CN204115659U - A kind of three-dimensional space measurement device - Google Patents

Abstract

The utility model has opened a kind of three-dimensional space measurement device, and this device comprises several magnetic field sensors, magnetic field generator, signal processing unit, central control unit, calculation element and the display that are arranged in flexible pipe, magnetic field generator comprises several coils, the alternating magnetic field of different frequency is produced after different coil leads to the alternating current of different frequency, the alternating magnetic field detected is converted into electric signal and is sent to signal processing unit by magnetic field sensor, the generation in the magnetic field of central control unit Comprehensive Control coil, and send this signal to calculation element, the magnetic field sensor signal through signal processing unit digital conversion that calculation element is sent by central control unit calculates three-dimensional position and the directional data of described magnetic field sensor, 3D shape and the position of flexible pipe is demonstrated by display.Adopt the three-dimensional position of multifrequency low-intensity magnetic field determination One-Dimension Magnetic field sensor, there is cost low, the features such as volume is little.

Description

A kind of three-dimensional space measurement device

Technical field

The utility model relates to a kind of three-dimensional position measurement mechanism, particularly relates to the measurement mechanism adopting the method for electromagnetism simultaneously to measure multiple three-dimensional position sensing device orientation.

Background technology

Closely magnetic field is used to three-dimensional position and detects the history had more than 40 years.In this detection system, magnetic field generator utilizes multiple solenoid to produce diverse location, the electromagnetic field of different directions.Magnetic field sensor can detect this magnetic field, and can set up the system of equations of measured value and magnetic field sensor relative orientation.By this system of equations of numerical solution, the orientation of this sensor relative magnetic field generator can be calculated.But this type systematic existing, particularly some early stage systems, the simulating signal filtering of a large amount of dependence complexity and tracking, cause the cost of system high, and locate while being not suitable for multisensor.Some systems adopts multidimensional magnetic field sensor (namely to two and all responsive magnetic field sensor in above direction), and the large cost of such sensor bulk is high.The system constraint sensor also had can only move upward several sides of or limited.Existing system adopts each coil of timesharing field drives magnetic field generator in addition, makes the measuring speed of system lower.

Utility model content

The utility model object is, overcome the defect of prior art, the three-dimensional position adopting multifrequency low-intensity magnetic field determination One-Dimension Magnetic field sensor (magnetic field sensor namely only to single direction sensitivity) is provided, make measuring speed can reach more than 25Hz soon, and the cost that can reach magnetic field sensor is low, volume is little, does not have radiation, and can carry out the three-dimensional space measurement device of non-visible measurement.

For realizing above-mentioned utility model object, the technical solution adopted in the utility model is: provide a kind of three-dimensional space measurement device, it is characterized in that, described device comprises several magnetic field sensors, magnetic field generator, signal processing unit, central control unit, calculation element and the display that are arranged in flexible pipe; Magnetic field generator comprises several coils and arranges according to diverse location different directions, the axis of the coil of magnetic field generator is all in same plane, coil is at least divided into two groups, is determined to drive the coil of which group magnetic field generator to send electromagnetic signal by the position of the magnetic field sensor recorded; Magnetic field sensor is telefault, is distributed in flexible pipe by several telefaults, is connected at the two ends of each coil by socket with signal processing unit, and described flexible pipe is according to using the curvilinear structures needing to form Arbitrary 3 D space; Calculation element is embedded computer, described magnetic field generator, signal processing unit, central control unit, embedded computer and display are separately positioned on movable fixture, described mobile device is provided with base, column and operator's console, embedded computer and signal processing unit are placed on base, display is arranged on operator's console, operator's console is also provided with adjusting knob, and described magnetic field sensor is connected with this mobile device by socket.

Wherein preferred technical scheme is, the alternating magnetic field of different frequency is produced after the different coils of described magnetic field generator lead to the alternating current of different frequency, the alternating magnetic field detected is converted into electric signal and is sent to signal processing unit by magnetic field sensor, the electric signal of magnetic field sensor is converted to digital signal by signal processing unit, the generation in the magnetic field of coil described in central control unit Comprehensive Control, the digital signal of Received signal strength processing unit simultaneously, and send this digital signal to calculation element, the magnetic field sensor signal through signal processing unit digital conversion that calculation element is sent by central control unit calculates three-dimensional position and the directional data of described magnetic field sensor, and this magnetic field sensor three-dimensional data after process is constructed three-dimensional picture, 3D shape and the position of flexible pipe is demonstrated again by display.

