CN105652279A - Real-time spatial positioning system and method and virtual reality device comprising system - Google Patents
Real-time spatial positioning system and method and virtual reality device comprising system Download PDFInfo
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- CN105652279A CN105652279A CN201610141299.1A CN201610141299A CN105652279A CN 105652279 A CN105652279 A CN 105652279A CN 201610141299 A CN201610141299 A CN 201610141299A CN 105652279 A CN105652279 A CN 105652279A
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- 238000012360 testing method Methods 0.000 claims description 17
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a real-time spatial positioning system. The real-time spatial positioning system comprises a laser emission scanning part and a laser receiving part. The laser emission scanning part comprises a 360-degree transverse scanning laser and a 360-degree longitudinal scanning laser, and zero-graduation activation of the scanning lasers is achieved through zero graduation inductive sensors respectively; laser receiving sensors are arranged on a device needing spatial positioning; besides, an infrared LED lamp array is arranged to achieve signal synchronization of laser emission scanning and laser receiving. The invention further discloses a spatial positioning method and a virtual reality device comprising the spatial positioning system. The two perpendicular 360-degree lasers are arranged for emission scanning, and the receiving sensors are arranged for receiving; besides, signal synchronization of laser emission scanning and laser receiving is achieved through zero graduation infrared exposure; in addition, the three-dimensional position of the laser receiving part in a positioning space is accurately obtained by calculating the quartic signal time difference within one working cycle, and thus the real-time accurate positioning effect is achieved. Use is convenient, positioning is accurate, and the refreshing rate is high.
Description
Technical field
The present invention relates to space orientation technique field, particularly relate to a kind of real-time space positioning system and method and the virtual reality device containing this system.
Background technology
The existing technology for indoor positioning has: 1, based on the technology of infrared correlation binocular, many orders photographic head. The realization of this location technology needs user to carry out the camera calibration work of specialty, is accomplished by again demarcating as long as the position angle of photographic head changes. And the cause that positions depends on the covering visual field of photographic head, the visual field is more big needs photographic head more many, and the staking-out work of the more many whole systems of photographic head is more complicated, and data fusion is also more complicated. 2, also has the indoor positioning technologies based on UWB ultra broadband. The base station realizing needs more than three of this location technology, it is necessary to demarcating before use, positioning precision is poor, expensive.
As can be seen here, existing space positioning system has still suffered from inconvenience and defect, and is urgently further improved. How to found a kind of new real-time space positioning system and method and the virtual reality device containing this system, one of current important research and development problem of real genus.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of real-time space positioning system based on laser scanning so that it is energy is easy and positions accurately, thus overcoming the deficiency of existing space orientation technique.
For solving above-mentioned technical problem, the present invention provides a kind of space positioning system in real time, including Laser emission sweep test and laser pick-off part,
Described Laser emission sweep test includes two rotors driven respectively by high-speed electric expreess locomotive, two generating lasers, two zero graduation inductive transducers and an infrared LED lamp array;
Wherein, the rotating shaft of said two rotor is arranged in a mutually vertical manner; Said two generating laser is a word line laser device, it is separately fixed on two rotors, and a wordline laser of its transmitting is secured to the shaft parallel of rotor, located space is carried out 360 degree of uniform speed scannings by the wordline laser that a described word line laser device is launched under the drive of its rotor;
The side being arranged on said two rotor that said two zero graduation inductive transducer is corresponding respectively, activates the zero graduation inductive transducer of its correspondence when described either rotor drives a wordline laser scanning thereon to corresponding zero graduation line;
Described infrared LED lamp array is connected with described zero graduation inductive transducer and described laser pick-off part, when described zero graduation inductive transducer is activated, described infrared LED lamp array is lighted by moment exposure, it is achieved Laser emission scanning is Tong Bu with the signal of laser pick-off;
Described laser pick-off part includes receiving sensor, for receiving laser and the zero graduation infrared exposure synchronizing signal that described Laser emission sweep test is launched, and calculates described laser pick-off part position relationship in located space.
As a modification of the present invention, the rotating shaft of said two rotor is mutually perpendicular to intersects setting.
Improving further, a described word line laser device connects its power supply by rotary slip ring connector.
