The virtual reality device space-location method scanned based on light field
Technical field
The present invention relates to a kind of virtual reality device space-location method scanned based on light field, especially a kind of separate type
Laser light field Scan orientation method.
Background technology
Space track and localization device or three-dimensional airborne sensor are that one kind can detect mobiles in six-freedom degree in real time
On relative to some fixed object numerical value, i.e. the positional value on X, Y, Z coordinate, and around the rotational value of X, Y, Z axis.
Low frequency magnetic field formula and ultrasonic type sensor are widely used that in virtual reality technology.The low frequency magnetic field of low frequency magnetic field formula sensor
It is to be produced by the magnetic field transmitter of the sensor, the transmitter is made up of three orthogonal antennas, is also installed in recipient
One orthogonal antenna, it is installed in the moving object of distant place, the magnetic field received according to recipient, can be calculated and be connect
Receiver and conveys data to master computer relative to the position and direction of transmitter by communication cable.But low frequency magnetic field formula
Space-location method there are problems that operating distance it is short, ultrasonic type sensor exist positioning precision it is low,
The problems such as temperature stability is poor, echo is disturbed.
Therefore the present invention devises a kind of virtual reality device space-location method scanned based on light field, can be from basic
The problems such as upper solution positioning accuracy difference and poor anti-interference.
The content of the invention
The present invention seeks to:A kind of virtual reality device space-location method scanned based on light field is provided, can improve fixed
The accuracy of position, and fully expansion can located space.
The technical scheme is that:A kind of virtual reality device space-location method scanned based on light field, the positioning
System includes a VR virtual reality device (3) and two beacons (1 and 2), it is characterised in that virtual reality device (3) is included
Laser detector, beacon (1 and 2) is used to launch infrared laser wire harness, and scanning is entirely positioned space.Laser tube (6 and 8) and electricity
Machine (11 and 7) is the core devices of beacon, and a laser tube and a motor are one group, constitute a laser scanning axle.Each
Beacon has two scan axises, and the axle rotated around vertical direction is called X-axis, and the axle rotated around vertical direction is Y-axis.In scan axis
45 ° of speculums (9), a wordline lens (4) be arranged on revolving mirror bar (5) on, motor is connected to by adapter flange (10)
(11) on, and rotated with motor (11).The phase of two scan axises rotation in each beacon differs 180 °.Two beacon (1 Hes
2) scan axis same-phase, two beacon (1 and 2) timesharing light extractions.Beacon laser beam in order to avoid receiving terminal by ambient light etc. its
He is disturbed light source, and the infrared laser wire harness sent by beacon is modulated using 2MHz OOK, and it is sufficiently stable and empty that it scans rotating speed
Plan real world devices (3) laser detector sensitivity is very high, therefore, it is possible to ensure the accuracy of positioning.
The present invention innovative point be:
1. alignment system includes two beacons i.e. A beacons (1) and B beacons (2) in the present invention.The scanning frequency of whole system
Rate is 30Hz, i.e., one scan period about 33ms.In a scan period, beacon A, B X, Y-axis are inswept successively to be positioned sky
Between, the time of each inswept located space of axle is about 8.33ms.Motor operation is 3600RPM in 60Hz, and each axle is scanned every time
Angle be 180 °, need to ensure that two motors in the synchronizing motors of two beacons, and same beacon have 180 ° of phases
Potential difference.
2. system uses three-phase brushless motor in the present invention, motor operation is realized in 3600RPM by driver DRV11873
The driving of brushless electric machine.Motor often turns over a circle, and the silicon photocell BPW34 that laser wire harness can be on inswept PCB once, and then is obtained
One pulse, the frequency of pulse is the number of turns of motor rotation per second;On the other hand, it is believed that laser scanning is to being decided to be space
Midpoint is at 180 ° of phases, then is the zero point of motor phase at the time of laser inswept BPW34.Thus turning for motor can be obtained
Speed and phase information.