Preferred technical scheme also has, and is provided with one or more monitoring magnetic field sensor in described magnetic field generator, and its signal is used for monitoring the magnetic field of described magnetic field generator.

Preferred technical scheme also has, and described magnetic field sensor is Hall element, or is magnetoresistive transducer.

Preferred technical scheme also has further, and the axial plane of the circuit board of described signal processing unit and the coil of described magnetic field generator is positioned at same plane.

Further preferred embodiment also has, and the frequency of the different frequency alternating current of the different coils of described magnetic field generator is synthesized by identical reference frequency.

Preferred technical scheme also has, and several magnetic field sensors in described flexible pipe can insert the sampling passage of endoscope with its flexible pipe, thus measure 3D shape and the position of this endoscope.

Advantage of the present utility model and beneficial effect are: this three-dimensional space measurement device may be used for the non-visual three-dimensional position of noncontact and measures, and the 3D shape of such as medicine equipment is followed the tracks of, the control of virtual reality and Long-distance Control etc.One of them application is exactly the 3D shape sensing device being made up of hose-like some magnetic field sensors, the overcoat flexible pipe of this 3D shape sensing device is inserted in the pincers road of endoscope, the shape of overcoat flexible pipe is exactly the shape of endoscope channel, the shape in pincers road is exactly the shape of endoscope, so can learn the 3D shape of endoscope by measuring this 3D shape sensor.And the 3D shape of endoscope is shown in real time by the device of this utility model.Again because this device adopts the three-dimensional position of multifrequency low-intensity magnetic field determination One-Dimension Magnetic field sensor (magnetic field sensor namely only to single direction sensitivity), make measuring speed can reach more than 25Hz soon, and the cost that can reach magnetic field sensor is low, volume is little, there is no radiation, and can the effects such as non-visible measurement be carried out.

Accompanying drawing explanation

Fig. 1 is the structural representation of 3D shape sensor in the utility model three-dimensional space measurement device;

Fig. 2 is the general structure schematic diagram of the utility model three-dimensional space measurement device;

Fig. 3 is the structural representation of magnetic field generator coil in the utility model three-dimensional space measurement device;

Fig. 4 is the structural representation of magnetic field generator coil in the utility model three-dimensional space measurement device;

Fig. 5 is Z axis solenoid magnetic field schematic diagram in the utility model three-dimensional space measurement device;

Fig. 6 is Y-axis solenoid magnetic field schematic diagram in the utility model three-dimensional space measurement device;

Fig. 7 is sensor orientation resolution of vectors figure in the utility model three-dimensional space measurement device;

Fig. 8 is the block diagram of three-dimensional position measurement and application apparatus in the utility model three-dimensional space measurement device;

Fig. 9 is the block diagram of three-dimensional position measurement and endoscopic applications device in the utility model three-dimensional space measurement device;

The magnetic field intensity conversion schematic diagram of magnetic field generator coil in Figure 10 the utility model three-dimensional space measurement device.

Figure 11 is an example of the magnetic field sensor in the utility model three-dimensional space measurement device.

In figure: 12-holds the flexible pipe of magnetic field sensor, 13-connects the electric connector of magnetic field sensor, 14-magnetic field sensor, 21-display, 22-operation knob, 23-sensor socket, 24-base, 25-column, 31-magnetic field generator coil skeleton, 32-around the wire on this skeleton, 41-magnetic field generator base plate, the coil of 42-magnetic field generator, 43-monitors magnetic field sensor.

Embodiment

The utility model is a kind of three-dimensional space measurement device, and this device comprises several magnetic field sensor 14, magnetic field generator, signal processing unit, central control unit, calculation element and the displays 21 be arranged in flexible pipe, the coil 42 of several magnetic field generators that magnetic field generator comprises arranges according to diverse location and different directions, the alternating magnetic field of different frequency is produced after described coil 42 leads to the alternating current of different frequency, the alternating magnetic field detected is converted into electric signal and is sent to signal processing unit by magnetic field sensor 14, the electric signal of magnetic field sensor 14 is converted to digital signal by signal processing unit, the generation in coil 42 magnetic field described in central control unit Comprehensive Control, the digital signal of Received signal strength processing unit simultaneously, and send this digital signal to calculation element, the magnetic field sensor signal through signal processing unit digital conversion that calculation element is sent by central control unit calculates three-dimensional position and the directional data of described magnetic field sensor 14, and the three-dimensional data of the magnetic field sensor 14 after process is constructed three-dimensional picture, 3D shape and the position of flexible pipe is demonstrated again by display 21.

