4: the present invention provides an intelligent device for preventing myopia, which is an application example of the method described in embodiment 1, and the intelligent device includes a head-mounted carrier (in this embodiment, the spectacle frame 02 is taken as an example, but not limited to this design), a nine-axis gyroscope sensor (not shown in the figure, and known commercially available products are selected), at least 3 distance measuring sensors (in this embodiment, 6 are taken as examples, and not shown in the figure, and known commercially available products are selected), and a single chip microcomputer (not shown in the figure, and known commercially available products are selected for use)A commercially available product), the nine-axis gyro sensor and the distance measuring sensor are both fixedly mounted on the head-mounted carrier (in this embodiment, the spectacle frame 02), and the nine-axis gyro sensor and the distance measuring sensor are both in signal communication connection with the single chip microcomputer; the single chip microcomputer is preset with 6 sets of calculation formulas for calculating the three-dimensional coordinates of the spatial location in the reference coordinate system according to the method described in embodiment 1, and in order to keep clear one-to-one correspondence between each set of calculation formulas and the corresponding distance measuring sensors, the original points of the coordinate systems where the 6 distance measuring sensors are located can be respectively marked as O A 、O B 、O C 、O D 、O E 、O F The spatial positions for each ranging sensor to detect are denoted as points a, B, C, D, E, F (as shown in fig. 5), then a in the calculation formula for the spatial position denoted as point a described in embodiment 1 is replaced by B, C, D, E, or F, and a in the calculation formula is replaced by B, C, D, E, or F, for example: if the internal rotation order is Z-Y-X, the method is used for calculating the three-dimensional coordinates of the B point of the space position point in the reference coordinate system
Figure BDA0003775499390000181
The calculation formula of (a) is as follows:
Figure BDA0003775499390000182
Figure BDA0003775499390000183
Figure BDA0003775499390000184
alpha in the formula O Refers to the origin O of the coordinate system where the distance measuring sensor is located B Line O connecting with origin O of reference coordinate system B Angle of O to the X axis, β O Is said connecting line O B Angle of O to Y axis, γ O Is said connecting line O B -O is at an angle to the Z axis; alpha is alpha B Refers to the origin O of the coordinate system where the distance measuring sensor is located B Connecting line O with point B of space site to be measured B Angle of B to the X axis, β B Is said connecting line O B Angle of B to the Y axis, γ B Is said connecting line O B -B is at an angle to the Z axis; b is the origin O of the coordinate system where the distance measuring sensor is located B Connecting line O with point B of space site to be measured B Length of B, from the point of origin O of the coordinate system B M is the origin O of the coordinate system in which the distance measuring sensor is located B Line O connecting with origin O of reference coordinate system B -length of O.
As described above, the calculation formula for calculating the three-dimensional coordinates of the spatial points C, D, E, and F in the reference coordinate system only needs to refer to the formula and definition of the point a, replace all the child-parent points a in the formula with C, D, E, or F, replace all the related points a in the calculation formula with C, D, E, or F, and replace the origin O of the coordinate system in the definition with A Are all correspondingly replaced by O C /O D /O E /O F And correspondingly replacing the A points of the space site to be detected with C/D/E/F.