The present invention also provides for a kind of virtual reality device comprising above-mentioned real-time space positioning system, described Laser emission sweep test is arranged in the located space using this virtual reality device, described laser pick-off part is arranged on glasses or the handle of described virtual reality device, and on the glasses of described virtual reality device or handle, distribution has at least 4 laser pick-off sensors.
The present invention also provides for a kind of space-location method in real time, and described method includes:
(1) in located space, it is respectively provided with 360 degree of transversal scanning laser and 360 degree of longitudinal scanning laser, and carries out zero graduation activation respectively through a zero graduation inductive transducer; Need to arranging laser pick-off sensor on sterically defined equipment, described laser pick-off sensor receives the scanning of described transversal scanning laser and longitudinal scanning laser; Also by arranging an infrared LED lamp array so that it is when described zero graduation inductive transducer is activated, moment exposure is lighted, it is achieved Laser emission scanning is Tong Bu with the signal of laser pick-off;
(2) record: a respectively) the zero graduation infrared exposure synchronizing signal of described transversal scanning laser, instantaneous moment is Tx0; B) signal of laser pick-off sensor described in described transversal scanning laser scanning, instantaneous moment is Tx; C) the zero graduation infrared exposure synchronizing signal of described longitudinal scanning laser, instantaneous moment is Ty0; D) signal of laser pick-off sensor described in described longitudinal scanning laser scanning, instantaneous moment is Ty;
(3) horizontal laser scanning time difference (T is calculated respectivelyx-Tx0) and longitudinal laser scanning time difference (Ty-Ty0), and calculate according to this result and described need space orientation equipment in the real-time three-dimensional position of described located space.
Improving further, in described step (1), 360 degree of transversal scanning laser and 360 degree of longitudinal scanning laser have the scan period timesharing of half circumference.
Improve further, the sterically defined equipment of described need arranges multiple laser pick-off sensor, described step (2) records the plurality of laser pick-off sensor respectively and receives the signal transient moment of described transversal scanning laser and longitudinal scanning laser, described step (3) calculates the horizontal laser scanning time difference of the plurality of laser pick-off sensor and longitudinal laser scanning time difference respectively, and in conjunction with the space geometry distribution relation of the plurality of laser pick-off sensor, calculating described needs space orientation equipment in the real-time three-dimensional position of described located space.
Improving further, described 360 degree of transversal scanning laser and 360 degree of longitudinal scanning laser are completed by the generating laser being arranged on high speed rotor of motor respectively, the side being arranged on said two rotor that said two zero graduation inductive transducer is corresponding respectively.
Improving further, the rotating shaft of said two rotor is mutually perpendicular to intersects setting.
Improving further, said two generating laser is a word line laser device, and a wordline laser of its transmitting is secured to the shaft parallel of rotor.
Adopting above-mentioned technical scheme, the present invention at least has the advantage that
1, the present invention is by the reception of two 360 degree of Laser emission scannings being arranged in a mutually vertical manner and multiple laser pick-off sensor, and lighted by zero graduation infrared exposure, realize Laser emission sweep test Tong Bu with the signal of laser pick-off part, again through four the signal time differences calculated in the working cycle, draw the laser pick-off part three-dimensional position relative to located space accurately, it is achieved that accurate space orientation effect in real time.
2, the present invention has and need not user demarcate, and easy to use, setting accuracy is high, and location refreshing frequency is high.
Accompanying drawing explanation
Above-mentioned is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, below in conjunction with accompanying drawing, the present invention is described in further detail with detailed description of the invention.
Fig. 1 is the structural representation of Laser emission sweep test in the real-time space positioning system of the present invention;
Fig. 2 is the optimal setting mode schematic diagram of two rotors in the present invention;
Fig. 3 is the schematic diagram of transversal scanning laser in the present invention;
Fig. 4 is the schematic diagram of longitudinal scanning laser in the present invention;
Fig. 5 is the workflow diagram of Laser emission sweep test in the present invention;
Fig. 6 is the workflow diagram of laser pick-off part in the present invention;
Fig. 7 is laser pick-off part distribution schematic diagram on virtual reality device glasses in the present invention;
Fig. 8 is laser pick-off part distribution schematic diagram on virtual reality device handle in the present invention.
