CN107817471B - Optical tracking method, device and system - Google Patents
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Abstract
The application discloses an optical tracking method, device and system. When a preset incidence relation is established between a laser in the transmitter and a sensor in the receiver, the transmitter is coded according to the number and the state of the lasers and the wavelength of light waves emitted by the lasers; emitting a scanning signal comprising two or more wavelengths; the control receiver receives the scanning signal and respectively responds to the light waves with more than two wavelengths contained in the scanning signal through the sensor; and analyzing the scanning signal and calculating the code of the emitter. According to the technical scheme of the embodiment of the application, the multiband light beams are used for coding and distinguishing the emitters, the simultaneous use of multiple emitters for scanning the tracking space is supported under the condition that the data refresh rate is not reduced, the mutual interference of simultaneous work of the multiple emitters under the condition of no independent coding is avoided, the use number of the emitters is expanded, and the tracking range of a tracking system is expanded.
Description
Technical Field
The present disclosure relates generally to the field of tracking, and more particularly, to an optical tracking method, apparatus, and system.
Background
In the field of optical tracking, technologies for motion capture, surgical navigation, virtual reality and the like which require accurate tracking and positioning are lacking.
Currently, signal capture in the optical domain is already available. For example, Vicon: according to the scheme, a camera with high frame rate and high resolution is used as a signal capturing device, an infrared reflective ball is used as a tracked marker, and if the reflective ball is shot by a plurality of cameras, the spatial position of the reflective ball can be calculated through a computer vision method. HTC VIVE: the hardware system of the scheme is composed of the transmitter and the receiver, the space position of the receiver is calculated by calculating the scanning time consumed by the transmitter on the receiver, and the hardware system of the scheme is simple and low in cost. The HTC VIVE system uses only two emitters, with a tracking area in space of 5mx5m, and only one emitter is scanning during the same time period.
However, the tracking accuracy and refresh rate of the Vicon system in the above scheme are related to the performance of the tracking camera used, and since the manufacturing difficulty of the high-performance camera is large, the Vicon system is high in cost, and can only be used in professional fields and cannot be widely popularized. Although the scheme is low in cost, in order to avoid mutual interference of scanning signals of different transmitters, the HTC VIVE requires only one transmitter to scan in the same time period, when a plurality of transmitters are used, the transmitters must scan in sequence, at most two transmitters can be used, and a tracking area is limited to a narrow space. Since the larger the tracking area, the more transmitters are needed, which results in a doubling of the refresh rate of the system when multiple transmitters are used in cascade.
Disclosure of Invention
In view of the problems of the prior art, such as high cost and multiple reduction of data refresh rate when multiple emitters are used, an optical tracking method, apparatus and system are provided.
In a first aspect, an embodiment of the present application provides an optical tracking method, including: when a preset incidence relation is established between a laser in a transmitter and a sensor in a receiver, the transmitter is coded according to the number and the state of the lasers and the wavelength of light waves emitted by the lasers; emitting a scanning signal comprising two or more wavelengths; controlling the receiver to receive the scanning signal, and respectively responding to the light waves with more than two wavelengths contained in the scanning signal through the sensor; and analyzing the scanning signal, and calculating the code of the emitter.
In a second aspect, embodiments of the present application further provide a multiband encoded optical tracking apparatus, including: the first coding module is used for coding the emitter according to the number and the state of the lasers and the wavelength of light waves emitted by the lasers when a preset incidence relation is established between the lasers in the emitter and the sensors in the receiver; the first transmitting module is used for transmitting scanning signals containing more than two wavelengths; the first receiving module is used for controlling the receiver to receive the scanning signal and respectively carrying out corresponding response on the light waves with more than two wavelengths contained in the scanning signal through the sensor; and the first analysis module is used for analyzing the scanning signal and calculating the code of the emitter.