After the reference coordinate system origin O and the coordinate system origin where the ranging sensor is located are selected, alpha in each group of formulas can be enabled to be o 、β o 、γ o 、α A/B/C/D/E/F 、β A/B/C/D/E/F 、γ A/B/C/D/E/F The values of m and m are quantitative values, only the value of the parameter a/b/c/d/e/f is a variable, but the parameter a/b/c/d/e/f respectively refers to the origin O of the coordinate system where the ranging sensor is located A /O B /O C /O D /O E /O F A connection line O between the space site A/B/C/D/E/F to be detected A -A/O B -B/O C -C/O D -D/O E -E/O F The length of the F is known by real-time distance measurement of a corresponding distance measurement sensor and is sent to the single chip microcomputer; the attitude angle θ,
Figure BDA0003775499390000191
And psi can be obtained and sent to the single chip microcomputer by the nine-axis gyroscope sensor in real time. That is, when the origin O of the reference coordinate system is selected on the head-mounted carrier (in this embodiment, the spectacle frame 02 is taken as an example, but not limited to this design), and the nine-axis gyro sensor and the 6 distance measuring sensors are mounted and fixed, α in each set of formula can be known o 、β o 、γ o 、α A/B/C/D/E/F 、β A/B/C/D/E/F 、γ A/B/C/D/E/F And the value of m can be substituted as a fixed value into the final calculation formula for the three-dimensional coordinates of the spatial locus in the reference coordinate system such that only the variable θ,
Figure BDA0003775499390000192
ψ and a/b/c/d/e/f, and with respect to the variable θ,
Figure BDA0003775499390000193
The value psi can be obtained and transmitted to the single chip microcomputer by the nine-axis gyroscope sensor in real time, and the variable a/b/c/d/e/f can be obtained and transmitted to the single chip microcomputer by the corresponding distance measurement sensor in real time, so that the formula required to be operated in the single chip microcomputer is very simple, and the method has the advantages of very high operation efficiency, very low operation cost, high precision, good accuracy and the like.
As a preferable scheme, a midpoint between two eyes of a user on a head-mounted carrier (in this embodiment, the spectacle frame 02 is taken as an example) is taken as a reference coordinate system origin O, and 6 ranging sensors are distributed on the left side and the right side of the reference coordinate system origin O in a left-right symmetrical manner (see fig. 5); and is provided with: the horizontal east direction is an X axis, the horizontal north direction is a Y axis, the vertical sky direction is a Z axis, theta is an attitude angle which rotates around the X axis according to the right-hand rule and represents the angle of raising and lowering the head of a user,
Figure BDA0003775499390000194
the attitude angle for right-hand rotation about the Y-axis represents the angle at which the user is left-right askew, and ψ is the attitude angle for right-hand rotation about the Z-axis represents the angle at which the user is facing the direction.
According to a preferable scheme, a warning module is further arranged on the head-mounted carrier (in the embodiment, the spectacle frame 02 is taken as an example), the warning module is in signal communication connection with the single chip microcomputer, the warning module is any one or combination of a vibration prompting module, a voice prompting module and an indicator light prompting module, the vibration prompting module is preferably at least contained, when the situation that the eyes are not used scientifically is caused, the warning prompting is carried out by vibration, and the continuous vibration can be adopted until the situation that the eyes are used scientifically is reached, so that a user can adjust the situation that the eyes are not healthy in time; the warning module can simultaneously comprise a vibration prompting module and a voice prompting module or/and an indicator light prompting module, but the voice prompting module and the indicator light prompting module are preferably provided with independent switches; in addition, the head-mounted carrier is preferably provided with a timing module, and the timing module is in signal communication connection with the single chip microcomputer so as to facilitate statistical analysis of eye habits of users.
In a preferred scheme, the head-mounted carrier can be further provided with an illuminance sensor, and the illuminance sensor is in signal communication connection with the single chip microcomputer. The illuminance sensor is arranged to sense the brightness of the eye environment, so as to prevent the user from learning under an unscientific illumination environment to cause myopia, for example: if the sensed illumination intensity is not in the range of 300lx to 600lx, the single chip microcomputer can warn and remind through the warning module, but when the sensed illumination intensity is smaller than 1lx, the single chip microcomputer does not use eyes because the single chip microcomputer belongs to a dark state at the moment, and therefore the single chip microcomputer does not need to warn and remind.
In one embodiment, the head-mounted carrier is further provided with a touch switch, so that the switch operation and the attractiveness are facilitated.
In one embodiment, when the head-mounted carrier is a spectacle frame, the spectacle frame may or may not include a lens, and the lens may be a plano lens or a myopic lens.