In the utility model, preferred embodiment is, described magnetic field sensor 14 is telefault, several telefaults are distributed in flexible pipe, be connected with signal processing unit by sensor socket 23 at the two ends of each described coil, described flexible pipe is according to using the curvilinear structures needing to form Arbitrary 3 D space.

In the utility model, preferred embodiment also has, and the axis of the coil 42 of described magnetic field generator is all in same plane.

In the utility model, preferred embodiment also has, and described coil is at least divided into two groups, is determined to drive the coil 42 of which group magnetic field generator to send electromagnetic signal by the position of the magnetic field sensor 14 recorded.

In the utility model, preferred embodiment also has, and is provided with one or more monitoring magnetic field sensor 43 in described magnetic field generator, and its signal is used for monitoring the magnetic field of described magnetic field generator 14.

In the utility model, preferred embodiment also has, and described monitoring magnetic field sensor 43 is Hall element, or is magnetoresistive transducer.

In the utility model, further preferred embodiment also has, and the axial plane of the circuit board of described signal processing unit and the coil 42 of described magnetic field generator is positioned at same plane.

In the utility model, further preferred embodiment also has, and the frequency of the different frequency alternating current of the described coil 42 of described magnetic field generator is synthesized by identical reference frequency.

In the utility model, preferred embodiment also has, and described calculation element is embedded computer, and described magnetic field generator, signal processing unit, central control unit, embedded computer and display 21 is separately positioned on movable fixture.

In the utility model, further preferred embodiment also has, described mobile device is provided with base 24, column 25 and operator's console, embedded computer and signal processing unit are placed on base 24, display 21 is arranged on operator's console, operator's console is also provided with adjusting knob, and described magnetic field sensor 14 is connected with described mobile device by sensor socket 23.

In the utility model, preferred embodiment also has, and several magnetic field sensors 14 in described flexible pipe can insert the sampling passage of endoscope with its flexible pipe, thus measure 3D shape and the position of this endoscope.

Embodiment 1

This three-dimensional space measurement device adopts the three-dimensional position of multifrequency low-intensity magnetic field determination One-Dimension Magnetic field sensor (magnetic field sensor namely only to single direction sensitivity), because adopt multifrequency magnetic field, so measuring speed can reach more than 25Hz soon, and the cost of One-Dimension Magnetic field sensor is low, volume is little, this device does not have radiation, can carry out non-visible measurement.

When wire is by electric current, around it, magnetic field can be produced.For a coil turned to by wire and prolong Z axis place, as shown in Figure 5, if during certain some P to the distance R>> coil diameter D of coil, the magnetic field that this P point is produced by described coil 42 can be approximated to be dipole magnetic field.The dipole magnetic field of its P point is,

$\left\{\begin{array}{c}{B}_r=\frac{2\·k_g\·\cos \mathrm{\α}}{R^3}\\ B_{\mathrm{\α}}=\frac{k_g\·\sin \mathrm{\α}}{R^3}\end{array}\right.$

Wherein, R is the distance of P point to described coil 42 center; BR is the magnetic field intensity of prolonging R direction; Ba is the magnetic field intensity of prolonging a direction; Kg is the magnetic field intensity coefficient of described coil 42, is here constant.Because in Figure 5,

$R=\sqrt{x^2+y^2+z^2}$

$R_{\mathrm{xy}}=\sqrt{x^2+y^2}$

$\cos \mathrm{\α}=\frac{z}{R}$

$\sin \mathrm{\α}=\frac{R_{\mathrm{xy}}}{R}$

$\cos \mathrm{\β}=\frac{x}{R_{\mathrm{xy}}}$

$\sin \mathrm{\β}=\frac{y}{R_{\mathrm{xy}}}$

The dipole magnetic field x of P point, y, z are expressed as,

$\mathrm{BZ}=k_g\·(\frac{3\·x\·z}{R^5}\hat{x}+\frac{3\·y\·z}{R^5}\hat{y}+\frac{2\·z^2-x^2-y^2}{R^5}\hat{z})$

Wherein x, y, z are the coordinate of position relative to described coil 42 of three dimensions point, and x, y, z are three-dimensional unit vector.