Detailed description of the invention
The present invention includes based on the real-time space positioning system of laser scanning: Laser emission sweep test and laser pick-off part.
With reference to shown in accompanying drawing 1, this Laser emission sweep test includes two rotors driven respectively by high-speed electric expreess locomotive 1 and 2, two generating lasers 3 and 4, two zero graduation inductive transducers 6 and 7, infrared LED lamp array 5. Wherein, the rotating shaft 8 and 9 of two rotors 1 and 2 is mutually perpendicular to, and the rotating shaft 8 and 9 that optimum way is two rotors 1 and 2 is mutually perpendicular to crossing setting, as shown in Figure 2.
Concrete: it is horizontal rotor 2 that a rotor is horizontally installed in this located space, and another rotor is disposed longitudinally on the interior i.e. longitudinal rotor 1 of this located space. Two generating lasers 3 and 4 are a word line laser device, are separately fixed on two rotors so that it is a wordline laser of transmitting is secured to the shaft parallel of rotor. Located space is carried out 360 degree of transverse direction uniform speed scannings, i.e. transversal scanning laser by the laser 12 that the generating laser 4 being then arranged on horizontal rotor 2 is launched under the drive of its motor; Located space is carried out 360 degree of longitudinal direction uniform speed scannings, i.e. longitudinal scanning laser by the laser 13 that the generating laser 3 being arranged on longitudinal rotor 1 is launched under the drive of its motor, as shown in figures 3 and 4. The power supply mode of this word line laser device can be: to be mounted directly on high speed rotor by a word line laser device, connects its power supply again through rotary slip ring connector, it is achieved 360 degree of scanning laser. It addition, this wordline rotary laser is also by being arranged on high speed rotor of motor by 90 degree of mirror surfaces, laser changes light path by mirror surface, produces 360 degree of scanning laser.
In order to allow transversal scanning laser not produce mutually interference with longitudinal scanning laser, these two vertical scanning laser need to being carried out 360 degree of steady circular's timesharing, the interval of timesharing is half circumference scan period.
The side being arranged on two rotors 1 and 2 that two zero graduation inductive transducers 6 and 7 are corresponding respectively, for the zero graduation line of recording laser scanning. The zero graduation inductive transducer of its correspondence is activated when the laser in any one direction forwards the zero graduation line of this scanning direction to, then this zero graduation inductive transducer can send the zero graduation synchronizing signal of this scanning direction, and send to infrared LED lamp array 5, the exposure of this infrared LED lamp array 5 moment is made to light to scan Tong Bu with receiving two parts of signals.
As mentioned above, this Laser emission sweep test is within a working cycle, it is respectively completed: 1) transversal scanning zero graduation line synchronize infrared exposure once, 2) laser laterally 360 degree of run-downs, 3) longitudinal scanning zero graduation line synchronize infrared exposure once, 4) laser longitudinally 360 degree of run-downs, its workflow diagram is as shown in Figure 5.
This laser pick-off part includes receiving sensor, for receiving horizontal and vertical scanning laser and the zero graduation infrared exposure synchronizing signal that above-mentioned Laser emission sweep test is launched. Then this reception sensor is within a working cycle, receives respectively: 1) the zero graduation infrared exposure synchronizing signal of transversal scanning laser once, 2) the scanning signal of transversal scanning laser is once; 3) the zero graduation infrared exposure synchronizing signal of longitudinal scanning laser is once, 4) once, its workflow diagram is as shown in Figure 6 for the scanning signal of longitudinal scanning laser.
This real-time space positioning system is coordinated with the reception transmitting of Laser emission sweep test by this laser pick-off part, four signal time differences within a working cycle, calculate this laser pick-off part relative to located space three-dimensional position (x, y, z).
The concrete space-location method in real time of above-mentioned real-time space positioning system is:
Recording 4 signal moment, be respectively as follows: the zero graduation infrared exposure synchronizing signal of a) transversal scanning laser, instantaneous moment is Tx0; B) signal of transversal scanning laser scanning laser pick-off sensor, instantaneous moment is Tx; C) the infrared exposure synchronizing signal of longitudinal scanning laser, instantaneous moment is Ty0; D) signal of longitudinal scanning laser scanning laser pick-off sensor, instantaneous moment is Ty��
Calculate horizontal laser scanning time difference (T more respectivelyx-Tx0) and longitudinal laser scanning time difference (Ty-Ty0), (x, y z), can realize the laser pick-off part real-time positioning at located space relative to the three-dimensional position of located space to calculate laser pick-off part.