The principle of realizing myopia prevention by the intelligent equipment is as follows:
by acquiring whether the eyes of a user are healthy or not in writing and reading states, such as: whether the posture or the distance meets the eye use health requirement or not, and warning reminding is given in time, so that the user is helped to develop scientific eye use habits, and myopia prevention is realized.
The specific working process of the intelligent equipment for realizing the myopia prevention is as follows:
when the intelligent equipment is started, the intelligent equipment firstly judges whether the intelligent equipment is worn by a user (specifically, a temperature-sensing sensor is arranged on a head-wearing carrier forming the intelligent equipment, the temperature-sensing sensor is in signal communication connection with a single chip microcomputer, and the intelligent equipment judges whether the intelligent equipment is in a wearing state or not according to whether the sensed temperature is greater than the room temperature, for example, if the temperature sensed by the temperature-sensing sensor is greater than the room temperature and is kept for at least 10 +/-5 seconds, the intelligent equipment is judged to be in the wearing state); if the wearing state is judged, whether the learning state is recognized or not is recognized, and the learning state can be specifically recognized as follows:
when the numerical value of the attitude angle psi accords with omega-25 DEG < psi < omega +25 DEG, judging the attitude angle psi is in a learning state, otherwise, judging the attitude angle psi is in a non-learning state; wherein: ω is the angle value of the initial attitude angle ψ corresponding to the user facing the desk (see FIG. 6);
or/and
when the value of the attitude angle θ satisfies θ < 10 °, it is determined as a learning state, otherwise, it is determined as a non-learning state (see fig. 7);
or/and
if the Z-axis coordinate of at least 2 monitoring points located on the desktop in the reference coordinate system is greater than-500 mm, the monitoring point is determined as a learning state, otherwise, the monitoring point is determined as a non-learning state, for example: in fig. 8, among the three points D, E, and F located on the desktop, if the single chip calculates the Z-axis coordinates of D, E, and F in the reference coordinate system according to the preset formula:
Figure BDA0003775499390000201
judging the learning state as long as the Z-axis coordinate of at least 2 points in the 3 points in the reference coordinate system is larger than-500 mm;
if the eye-using state is judged to be the learning state, whether the eye-using state is healthy or not is identified, and warning reminding is given, and the method specifically comprises the following steps:
when the numerical value of the attitude angle theta is less than-40 degrees and the duration time at least reaches 10 +/-5 seconds, triggering low-head warning prompt and storing related records, and stopping the warning prompt until the numerical value of the attitude angle theta is restored to the range of theta being more than or equal to-40 degrees and less than 10 degrees;
when the attitude angle
Figure BDA0003775499390000202
Or
Figure BDA0003775499390000203
When the duration time reaches at least 10 +/-5 seconds, the warning and the storage of related records of the head-bending excessive warning are triggered, and the warning and the reminding are continued until the attitude angle
Figure BDA0003775499390000204
Is restored to
Figure BDA0003775499390000205
Stopping when the range is reached;
if the distance (a, B, C) between at least 2 of the 3 monitoring points (such as A, B, C in fig. 9 and 10) on the book and the origin of the coordinate system where the corresponding distance measuring sensor is located is less than 330mm and is kept for at least 10 +/-5 seconds, the warning reminding that the distance between the eyes and the book is too close is triggered and the relevant records are stored, and the warning reminding is stopped until the distance between at least 2 monitoring points is recovered to be more than or equal to 330 mm;
if at least 2 of the 3 monitoring points (e.g., D, E, F in FIGS. 9 and 10) are located on the tabletop, the Z-axis Z coordinate of the reference coordinate system is 0 Is-280 mm and is kept for at least 10 +/-5 seconds, the warning prompt and the related record are triggered when the distance between the eyes and the desktop is too close, and the warning prompt is continued until the Z-axis coordinate of at least 2 points in the reference coordinate system is restored to-500 mm < Z 0 Stopping when the thickness is less than or equal to-280 mm.
According to a preferable scheme, the intelligent device further comprises a cloud server, wherein the cloud server is provided with eye health files of each user so as to count and display the vision condition and the eye using habit of each user in real time.