In a third aspect, an embodiment of the present application further provides an optical tracking system, including a transmitter, a receiver, and a processor; the method is characterized in that: the receiver, processor includes instructions executable by the transmitter to cause the transmitter to perform: when a preset incidence relation is established between a laser in a transmitter and a sensor in a receiver, the transmitter is coded according to the number and the state of the lasers and the wavelength of light waves emitted by the lasers; emitting a scanning signal comprising two or more wavelengths; controlling the receiver to receive the scanning signal, and respectively responding to the light waves with more than two wavelengths contained in the scanning signal through the sensor; and analyzing the scanning signal, and calculating the code of the emitter.
According to the scheme of the optical tracking method, device and system, the multiband light beams are used for coding and distinguishing the emitters, the simultaneous use of multiple emitters for scanning the tracking space is supported under the condition that the data refresh rate is not reduced, the mutual interference of simultaneous working of the multiple emitters under the condition of no independent coding is avoided, the use number of the emitters is expanded, and the tracking range of the tracking system is expanded.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of an optical tracking method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of step 102 shown in FIG. 1;
FIG. 3 is a schematic diagram illustrating an example of a scanning signal including three wavelength bands emitted in an optical tracking method according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of step 103 shown in FIG. 1;
FIG. 5 is a diagram illustrating an exemplary receiver structure of a sensor including three response bands in an optical tracking method according to an embodiment of the present invention;
FIG. 6 is a schematic flow chart of step 101 shown in FIG. 1;
FIG. 7 is a schematic flow chart of step 104 shown in FIG. 1;
FIG. 8 is a schematic diagram of a signal waveform in one cycle of a receiver of a sensor including three response bands in an optical tracking method according to an embodiment of the present invention;
FIG. 9 is a flowchart illustrating an optical tracking method according to another embodiment of the present invention;
FIG. 10 is a first flowchart illustrating an optical tracking method according to another embodiment of the present invention;
FIG. 11 is a second flowchart illustrating an optical tracking method according to another embodiment of the present invention;
FIG. 12 is a schematic diagram of an optical tracking apparatus according to an embodiment of the present invention;
fig. 13 is a schematic structural diagram of the first transmitting module 1002 shown in fig. 10;
fig. 14 is a schematic structural diagram of the first receiving module 1003 shown in fig. 10;
fig. 15 is a schematic structural diagram of the first encoding module 1001 shown in fig. 10;
FIG. 16 is a block diagram of the first parsing module 1004 shown in FIG. 10;
FIG. 17 is a schematic diagram of an optical tracking apparatus according to another embodiment of the present invention;
FIG. 18 is a schematic diagram of a system architecture including three transmitters according to an embodiment of the present application;
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In view of the problems of the prior art, such as high cost and multiple reduction of data refresh rate when multiple emitters are used, an optical tracking method, apparatus and system are provided.
As shown in fig. 1, the present embodiment provides an optical tracking method, including:
Specifically, the flow of step 101 in fig. 1 shown in fig. 6 includes:
It should be noted that, in order to enable different emitters to work simultaneously, multiband infrared light waves are used to encode and distinguish the emitters, and when the used scanning light wavelength types are greater than or equal to 2, encoding can be achieved. For example, far infrared rays, middle infrared rays, near infrared rays, etc., are not described in detail herein. The wavelength of light emitted by each laser in the emitter is different, and each exciter in the emitter needs to be encoded.
In this embodiment, the number of the lasers is two or more, different lasers can be selectively enabled according to coding requirements, the state of the laser can be on or off, and the infrared wavelength range is 760 nanometers (nm) to 1 millimeter (mm). In this embodiment, the preset relationship means that the number of the lasers is the same as the number of the sensors, the types of the wavelengths of the light waves that the lasers can emit are the same as the types of the wavelengths of the light waves that the sensors can respond to, and the lasers in the emitters correspond to the sensors in the receivers one to one. The laser devices are sequentially arranged according to the wavelength of the light waves which can be emitted by the laser devices, and the sensors are sequentially arranged according to the sequence of the laser devices and the wavelength of the light waves which can be responded by the sensors, so that the laser devices in the emitter can be in one-to-one correspondence with the sensors in the receiver.