The above-mentioned real-time space positioning system based on laser scanning is applied in wear-type virtual reality device by the present embodiment, as being applied on glasses 11 or the handle 14 of virtual reality device, for experiencing user's being accurately positioned at located space of this wear-type virtual reality device, the three-dimension interaction further enhancing user is experienced.
When using this virtual reality device, above-mentioned Laser emission sweep test is arranged in located space as above, namely this laser pick-off part is arranged on its virtual reality glasses 11 or handle 14, with reference to shown in accompanying drawing 7 or 8, on the glasses 11 of this virtual reality device or handle 14, distribution has multiple laser pick-off sensor 10, if 4 reception sensors are to reach locating effect. Utilizing more than the arrangement of 4 sensors is blocking of feature angle in order to consider laser signal, and strengthens the signal capacity of resisting disturbance of equipment.
When user wears, at this located space, the virtual reality glasses 11 being provided with this laser pick-off part, open this real-time space positioning system, within a working cycle, record 4 signal moment, calculate the poor (T of horizontal scan period in this working cycle respectivelyx-Tx0) and longitudinal laser scanning time difference (Ty-Ty0), the space geometry distribution relation of sensor 10 is respectively received in conjunction with laser pick-off part, finally calculate the wear-type virtual reality glasses 11 three-dimensional position (x relative to located space, y, z), by the periodic duty of this real-time space positioning system, the shift position of this user is constantly drawn, then accurate realization experiences user's real time position in located space, improves Consumer's Experience sense. Equally, when this laser pick-off part is arranged on the handle 14 of its virtual reality device, open this real-time space positioning system, within a working cycle, record 4 signal moment, calculate the poor (T of horizontal scan period in this working cycle respectivelyx-Tx0) and longitudinal laser scanning time difference (Ty-Ty0), in conjunction with space geometry distribution relation receiving sensor 10 each on this handle 14, finally calculate the handle 14 three-dimensional position (x relative to located space, y, z), by the periodic duty of this real-time space positioning system, constantly draw the shift position of this user's hand, improve Consumer's Experience sense.
This inventive technique scheme has the advantage not needing user's demarcation, easy to use, and setting accuracy is high, and location refreshing frequency is high.
The present invention is by the Laser emission created and receives four signal: a, transversal scanning zero graduation line locking signals, b, laser horizontal scan signal, c, longitudinal scanning zero graduation line locking signal, d, Z-scan technique signal mode achieve in real time accurate space orientation effect.
The above; it it is only presently preferred embodiments of the present invention; not the present invention being done any pro forma restriction, those skilled in the art utilize the technology contents of the disclosure above to make a little simple modification, equivalent variations or modification, all fall within protection scope of the present invention.
Claims (10)
1. a real-time space positioning system, it is characterised in that include Laser emission sweep test and laser pick-off part,
Described Laser emission sweep test includes two rotors driven respectively by high-speed electric expreess locomotive, two generating lasers, two zero graduation inductive transducers and an infrared LED lamp array;
Wherein, the rotating shaft of said two rotor is arranged in a mutually vertical manner; Said two generating laser is a word line laser device, it is separately fixed on two rotors, and a wordline laser of its transmitting is secured to the shaft parallel of rotor, located space is carried out 360 degree of uniform speed scannings by the wordline laser that a described word line laser device is launched under the drive of its rotor;
The side being arranged on said two rotor that said two zero graduation inductive transducer is corresponding respectively, activates the zero graduation inductive transducer of its correspondence when described either rotor drives a wordline laser scanning thereon to corresponding zero graduation line;
Described infrared LED lamp array is connected with described zero graduation inductive transducer and described laser pick-off part, when described zero graduation inductive transducer is activated, described infrared LED lamp array is lighted by moment exposure, it is achieved Laser emission scanning is Tong Bu with the signal of laser pick-off;
Described laser pick-off part includes receiving sensor, for receiving laser and the zero graduation infrared exposure synchronizing signal that described Laser emission sweep test is launched, and calculates described laser pick-off part position relationship in located space.