Example 3
Please refer to fig. 11 and 12: the invention provides an intelligent device for topographic mapping, which is another application example of the method in embodiment 1, and comprises a nine-axis gyroscope sensor (not shown in the figure, a known commercially available product is selected), a plurality of ranging sensors (not shown in the figure, a known commercially available product is selected), a single chip microcomputer (not shown in the figure, a known commercially available product is selected), and a carrying body 03 for fixedly mounting the hardware (the carrying body 03 can also be a tripod or an unmanned aerial vehicle), wherein the nine-axis gyroscope sensor and the ranging sensors are in signal communication connection with the single chip microcomputer; and at least a plurality of groups of calculation formulas for calculating the three-dimensional coordinates of the space points in the reference coordinate system according to the method are preset in the singlechip.
In order to keep the clear one-to-one correspondence between each set of calculation formulas and the corresponding distance measuring sensors, the origin of the coordinate system where the 16 distance measuring sensors are located can be respectively marked as O A 、O A1 、O A2 、O A3 、O B1 、O B2 、O B3 、O B4 、 O C1 、O C2 、O C3 、O C4 、O D1 、O D2 、O D3 、O D4 The space positions detected by each distance measuring sensor are marked as points A and A 1 、A 2 、A 3 、B 1 、B 2 、B 3 、B 4 、C 1 、C 2 、C 3 、C 4 、D 1 、D 2 、D 3 、D 4 Then, the A involved in the calculation formula of marking the spatial position as the point A in the embodiment 1 is replaced by A 1 、A 2 、A 3 、B 1 、B 2 、 B 3 、B 4 、C 1 、C 2 、C 3 、C 4 、D 1 、D 2 、D 3 Or D 4 All the a involved in the calculation formula are correspondingly replaced by a 1 、a 2 、 a 3 、b 1 、b 2 、b 3 、b 4 、c 1 、c 2 、c 3 、c 4 、d 1 、d 2 、d 3 、d 4 For example: if the internal rotation order is Z-Y-X, for example, it is used to calculate spatial position A 1 Three-dimensional coordinates of points in a reference coordinate system
Figure BDA0003775499390000211
The calculation formula of (a) is as follows:
Figure BDA0003775499390000212
Figure BDA0003775499390000213
Figure BDA0003775499390000221
alpha in the formula O Refers to the origin O of the coordinate system where the distance measuring sensor is located A1 Line O connecting with origin O of reference coordinate system A1 Angle of O to the X axis, β O Is said connecting line O A1 Angle of O to Y axis, γ O Is said connecting line O A1 -O is at an angle to the Z axis; alpha (alpha) ("alpha") A1 Refers to the origin O of the coordinate system where the distance measuring sensor is located A1 Connecting line O with point A1 of space site to be detected A1 Angle of A1 to the X axis, β A1 Is said connecting line O A1 Angle of A1 to the Y axis, γ A1 Is said connecting line O A1 -the angle of A1 with the Z-axis; a1 Is a coordinate system origin O representing the location of the distance measuring sensor A1 Connecting line O with point A1 of space site to be detected A1 A length of A1, from the origin O of the coordinate system A1 M is the origin O of the coordinate system where the distance measuring sensor is located A1 Root of HeshenLine O connecting with origin O of coordinate system A1 -length of O.
As described above, the computation space site A can be obtained by reference 2 、A 3 、B 1 、B 2 、B 3 、B 4 、C 1 、C 2 、C 3 、C 4 、D 1 、 D 2 、D 3 、D 4 Three-dimensional coordinates in the reference coordinate system:
Figure BDA0003775499390000222
Figure BDA0003775499390000223
Figure BDA0003775499390000224
Figure BDA0003775499390000225
according to the three-dimensional coordinate values of the plurality of spatial positions in the reference coordinate system, a 3D model graph can be constructed, so that a topographic profile can be obtained through surveying and drawing; whether the plane is horizontal or vertical can also be determined according to whether there is a difference between coordinate values of a plurality of spatial positions located on the same plane in the same direction (as shown in fig. 13 and 14).