For example: FIG. 3 shows the principle of the emitter emitting a scanning signal comprising three wavelength bands, in which the infrared lasers 1, 2, 3 can emit light waves with respective wavelengths λ1、λ2、λ3FIG. 5 shows a receiver structure comprising three sensors responsive to light waves of wavelength λ for each of sensors 1, 2, 31、λ2、λ3Sensor 1 corresponds to the light wave emitted by the infrared laser 1 in fig. 3, sensor 2 corresponds to the light wave emitted by the infrared laser 2 in fig. 3, and sensor 3 corresponds to the light wave emitted by the infrared laser 3 in fig. 3.
It should be noted that the lasers in the transmitters correspond to the sensors in the receivers one to one, but the transmitters do not need to correspond to the sensors one to one, and different transmitters may correspond to the same receiver. As in fig. 16, 3 transmitters correspond to one identical receiver.
In this embodiment, the laser is on to determine a code, and the laser is off to determine a code, and the code is implemented by controlling the state of the laser in the transmitter. The principle of emitting a scanning signal comprising three wavelengths is illustrated in fig. 3, wherein the infrared emitting lasers 1, 2, 3 are denoted by 1 if the infrared laser 1 is assumed to be on and by 0 if it is not, and similarly the encoding of the infrared lasers 2, 3 can be determined.
Step 603, determining the code of the transmitter according to the number and the code of the lasers and the wavelength of the code light wave emitted by the lasers.
In this embodiment, the encoding is performed according to the number and the encoding of the lasers and the wavelength of the coded light wave emitted by the lasers, and if the number of the infrared lasers included in one scanning light path of the emitter is N, the total number of the emitter encoding is 2N. For example: FIG. 3 illustrates the principle of emitting a scanning signal containing three wavelengths, if the emitter scans in the X direction with an infrared laser of 3, then the emission isThe total number of codes is 8. Assuming that the infrared lasers 1 and 2 are enabled, the codes of the infrared lasers 1 and 2 are both 1, assuming that the infrared laser 3 is not enabled, and the code of the infrared laser 3 is 0, and the codes of the transmitters are 110 according to the sequence of the lasers according to the size of the wavelength of the light waves which can be transmitted. Similarly, the remaining codes can be calculated as 100, 101, 010, 011, 001, 101, and 111, which is not described herein.
It should be noted that the scanning optical path refers to a direction in which the emitter tracks scanning, the emitter can scan any direction, the directions of the scanning optical paths need to be two or more, and the spatial position of the corresponding receiver is calculated by calculating the scanning time consumption of the same emitter on different scanning optical paths. For example: fig. 3 shows the principle of emitting a scanning signal containing three wavelengths, and the scanning optical path may be in the X direction or the Y direction.
The emitter is coded by the multiband light beams, and the codes of the emitters are obtained for subsequent independent distinguishing of the emitters.
Specifically, the flowchart of step 102 in fig. 1 shown in fig. 2 includes:
For example, fig. 3 shows the principle of the emitter emitting scanning signals containing three wavelengths, and by using the half-reflecting and half-transmitting glass, the light beams of the three lasers can be reflected on one scanning light path to be scanned, and the light beams of the three lasers reflected on one scanning light path are combined into one light beam, so that the scanning light emitted by the scanning motor simultaneously contains three light waves with different wavelengths. The semi-reflective glass can reflect light waves and can also transmit light waves.
By using the semi-reflective and semi-transparent glass, the emitter can combine light beams with different wavelengths of a plurality of lasers into the same light beam, and the scanning light emitted by the scanning motor simultaneously comprises light with a plurality of different wavelengths.
And 103, controlling the receiver to receive the scanning signal, and respectively responding to the light waves with more than two wavelengths contained in the scanning signal through the sensor.