3. the closed-loop control of pair motor, is also classified into rotating speed and the aspect of phase two.When speed error is more than 0.5%, system
Using 60Hz rotating speeds as adjustment target, motor speed is controlled using pid algorithm;When speed error is less than 0.5%, system
Then rotated simultaneously with speed error and phase error controlled motor.If phase error is less than 10 °, then it is assumed that current axis is in phase
Position lock-out state.
4. to ensure stable output power, it is to avoid laser tube luminous efficiency decays with the time, one high response speed need to be built
Laser tube automated power control (APC) circuit of degree.In order to realize 2MHz modulation, it is desirable to which the switching speed of APC circuits is at least
It is that this amplifier is realized from bandwidth 130MHz LMH6643 for 100ns magnitudes.For each scan axis, PGC demodulation it
Before, laser tube keeps often bright state;After PGC demodulation, in each measurement period, each measurement axle had 1/4 cycle to tested sky
Between be scanned, now laser tube should be at 2MHz modulation conditions.Meanwhile, when another beacon is scanned, in order to avoid
Interference, the laser tube of the beacon of current Non-scanning mode state should be closed.
5. needed between two beacons synchronous synchronous by wireless communication between scanning successively to detected space, beacon to ensure
Number realize.Beacon A (1) sends primary system synchronizing signal per 33.33ms, and beacon B (2) is realized by receiving this synchronizing signal
With beacon A (1) synchronization.The preceding 16.66ms for arranging synchronizing signal is beacon A sweep time, and rear 16.66ms is beacon B's
Sweep time., will be by wireless transmission at the time of each scanning starts after its PGC demodulation for each scan axis
The ID of current axis.Be positioned at the time of equipment receives wireless signal is at the time of scanning to start, so as to realize that system signal is same
Step and motor phase locking signal sending and receive.
Brief description of the drawings
Below in conjunction with the accompanying drawings and embodiment the invention will be further described:
Fig. 1 is whole positioning system structure frame diagram;
Fig. 2 is critical component beacon tooling drawing in the present invention;
Wherein:11 and 7 be motor, and 10 be adapter flange, and 9 be 45 ° of speculums, and 4 be a wordline lens, and 5 be rotation eyeglass
Seat, 6 and 8 be infrared pulsed lasers.
Embodiment
Shown in reference picture 1, beacon (1 and 2) transmitting infrared laser wire harness, scanning is entirely positioned space.Beacon laser beam
In order to avoid receiving terminal is disturbed by other light sources such as ambient lights, the infrared laser wire harness sent by beacon is adjusted using 2MHz OOK
System, the laser sent is received by high sensitivity laser detector in virtual reality device (3), according to received laser signal
Phase difference obtains three-dimensional localization of the virtual unit in this space.
I.e. whole positioning flow is:1 and 2 phase is synchronous, and two light in turn.T0-T3The signal lamp tower of moment 1 goes out
Light, T4-T7The signal lamp tower light extraction of moment 2.
T0At the moment, 1 sends row scanning commencing signal (x directions)
T1At the moment, 3 receive optical signal, pass through δ1=T1-T0, calculate scanning angle.
T2At the moment, 1 sends column scan commencing signal (y directions)
T3At the moment, 3 receive optical signal, pass through δ2=T3-T2, calculate scanning angle.
T4At the moment, 2 send row scanning commencing signal (x directions)
T5At the moment, 3 receive optical signal, pass through δ3=T5-T4, calculate scanning angle.
T6At the moment, 2 send column scan commencing signal (y directions)
T7At the moment, 3 receive optical signal, pass through δ4=T6-T5, calculate scanning angle.
By trigonometric function, 3 position in space is calculated.
It is described above, the only specific embodiment of the invention.Protection scope of the present invention is not limited thereto, any to be familiar with
Those skilled in the art the invention discloses technical scope in, the change or replacement that can be readily occurred in should all be covered
Within protection scope of the present invention.Therefore, the protection domain that protection scope of the present invention should be defined using claim as
It is accurate.