From the above, the intelligent device for topographic mapping provided by the invention can accurately calculate the three-dimensional coordinates of each space point and the horizontal difference and the vertical difference between the coordinates, so that a topographic profile map can be visually constructed, and whether a mapping surface is horizontal or vertical can be accurately mapped, therefore, the intelligent device is simple and efficient to operate, accurate and visual in mapping result and has obvious practical value.
In addition, the distance measuring sensor described in the present invention includes, but is not limited to, any one of a laser distance measuring sensor, an ultrasonic distance measuring sensor and an infrared distance measuring sensor, and the laser distance measuring sensor is preferred, and any commercially available existing product can be used.
It is finally necessary to point out here: the above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.

Claims (10)

1. A method for intelligently detecting three-dimensional coordinates of a spatial locus comprises a nine-axis gyroscope sensor and at least one distance measuring sensor, wherein the nine-axis gyroscope sensor and the distance measuring sensor are both arranged on a carrier capable of realizing synchronous motion of the nine-axis gyroscope sensor and the distance measuring sensor, and the method is characterized by comprising the following steps of:
1) And (2) optionally selecting one point on the carrier as a reference coordinate system origin O, and setting: the horizontal east direction is an X axis, the horizontal north direction is a Y axis, the vertical sky direction is a Z axis, theta is an attitude angle rotating around the X axis according to the right-hand rule,
Figure FDA0003775499380000016
is the attitude angle of rotation around the Y axis following the right hand rule, psi is the attitude angle of rotation around the Z axis following the right hand rule; alpha is alpha O Is the origin O of the coordinate system where the distance measuring sensor is located A Line O connecting with origin O of reference coordinate system A Angle of O to the X axis, β O Is said connecting line O A Angle of O to Y axis, γ O Is said connecting line O A -O is at an angle to the Z axis; alpha is alpha A Is the origin O of the coordinate system where the distance measuring sensor is located A Line O to spatial site A to be measured A Angle of A to the X axis, β A Is said connecting line O A Angle of A to Y axis, γ A Is said connecting line O A -the angle of a to the Z axis; and, a represents O A The length of the A connecting line, m represents O A -length of O connection line;
2) The internal rotation sequence of the attitude angles of the nine-axis gyroscope sensor is totally 6, which are respectively as follows: Z-Y-X, Z-X-Y, Y-Z-X, Y-X-Z, X-Y-Z and X-Z-Y, therefore, the three-dimensional coordinate of the space position A to be measured in the reference coordinate system is calculated according to the following corresponding formula according to the specific internal rotation sequence of the attitude angle of the selected nine-axis gyroscope sensor, and specifically:
21 If the internal rotation sequence is Z-Y-X, then: firstly rotating around the Z axis, then rotating around the Y axis, and finally rotating around the X axis, so that the three-dimensional coordinate of the space site A to be measured in the reference coordinate system
Figure FDA0003775499380000011
The calculation formula (denoted as formula 1) is as follows:
Figure FDA0003775499380000012
Figure FDA0003775499380000013
Figure FDA0003775499380000014
22 If the internal rotation order is Z-X-Y, i.e.: firstly rotating around the Z axis, then rotating around the X axis, and finally rotating around the Y axis, so that the three-dimensional coordinate of the space site A to be measured in the reference coordinate system
Figure FDA0003775499380000015
The calculation formula (denoted as formula 2) is as follows:
Figure FDA0003775499380000021
Figure FDA0003775499380000022
Figure FDA0003775499380000023
23 If the internal rotation sequence is Y-X-Z, that is: firstly rotating around the Y axis, then rotating around the X axis and finally rotating around the Z axis, thus obtaining the three-dimensional coordinates of the space site A to be measured in the reference coordinate system
Figure FDA0003775499380000024
The calculation formula (denoted as formula 3) is as follows:
Figure FDA0003775499380000025
Figure FDA0003775499380000026
Figure FDA0003775499380000027