Specifically, the flowchart of step 103 in fig. 1 shown in fig. 4 includes:
In this embodiment, the photosensitive sensor is provided with infrared filters with different filtering bands, so as to filter the scanning light wave of the emitter and disperse the scanning light wave into light waves respectively corresponding to multiple wavelengths. The sensors respectively receive the light waves corresponding to the light waves with the multiple wavelengths and generate corresponding pulse signals. For example: FIG. 5 shows a receiver structure comprising a sensor with three response bands, with infrared filters 1, 2, 3 for transmitting light of wavelength λ1、λ2、λ3Respectively, the sensors 1, 2, 3 being arranged to generate light waves having a wavelength lambda1、λ2、λ3Corresponding to the light wave.
It should be noted that each sensor in the receiver responds to different kinds of light wave wavelengths, and the light wave with different wavelength emitted by each laser in the emitter must find the sensor in the receiver that can respond to the light wave with corresponding wavelength. This means that each exciter in the transmitter needs to encode, while each sensor in the receiver does not necessarily need to respond to light waves.
Light waves with various wavelengths are obtained by filtering the scanning signals and are transmitted to corresponding sensors according to the wavelength, so that corresponding pulse signals are generated.
And 104, analyzing the scanning signal and calculating the code of the emitter.
Specifically, the flow of step 104 in fig. 1 as shown in fig. 7 includes:
701, acquiring pulse signals with the same time interval, the number of the sensors and the preset incidence relation.
In this embodiment, when different emitters work simultaneously, due to error factors such as controlling the turning on and off of the laser and artificial reasons, the scanning signals emitted by different emitters have time differences. The receiver comprises a plurality of sensors which respond to wave bands, and because the scanning signal sent by one transmitter simultaneously comprises light waves with a plurality of wavelengths, the response pulse time intervals generated by the scanning signal on different sensors are the same, so that the pulse signals with the same time interval on the plurality of sensors can be considered to be from the same transmitter, and the pulse signals with different time intervals are considered to be from different transmitters. For example: fig. 8 shows the waveform of the signal during one cycle of a receiver containing three sensors in response bands, the pulse signals identified by the blue vertical bars having the same time interval and coming from the same transmitter, and the pulse signals identified by the orange vertical bars having the same time interval and coming from the same transmitter.
It should be noted that, because the emitters scan on different scanning optical paths, one period includes multiple direction scanning signals, and for convenience of calculation, the emitters are controlled to scan only on two scanning optical paths in one period. For example: fig. 8 shows the waveform of the signal in one cycle of a receiver including a sensor of three response bands, the pulse signal indicated by the blue vertical line and the pulse signal indicated by the orange vertical line both including the X-direction scanning signal and the Y-direction scanning signal.
And 702, judging whether the pulse signals of the same time interval appear on the sensor.
For example: fig. 8 shows the waveform of the signal in one cycle of a receiver containing three sensors in response bands, with the pulse signals identified by the blue vertical bars appearing at sensors 1 and 2 and the pulse signals identified by the orange vertical bars appearing at sensors 1 and 3.
703, determining the code of the emitter according to the number of the sensors, the sensors appearing in the pulse signals with the same time interval and the preset incidence relation.
In this embodiment, the encoding of the transmitter can be calculated by counting which sensors the signals of the same time interval are present in total. For example: fig. 8 shows the waveform of the signal in one cycle of the receiver of a sensor comprising three response bands, the pulse signals identified by the blue vertical lines appear at sensors 1 and 2, and the pulses corresponding to the blue vertical lines can be calculated from the emitter coded as 110 according to the preset sequence of sensors and the number of sensors. Similarly, it can be calculated that the pulse signal corresponding to the orange vertical line comes from the transmitter encoded as 101.
It should be noted that, after the signals of the respective transmitters are distinguished, the spatial positions of the respective receivers can be calculated by calculating the scanning time of the same transmitter on the same receiver in a manner similar to the HTC view scheme.
The method can realize the decoding and distinguishing of different emitter signals by the receiver when a plurality of emitters work simultaneously.