2. real-time space positioning system according to claim 1, it is characterised in that the rotating shaft of said two rotor is mutually perpendicular to intersects setting.
3. real-time space positioning system according to claim 1, it is characterised in that a described word line laser device connects its power supply by rotary slip ring connector.
4. one kind comprises the virtual reality device of real-time space positioning system described in any one of claims 1 to 3, it is characterized in that, described Laser emission sweep test is arranged in the located space using this virtual reality device, described laser pick-off part is arranged on glasses or the handle of described virtual reality device, and on the glasses of described virtual reality device or handle, distribution has at least 4 laser pick-off sensors.
5. a real-time space-location method, it is characterised in that described method includes:
(1) in located space, it is respectively provided with 360 degree of transversal scanning laser and 360 degree of longitudinal scanning laser, and carries out zero graduation activation respectively through a zero graduation inductive transducer; Need to arranging laser pick-off sensor on sterically defined equipment, described laser pick-off sensor receives the scanning of described transversal scanning laser and longitudinal scanning laser; Also by arranging an infrared LED lamp array so that it is when described zero graduation inductive transducer is activated, moment exposure is lighted, it is achieved Laser emission scanning is Tong Bu with the signal of laser pick-off;
(2) record: a respectively) the zero graduation infrared exposure synchronizing signal of described transversal scanning laser, instantaneous moment is Tx0; B) signal of laser pick-off sensor described in described transversal scanning laser scanning, instantaneous moment is Tx; C) the zero graduation infrared exposure synchronizing signal of described longitudinal scanning laser, instantaneous moment is Ty0; D) signal of laser pick-off sensor described in described longitudinal scanning laser scanning, instantaneous moment is Ty;
(3) horizontal laser scanning time difference (T is calculated respectivelyx-Tx0) and longitudinal laser scanning time difference (Ty-Ty0), and calculate according to this result and described need space orientation equipment in the real-time three-dimensional position of described located space.
6. real-time space-location method according to claim 5, it is characterised in that in described step (1), 360 degree of transversal scanning laser and 360 degree of longitudinal scanning laser have the scan period timesharing of half circumference.
7. real-time space-location method according to claim 5, it is characterized in that, the sterically defined equipment of described need arranges multiple laser pick-off sensor, described step (2) records the plurality of laser pick-off sensor respectively and receives the signal transient moment of described transversal scanning laser and longitudinal scanning laser, described step (3) calculates the horizontal laser scanning time difference of the plurality of laser pick-off sensor and longitudinal laser scanning time difference respectively, and in conjunction with the space geometry distribution relation of the plurality of laser pick-off sensor, calculating described needs space orientation equipment in the real-time three-dimensional position of described located space.
8. real-time space-location method according to claim 5, it is characterized in that, described 360 degree of transversal scanning laser and 360 degree of longitudinal scanning laser are completed by the generating laser being arranged on high speed rotor of motor respectively, the side being arranged on said two rotor that said two zero graduation inductive transducer is corresponding respectively.
9. real-time space-location method according to claim 8, it is characterised in that the rotating shaft of said two rotor is mutually perpendicular to intersects setting.
10. real-time space-location method according to claim 8, it is characterised in that said two generating laser is a word line laser device, a wordline laser of its transmitting is secured to the shaft parallel of rotor.
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| CN105974359A (en) * | 2016-06-30 | 2016-09-28 | 成都理想境界科技有限公司 | Positioning device, positioning base station, spatial positioning system and method |
| CN106054377A (en) * | 2016-08-05 | 2016-10-26 | 北京国承万通信息科技有限公司 | Light beam scanning mechanism, light beam scanning device and positioning system |
| CN106199517A (en) * | 2016-06-30 | 2016-12-07 | 成都理想境界科技有限公司 | A kind of location equipment, locating base station, space positioning system and method |
| CN106291448A (en) * | 2016-08-02 | 2017-01-04 | 北京国承万通信息科技有限公司 | Beam sweep mechanism and beam launcher |
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