Because kg is constant, this magnetic field can be expressed as in normalization,

$\mathrm{BZ}=\frac{3\·x\·z}{R^5}\hat{x}+\frac{3\·y\·z}{R^5}\hat{y}+\frac{2\·z^2-x^2-y^2}{R^5}\hat{z}$

Similar, if described coil 42 is placed as shown in Figure 6 along Y-axis, have,

$\mathrm{BY}=\frac{3\·x\·y}{R^5}\hat{x}+\frac{2\·y^2-x^2-z^2}{R^5}\hat{y}+\frac{3\·y\·z}{R^5}\hat{z}$

Similar, if described coil 42 is placed along X-axis, have,

$\mathrm{BX}=\frac{2\·x^2-y^2-z^2}{R^5}\hat{x}+\frac{3\·x\·y}{R^5}\hat{y}+\frac{3\·x\·z}{R^5}\hat{z}.$

If have a magnetic field sensor 14 at P point, its sensitive direction is as shown in the s in Fig. 7.The angle of S and Z axis is the plane of theta, s and Z axis, and the angle of X-axis and Y-axis plane is phi.S at the representation in components of all directions is,

$\hat{s}=\sin \mathrm{\θ}\·\cos \mathrm{\φ}\hat{x}+\sin \mathrm{\θ}\·\sin \mathrm{\φ}\hat{y}+\cos \mathrm{\θ}\hat{z}$

Wherein, x, y, z are three-dimensional unit vector.

S and BZ, BY or BX are done dot product and will obtain the theoretical measured value of the magnetic field sensor 14 of P point place s orientation-sensitive.Such as, the theoretical measured value for the magnetic field sensor 14 placing s direction, described coil 42, P point place along Z axis is,

$\begin{array}{c}{V}_{\mathrm{SZ}}=\frac{3\·x\·z}{R^5}\·\sin \mathrm{\θ}\·\cos \mathrm{\φ}+\frac{3\·y\·z}{R^5}\·\sin \mathrm{\θ}\·\sin \mathrm{\φ}+\frac{2\·z^2-x^2-y^2}{R^5}\·\cos \mathrm{\θ}\\ =\frac{1}{R^5}\·[3\·x\·z\·\sin \mathrm{\θ}\·\cos \mathrm{\φ}+3\·y\·z\·\sin \mathrm{\θ}\·\sin \mathrm{\φ}+(2\·z^2-x^2-y^2)\·\cos \mathrm{\θ}]\end{array}$

In like manner, place solenoid for along Y-axis, the theoretical measured value of the magnetic field sensor 14 in s direction, P point place is,

$V_{\mathrm{SY}}=\frac{1}{R^5}\·[3\·x\·y\·\sin \mathrm{\θ}\·\cos \mathrm{\φ}+(2\·y^2\·x^2\·z^2)\·\sin \mathrm{\θ}\·\sin \mathrm{\φ}+3\·y\·z\·\cos \mathrm{\θ}]$

In like manner, the theoretical measured value for the magnetic field sensor 14 placing s direction, described coil 42, P point place along X-axis is,

$V_{\mathrm{SX}}=\frac{1}{R^5}\·[(2\·x^2\·y^2\·z^2)\·\sin \mathrm{\θ}\·\sin \mathrm{\φ}+3\·x\·y\·\sin \mathrm{\θ}\·\sin \mathrm{\φ}+3\·x\·z\·\cos \mathrm{\θ}]$

By organizing the position described coil different from direction, the three-dimensional coordinate of magnetic field sensor 14 and the system of equations in direction in s direction, P point place can be set up, namely by (x more, y, z, phi, theta) system of equations of corresponding multiple different Vsi (i=x, y, z) equation.Obviously, this system of equations will have at least 5 different equations, that is will have the described coil 42 that at least 5 positions are different from direction.

This system of equations is nonlinear multivariable system of equations, is difficult to extrapolate its analytic solution, needs to be solved by computer numerical.The method of numerical solution is the method for polynary optimization substantially, is namely calculated by successive ignition, finds out (x, y, z, phi, theta), make at (x, y, z, phi, theta) error of theoretical measured value that place calculates and actual measured value is minimum.Specific algorithm details discusses in detail in some books about numerical analysis and periodical, no longer repeats here.