24 If the internal rotation sequence is Y-Z-X, then: firstly rotating around the Y axis, then rotating around the Z axis, and finally rotating around the X axis, so that the three-dimensional coordinate of the space site A to be measured in the reference coordinate system
Figure FDA0003775499380000028
The calculation formula (denoted as formula 4) is as follows:
Figure FDA0003775499380000029
Figure FDA0003775499380000031
Figure FDA0003775499380000032
25 If the internal rotation order is X-Z-Y, i.e.: firstly rotating around the X axis, then rotating around the Z axis, and finally rotating around the Y axis, so that the three-dimensional coordinate of the space site A to be measured in the reference coordinate system
Figure FDA0003775499380000033
The calculation formula (denoted as formula 5) is as follows:
Figure FDA0003775499380000034
Figure FDA0003775499380000035
Figure FDA0003775499380000036
26 If the internal rotation order is X-Y-Z, i.e.: firstly rotating around the X axis, then rotating around the Y axis and finally rotating around the Z axis, thus obtaining the three-dimensional coordinates of the space site A to be measured in the reference coordinate system
Figure FDA0003775499380000037
The calculation formula (denoted as formula 6) is as follows:
Figure FDA0003775499380000038
Figure FDA0003775499380000041
Figure FDA0003775499380000042
2. an intelligent device for preventing myopia comprises a head-wearing carrier, a nine-axis gyroscope sensor, at least 3 distance measuring sensors and a single chip microcomputer, wherein the nine-axis gyroscope sensor and the distance measuring sensors are fixedly mounted on the head-wearing carrier, and are in signal communication connection with the single chip microcomputer; the method is characterized in that: at least 3 groups of calculation formulas for calculating the three-dimensional coordinates of the space points in the reference coordinate system according to the method of claim 1 are preset in the single chip microcomputer, attitude angles θ, referred to in all calculation formulas,
Figure FDA0003775499380000043
Psi numerical value is obtained and sent to the singlechip by nine-axis gyroscope sensor in real time, and alpha in each group of calculation formula O 、β O 、γ O 、α A 、β A 、γ A And the parameter values of the m are determined by the coordinate system origin where the ranging sensors corresponding to each group of formulas are located, the parameter values in each group of formulas are constant values, the parameter a values in each group of calculation formulas refer to the distance between the coordinate system origin where the ranging sensors corresponding to each group of formulas are located and the space site to be measured, and the parameter a values are obtained and sent to the single chip microcomputer by the corresponding ranging sensors in real time.
3. A smart device for preventing myopia according to claim 2, wherein: the head-mounted carrier is also provided with a warning module, and the warning module is in signal communication connection with the single chip microcomputer; the warning module is any one or combination of a plurality of vibration prompting module, voice prompting module and indicating lamp prompting module.
4. A smart device for preventing myopia according to claim 2, wherein: the head-mounted carrier is further provided with a timing module, and the timing module is in signal communication connection with the single chip microcomputer.
5. A smart device for preventing myopia according to claim 2, wherein: the single chip microcomputer is preset with a module for judging whether the single chip microcomputer is in a learning state, and the specific judging method comprises the following steps:
when the numerical value of the attitude angle psi accords with omega-25 DEG < psi < omega +25 DEG, judging the attitude angle psi is in a learning state, otherwise, judging the attitude angle psi is in a non-learning state; wherein: omega is the angle value of the initial attitude angle psi corresponding to the user when the front face faces the desk;
or/and
when the numerical value of the attitude angle theta is consistent with the condition that theta is less than 10 degrees, judging the attitude angle theta to be in a learning state, otherwise, judging the attitude angle theta to be in a non-learning state;
or/and
if the Z-axis coordinate of at least 2 monitoring points on the desktop in the reference coordinate system is larger than-500 mm, the desktop is judged to be in a learning state, otherwise, the desktop is judged to be in a non-learning state.