According to the optical tracking method provided by the embodiment of the application, the multiband light beams are used for coding and distinguishing the emitters, the simultaneous use of multiple emitters for scanning the tracking space is supported under the condition that the data refresh rate is not reduced, the mutual interference of simultaneous work of the multiple emitters under the condition of no independent coding is avoided, the use number of the emitters is expanded, and the tracking range of a tracking system is expanded.
As shown in fig. 9, another embodiment of the present invention further provides an optical tracking method, which is substantially the same as that shown in fig. 1, except that the method further includes:
and 105, judging whether a preset association relationship is established between the laser and the sensor.
In this embodiment, the preset relationship refers to a one-to-one correspondence relationship between the laser and the sensor, and when the wavelength type of the sensor response light wave does not only include the wavelength type of the light wave emitted by the laser, or the wavelength type of the sensor response light wave is the same as the wavelength type of the light wave emitted by the laser but the corresponding sensor and the laser are different in sequence, no preset association relationship is established.
It should be noted that, in step 105, if a preset association relationship is not established between the laser and the sensor, the technical solution provided by this embodiment may calculate the code of the corresponding transmitter in two ways.
First, as shown in fig. 10, the embodiment of the present invention may further include:
and 106, when the sequence of the arrangement of the sensors according to the wavelength of the sensor response light waves is different from the sequence of the arrangement of the lasers according to the wavelength of the laser response light waves, encoding the emitters according to the number and the state of the lasers and the wavelength of the light waves emitted by the lasers.
And 103, controlling the receiver to receive the scanning signal, and respectively responding to the light waves with more than two wavelengths contained in the scanning signal through the sensor.
And 104, analyzing the scanning signal and calculating the code of the emitter.
And step 107, adjusting the calculated coding sequence of the emitters to ensure that the sequence of the corresponding lasers arranged according to the wavelength of the light waves emitted by the lasers is the same as the sequence of the sensors arranged according to the wavelength of the sensor response light waves.
Alternatively, as shown in fig. 11, the embodiment of the present invention may further include:
and 108, when the number of the sensors is larger than that of the lasers, and the wavelength types of the response light waves of the sensors are larger than that of the light waves emitted by the lasers, selecting the sensors which respond to the light waves and have the same wavelength types as the light waves emitted by the lasers.
In this embodiment, the number of the sensors is greater than the number of the lasers, the lasers in the transmitter do not correspond to the sensors in the receiver one by one, and when the wavelength types of the sensor response light waves do not only include the wavelength types of the light waves emitted by the lasers, additional wavelength types may be provided. If the number of the sensors included in the receiver is M, the number of the lasers in the transmitter may be 2, 3, 4
A sensor that is not responsive means that the corresponding transmitter does not contain a laser that can emit light waves of the same wavelength, and the code for the corresponding transmitter is calculated by counting the total number of sensors that present signals at the same time interval from the waveform patterns generated on the remaining responsive sensors.
For example: FIG. 5 shows a receiver structure including three sensors responsive to wavelength bands, and assuming that there are only two lasers in the transmitter corresponding to the receiver, the transmitter can transmit signals including only λ 1, λ 12Wavelength of scanning light waves, or emission comprising only lambda1、λ3Wavelength of scanning light waves, or emission comprising only lambda2、λ3Wavelength of the scanning light wave. The number of lasers in the emitter may be 2 or 3. The total number of codes for the transmitter is 12.
The optical tracking method shown in fig. 9-11, on the basis of achieving the beneficial effects brought by the technical solutions shown in fig. 1-8, further, the emitter can rearrange the calculated emitter codes, and can also recode according to different types of the sensor response light waves, thereby expanding the number of emitters that can be used simultaneously, reducing the number of receivers used, reducing the cost, and expanding the tracking range of the tracking system.
As shown in fig. 12, an embodiment of the present invention further provides an optical tracking apparatus, including:
a first encoding module 1001, configured to encode a transmitter according to the number and state of lasers and the wavelength of light waves emitted by the lasers when a preset association relationship is established between the lasers in the transmitter and sensors in a receiver;
a first transmitting module 1002, configured to transmit a scanning signal including two or more wavelengths;
a first receiving module 1003, configured to control the receiver to receive the scanning signal, and perform corresponding responses on light waves with two or more wavelengths included in the scanning signal through the sensor;
a first parsing module 1004, configured to parse the scanning signal and calculate a code of the transmitter.