Three-dimensional space measurement device described in the utility model, as shown in Figure 8, the magnetic field generator be made up of described coil 42, magnetic field sensor 14, signal processing unit, central control unit, embedded computer system and display 21 are formed its block diagram.Magnetic field generator is made up of the described coil 42 that many groups are arranged in diverse location and direction, and described coil 42 is driven by electric current, produces magnetic field.Magnetic field sensor 14 can be the coil that can only detect alternating magnetic field, also can be the monitoring magnetic field sensor 43 that can detect static state or alternating magnetic field, as Hall element, and magnetoresistive transducer.Described sensor 14 converts magnetic field to electric signal.This electric signal amplifies the process such as analog to digital conversion after filtering through signal processing unit, becomes the digital signal that can be received by digital circuit.The generation in central control unit Comprehensive Control magnetic field, sends described sensor 14 digital signal received to embedded computer system simultaneously.Embedded computer system completes the separation to described sensor 14 digital signal, filtering, calibration.And the numerical solution of (x, y, z, phi, theta) is calculated according to the described system of equations set up.Described embedded computer system according to embody rule, by three-dimensional datas such as (x, y, z, phi, theta), can also construct three-dimensional picture, and shows in 3-D display part.

Device described in the utility model may be used for the non-visual three-dimensional position of noncontact and measures, and the 3D shape of such as medicine equipment is followed the tracks of, the control of virtual reality and Long-distance Control etc.One of them application is exactly the 3D shape sensing device being made up of hose-like some magnetic field sensors, as shown in Figure 1.The overcoat flexible pipe of this 3D shape sensing device is inserted in the pincers road of endoscope, the shape of overcoat flexible pipe is exactly the shape of endoscope channel, the shape in pincers road is exactly the shape of endoscope, so can learn the 3D shape of endoscope by measuring this 3D shape sensor.And the 3D shape of endoscope is shown in real time by the device of this utility model.The schematic block diagram of this application as shown in Figure 9.

In addition, device described in the utility model can connect two groups or more sensing devices, often organizes the magnetic field sensor that sensing device has oneself.Such as, this application system can be the three-dimensional data gloves of two hands in left and right.Fig. 2 illustrates an example implemented.Wherein, display 21 can show three-dimensional content in real time; Operation knob 22 controls the display of screen and the work of system; Sensor socket 23 connects the probe be made up of three-dimension sensor; Magnetic field generator base plate 41 is used for fixing coil 42 described in each; The coil 42 of magnetic field generator produces specific magnetic field; Base 24 can install embedded computer, power supply and other control driving circuits; Column 25 support displays 21 and magnetic field generator.

Figure 10 gives two different frequency magnetic fields and is synthesized by common reference frequency.Concrete frequency synthesis technique with reference to some disclosed data, no longer can repeat here.Left side domain portion, Article 1 squiggle is the alternating magnetic field intensity of a described coil 42 from top to bottom; Article 2 squiggle is the alternating magnetic field intensity of the coil 42 of another magnetic field generator; Article 3 is the magnetic field intensity waveform after these two frequency synthesis, is also that magnetic field sensor 14 measurement can getable waveform.As can be seen from the figure the frequency of Article 1 waveform is different with the frequency of Article 2 waveform, because being produced by common reference frequency, there is fixing phase relation, such as here, they at initial time all from sinusoidal phase zero, finish time its phase place be also zero.This figure right half part shows the alternating magnetic field (resultant curve is shown in Article 3) of two different frequencies, frequency domain figure corresponding after time domain to the conversion of frequency domain.

Figure 11 illustrates an example of magnetic field sensor 14 of the present utility model.It is the small coil be wound on magnetic core, and described coil can measure AC magnetic field.Magnetic field sensor 14 shown in Figure 11 can make 3D shape sensor probe, the electric connector 13 that Fig. 1 illustrates magnetic field sensor 14, holds the flexible pipe 12 of magnetic field sensor, connects magnetic field sensor 14, needs when described plug 13 works to be inserted in the sensor socket 23 shown in Fig. 2.

Embodiment shown in Fig. 2, the coil 42 of magnetic field generator as shown in Figure 3.Wherein, wire 32 is wound on skeleton 31.

Magnetic field generator detail drawing in Fig. 2 embodiment is as Fig. 4.Wherein, magnetic field generator base plate 41 is used for fixing each magnetic field generator coil 42, and magnetic field generator coil 42 produces specific magnetic field; The magnetic field intensity that described magnetic field generator coil 42 produces monitored by monitoring magnetic field sensor 43, and this monitor value can be used for adjusting the driving power of magnetic field generator coil 42, also can be used for calibrating the measured value of the magnetic field sensor that other are measured for three-dimensional position.For representing clear, monitoring magnetic field sensor 43 is drawn disproportionate at Fig. 4, its physical size can be very little.

In the magnetic field generator embodiment shown in Fig. 4, some coils at diverse location different directions, but are all arranged in same plane, and namely the axis of coil is all in this plane.Because the direction row in magnetic field, the magnetic flux that the circuit board in this plane comprises is minimum, and the interference that is by magnetic field generator is minimum.So be just placed in this plane the circuit board of the front-end amplifier of signal sensitivity.