6. Intelligent apparatus for prevention of myopia according to claim 2 or 5, wherein: the single chip microcomputer is also preset with the following functions:
when the numerical value of the attitude angle theta is less than-40 degrees and the duration time at least reaches 10 +/-5 seconds, triggering warning reminding and storing related records, wherein the warning reminding is stopped until the numerical value of the attitude angle theta is restored to the range of-40 degrees to theta less than 10 degrees;
or/and
when the attitude angle
Figure FDA0003775499380000051
Or
Figure FDA0003775499380000052
When the duration time reaches at least 10 +/-5 seconds, the warning reminding is triggered and the relevant records are stored, and the warning reminding continues until the attitude angle
Figure FDA0003775499380000053
Is restored to
Figure FDA0003775499380000054
Stopping when the range is reached;
or/and
if the distance measurement distance between at least 2 sites and the origin of the coordinate system where the corresponding distance measurement sensor is located is less than 330mm and is kept for at least 10 +/-5 seconds in the 3 monitoring sites on the book, triggering warning reminding and storing related records, wherein the warning reminding is stopped until the distance measurement distance of at least 2 sites is recovered to be more than or equal to 330 mm;
or/and
if the monitoring points are located in 3 monitoring points on the desktop, at least 2 monitoring points have Z-axis coordinates Z in the reference coordinate system 0 Is > -280mm and is maintained for at least 10 +/-5 seconds, a warning reminder is triggered and related records are stored, and the warning reminder is continued until the Z-axis coordinate of at least 2 points in the reference coordinate system is restored to-500 mm < Z 0 Stopping when the thickness is less than or equal to-280 mm.
7. The intelligent device for preventing myopia according to claim 2, wherein: myopia prevention smart machine when starting, at first carry out the judgement of wearing the state, specifically do: the temperature sensing sensor is arranged on the head-wearing carrier and is in signal communication connection with the single chip microcomputer, and if the temperature sensed by the temperature sensing sensor is greater than room temperature and is kept for at least 10 +/-5 seconds, the wearing state is judged.
8. An intelligent device for topographic mapping comprises a nine-axis gyroscope sensor, a plurality of distance measuring sensors, a single chip microcomputer and a carrying body for fixedly mounting hardware, wherein the nine-axis gyroscope sensor and the distance measuring sensors are in signal communication connection with the single chip microcomputer; the method is characterized in that: at least a plurality of groups of calculation formulas for calculating the three-dimensional coordinates of the space positions in the reference coordinate system according to the method are preset in the singlechip, and attitude angles theta, theta and theta related to all the calculation formulas,
Figure FDA0003775499380000055
Psi numerical value is obtained and sent to the singlechip by the nine-axis gyroscope sensor in real time, and parameter alpha in each group of calculation formula O 、β O 、γ O 、α A 、β A 、γ A And the value of m is determined by the coordinate system origin where the ranging sensor corresponding to each group of formulas is located, the value of m is a fixed value in each group of formulas, the value of the parameter a in each group of calculation formulas is the distance between the coordinate system origin where the ranging sensor corresponding to each group of formulas is located and the space site to be measured, and the value of m is obtained and sent to the single chip microcomputer by the corresponding ranging sensor in real time.
9. The intelligent device for topographic mapping as recited in claim 8, wherein: the single chip microcomputer is also preset with the following functions: and constructing a 3D model diagram according to the three-dimensional coordinate values of the plurality of spatial positions in the reference coordinate system.
10. Intelligent apparatus for topographic mapping according to claim 8 or 9, wherein: the single chip microcomputer is also preset with the following functions: and judging whether the plane is horizontal or vertical according to whether the difference exists between the coordinate values of the plurality of spatial points on the same plane in the same direction.
CN202210915825.0A 2022-08-01 2022-08-01 Method for intelligently detecting three-dimensional coordinates of spatial locus and application thereof Pending CN115235462A (en)

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