Further, as shown in fig. 13, the first transmitting module 1002 may include:
the first reflection submodule 1101 is used for controlling light waves with more than two wavelengths emitted by the laser to be reflected on a scanning light path;
a first combining submodule 1102, configured to combine optical waves with two or more wavelengths emitted by the laser into one optical wave;
further, as shown in fig. 14, the first receiving module 1003 includes:
a first filtering submodule 1201, configured to filter the scanning signal and disperse the scanning signal into light waves with two or more wavelengths;
the first response submodule 1202 is configured to control the sensors to receive light waves corresponding to light waves of which the scanning signals are dispersed into two or more wavelengths, and generate corresponding pulse signals.
Further, as shown in fig. 15, the first encoding module 1001 includes:
the first obtaining submodule 1301 is used for obtaining the number and the state of the lasers and the wavelength of the light waves emitted by the lasers;
a first determining sub-module 1302, configured to determine a code of the laser according to a state of the laser;
and the second determining submodule 1303 is configured to determine the code of the transmitter according to the number and the code of the lasers and the size of the wavelength of the light wave emitted by the lasers.
Further, as shown in fig. 16, the first parsing module 1004 includes:
a second obtaining submodule 1401, configured to obtain pulse signals at the same time interval, the number of sensors, and the preset association relationship;
a first judging submodule 1402, configured to judge whether the pulse signals of the same time interval appear on the sensor;
a third determining submodule 1403, configured to determine the code of the transmitter according to the number of the sensors, the sensors where the pulse signals of the same time interval occur, and the preset association relationship.
Further, as shown in fig. 17, an optical tracking apparatus according to an embodiment of the present invention further includes:
a first determining module 1005, configured to determine whether a preset association relationship is established between the laser and the sensor.
The optical tracking device provided by the embodiment of the application uses the multiband light beams to code and distinguish the emitters, supports simultaneous use of multiple emitters to scan a tracking space under the condition of not reducing the data refresh rate, avoids mutual interference of simultaneous working of the multiple emitters under the condition of no independent coding, expands the use number of the emitters and enlarges the tracking range of a tracking system.
As shown in fig. 18, an embodiment of the present invention further provides an optical tracking system, including: the device comprises a transmitter, a receiver and a processor; the method is characterized in that: the receiver, processor includes instructions executable by the transmitter to cause the transmitter to perform:
when a preset incidence relation is established between a laser in a transmitter and a sensor in a receiver, the transmitter is coded according to the number and the state of the lasers and the wavelength of light waves emitted by the lasers;
emitting a scanning signal comprising two or more wavelengths;
controlling the receiver to receive the scanning signal, and respectively responding to the light waves with more than two wavelengths contained in the scanning signal through the sensor;
and analyzing the scanning signal, and calculating the code of the emitter.
The optical tracking system provided by the embodiment of the application uses the multiband light beams to code and distinguish the emitters, supports simultaneous use of multiple emitters to scan a tracking space under the condition of not reducing the data refresh rate, avoids mutual interference of simultaneous working of the multiple emitters under the condition of no independent coding, expands the use number of the emitters and expands the tracking range of the tracking system.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (12)
1. An optical tracking method, the method comprising:
when a preset incidence relation is established between a laser in a transmitter and a sensor in a receiver, the transmitter is coded according to the number and the state of the lasers and the wavelength of light waves emitted by the lasers, wherein the preset incidence relation comprises that the lasers in the transmitter correspond to the sensors in the receiver one to one;
emitting a scanning signal comprising two or more wavelengths;
controlling the receiver to receive the scanning signal, and respectively responding to the light waves with more than two wavelengths contained in the scanning signal through the sensor;
and analyzing the scanning signal, and calculating the code of the emitter.