In the magnetic field generator embodiment shown in Fig. 4, a coil 42 having 16 magnetic field generators.The magnetic field that the coil 42 of 8 magnetic field generators produces in fact is enough to the orientation determining magnetic field sensor, i.e. (x, y, z, phi, theta).These 8 magnetic field generator coil 42 form one group.The Redundancy Design of two groups of magnetic field generator coil 42 can widen the actual measurement range of this device: at one time, only has one group of magnetic field generator coil 42 to have drive current; The computer system of this device determines to drive which group magnetic field generator coil according to the orientation of the magnetic field sensor detected.The three-dimensional working range of such magnetic field sensor has just widened one times.

Magnetic field generator embodiment shown in Fig. 4 produces low frequency alternating magnetic field.For improving the three-dimensional acquisition rate of this device, with group 8 magnetic field generator coil simultaneously drive by the alternating current of different frequency.In order to the measured value of corresponding 8 magnetic field generator coil of magnetic field sensor can be distinguished, thus set up the system of equations of 8 different equations, the measuring-signal of magnetic field sensor through Fourier transform, will just be easy to the magnetic field intensity distinguishing each magnetic field generator coil of correspondence recorded from the frequency-region signal after conversion.The schematic diagram of this conversion as shown in Figure 10.

The utility model is not limited to above-mentioned embodiment, those skilled in the art make to any apparent improvement of above-mentioned embodiment or change, all can not exceed the protection domain of design of the present utility model and claims.

Claims (7)

1. a three-dimensional space measurement device, is characterized in that, described device comprises several magnetic field sensors, magnetic field generator, signal processing unit, central control unit, calculation element and the display that are arranged in flexible pipe; Magnetic field generator comprises several coils and arranges according to diverse location different directions, the axis of the coil of magnetic field generator is all in same plane, coil is at least divided into two groups, is determined to drive the coil of which group magnetic field generator to send electromagnetic signal by the position of the magnetic field sensor recorded; Magnetic field sensor is telefault, is distributed in flexible pipe by several telefaults, is connected at the two ends of each coil by socket with signal processing unit, and described flexible pipe is according to using the curvilinear structures needing to form Arbitrary 3 D space; Calculation element is embedded computer, described magnetic field generator, signal processing unit, central control unit, embedded computer and display are separately positioned on movable fixture, described mobile device is provided with base, column and operator's console, embedded computer and signal processing unit are placed on base, display is arranged on operator's console, operator's console is also provided with adjusting knob, and described magnetic field sensor is connected with this mobile device by socket.

2. three-dimensional space measurement device as claimed in claim 1, it is characterized in that, the alternating magnetic field of different frequency is produced after the different coils of described magnetic field generator lead to the alternating current of different frequency, the alternating magnetic field detected is converted into electric signal and is sent to signal processing unit by magnetic field sensor, the electric signal of magnetic field sensor is converted to digital signal by signal processing unit, the generation in the magnetic field of coil described in central control unit Comprehensive Control, the digital signal of Received signal strength processing unit simultaneously, and send this digital signal to calculation element, the magnetic field sensor signal through signal processing unit digital conversion that calculation element is sent by central control unit calculates three-dimensional position and the directional data of described magnetic field sensor, and this magnetic field sensor three-dimensional data after process is constructed three-dimensional picture, 3D shape and the position of flexible pipe is demonstrated again by display.

3. three-dimensional space measurement device as claimed in claim 1, is characterized in that, be provided with one or more monitoring magnetic field sensor in described magnetic field generator, and its signal is used for monitoring the magnetic field of described magnetic field generator.

4. three-dimensional space measurement device as claimed in claim 3, it is characterized in that, described monitoring magnetic field sensor is Hall element, or is magnetoresistive transducer.

5. three-dimensional space measurement device as claimed in claim 1, it is characterized in that, the axial plane of the circuit board of described signal processing unit and the coil of described magnetic field generator is positioned at same plane.

6. three-dimensional space measurement device as claimed in claim 1, it is characterized in that, the frequency of the different frequency alternating current of the different coils of described magnetic field generator is synthesized by identical reference frequency.

7. three-dimensional space measurement device as claimed in claim 1, is characterized in that, several magnetic field sensors in described flexible pipe can insert the sampling passage of endoscope with its flexible pipe, thus measure 3D shape and the position of this endoscope.