2. The method of claim 1, wherein said emitting a scanning signal comprising two or more wavelengths comprises:
controlling the reflection of light waves with more than two wavelengths emitted by the laser on a scanning light path;
and combining the light waves with more than two wavelengths emitted by the laser into one light wave.
3. The method of claim 1, wherein controlling the receiver to receive the scanning signal and responding to the scanning signal with the sensor at two or more wavelengths comprises:
filtering the scanning signals, and dispersing the scanning signals into light waves with more than two wavelengths;
and controlling the sensors to respectively receive light waves corresponding to the light waves with the wavelengths dispersed into more than two types by the scanning signals and generate corresponding pulse signals.
4. The method of claim 1, wherein encoding the transmitter according to the number and state of the lasers and the size of the light wave emitted by the lasers when a preset association relationship is established between the lasers in the transmitter and the sensors in the receiver comprises:
acquiring the number and the state of the lasers and the wavelength of light waves emitted by the lasers;
determining the code of the laser according to the state of the laser;
and determining the code of the transmitter according to the number and the code of the lasers and the wavelength of the light waves emitted by the lasers.
5. The method of claim 1 or 3, wherein the resolving the scan signal comprises:
acquiring pulse signals at the same time interval, the number of the sensors and the preset incidence relation;
judging whether the pulse signals with the same time interval appear on the sensor or not;
and determining the code of the emitter according to the number of the sensors, the sensors appearing in the pulse signals at the same time interval and the preset incidence relation.
6. The method of claim 1, wherein before encoding the transmitter according to the number and state of the lasers and the size of the light waves emitted by the lasers when a preset association relationship is established between the lasers in the transmitter and the sensors in the receiver, the method further comprises:
and judging whether a preset incidence relation is established between the laser and the sensor.
7. An optical tracking device, the device comprising:
the first coding module is used for coding the emitter according to the number and the state of the lasers and the wavelength of light waves emitted by the lasers when a preset incidence relation is established between the lasers in the emitter and the sensors in the receiver, wherein the preset incidence relation comprises that the lasers in the emitter correspond to the sensors in the receiver one to one;
the first transmitting module is used for transmitting scanning signals containing more than two wavelengths;
the first receiving module is used for controlling the receiver to receive the scanning signal and respectively carrying out corresponding response on the light waves with more than two wavelengths contained in the scanning signal through the sensor;
and the first analysis module is used for analyzing the scanning signal and calculating the code of the emitter.
8. The apparatus of claim 7, wherein the first transmitting module comprises:
the first reflection submodule is used for controlling the light waves with more than two wavelengths emitted by the laser to be reflected on a scanning light path;
and the first combining submodule is used for combining the light waves with more than two wavelengths emitted by the laser into one light wave.
9. The apparatus of claim 7, wherein the first receiving module comprises:
the first light filtering submodule is used for filtering the scanning signals and dispersing the scanning signals into light waves with more than two wavelengths;
and the first response submodule is used for controlling the sensor to respectively receive the light waves corresponding to the light waves with more than two wavelengths dispersed by the scanning signal and generate corresponding pulse signals.
10. The apparatus of claim 7, wherein the first encoding module comprises:
the first acquisition submodule is used for acquiring the number and the state of the lasers and the wavelength of light waves emitted by the lasers;
the first determining submodule is used for determining the code of the laser according to the state of the laser;
and the second determining submodule is used for determining the code of the transmitter according to the number and the code of the lasers and the wavelength of the light waves emitted by the lasers.
11. The apparatus of claim 7 or 9, wherein the first parsing module comprises:
the second acquisition submodule is used for acquiring pulse signals at the same time interval, the number of the sensors and the preset incidence relation;
the first judgment submodule is used for judging whether the pulse signals with the same time interval appear on the sensor or not;
and the third determining submodule is used for determining the code of the transmitter according to the number of the sensors, the sensors appearing in the pulse signals at the same time interval and the preset incidence relation.
12. The apparatus of claim 7, further comprising:
the first judgment module is used for judging whether a preset incidence relation is established between the laser and the sensor.
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