CN206863205U - The device in autoalign unit course - Google Patents
The device in autoalign unit course Download PDFInfo
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- CN206863205U CN206863205U CN201720729346.4U CN201720729346U CN206863205U CN 206863205 U CN206863205 U CN 206863205U CN 201720729346 U CN201720729346 U CN 201720729346U CN 206863205 U CN206863205 U CN 206863205U
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- light
- course
- receiver device
- equipment
- light receiver
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Abstract
A kind of device in autoalign unit course, including：Light launcher, it is configured to be arranged on known course posture or as on the part of reference system, for launching scanning ray, the scanning range of scanning ray is in sector；Light receiver device, it is configured to be assemblied in the equipment in course to be calibrated, including at least two light sensors；And processing unit, hit for judging whether light sensor has two or more to be scanned light, and the course of light receiver device when hitting is calculated, and the course determined is passed to the equipment in course to be calibrated.The present apparatus can be used for man-machine interaction or field of virtual reality, can calibrate course automatically, it is not necessary to keeps particular pose or carries out specific action.
Description
Technical field
Field of human-computer interaction is the utility model is related to, further to a kind of device in autoalign unit course.
Background technology
Man-machine interaction (Human-Machine Interaction, HMI), is the friendship between a research system and user
The knowledge of mutual relation.System can be the system and software of various machines or computerization.In recent years, with
Virtual reality and augmented reality turn into research tendency and research and development focus for the advanced man-machine interaction of representative.
Virtual reality (Virtual Reality, VR) technology is a kind of computer that can be created with the experiencing virtual world
Analogue system.It generates the interactive Three-Dimensional Dynamic what comes into a driver's that a kind of simulated environment is a kind of Multi-source Information Fusion using computer
System emulation with entity behavior makes user be immersed in the environment.And augmented reality (Augmented Reality,
AR), be it is a kind of in real time calculate camera image position and angle and plus respective image, video, the technology of 3D models, this
The target of kind technology is that virtual world is enclosed on real world on screen and carries out interaction.
As can be seen here, interaction is one of AR/VR key technology, and its is significant.For VR, present VR products
Product form is gradually convergent, and providing the company of qualified screen, optics, chip etc. Primary Component and material in the world, count on one's fingers can
Number, various Reference Designs are also more and more, and VR heads show the work that future is exactly a manufacture display, can produce the pass of differentiation
Key technology point is fewer and fewer.
In the field of human-computer interaction such as AR/VR, equipment, such as controller, positioning and orientation be key issue, using based on
The attitude measurement method of inertia is presently the most a kind of conventional method, but the problem of attitude accuracy is not high be present, particularly navigates
Poor to precision, magnetometer is easily by external interference in addition, therefore to carry out external auxiliary calibration for the course of controller.
It is all to do required movement by people and press the key mapping on controller to carry out hand that current existing technical scheme, which is,
Dynamic course calibration, existing subject matter include following three aspects：First, course calibration accuracy is not high (to be limited to required movement
Performance), second, calibration efficiency is low, typically in an application process only calibration once, if carried out manual in use
Calibrate the usability and the experience property of man-machine interaction that will have a strong impact on controller.Third, learning cost is high, needed when ordinary people operates
Want professional's guided teaching.
Utility model content
(1) technical problems to be solved
In view of this, the purpose of this utility model is to provide a kind of device in autoalign unit course, with solve with
Upper at least one described technical problem.
(2) technical scheme
In view of this, the utility model proposes a kind of device in autoalign unit course, including：
Light launcher, it is configured to be arranged on known course posture or as on the part of reference system, for launching
Scanning ray, the scanning range of scanning ray is in sector；
Light receiver device, it is configured to be assemblied in the equipment in course to be calibrated, including at least two light sensors；With
And
When processing unit, being hit for judging whether light sensor has two or more to be scanned light, and determining to hit
The course of light receiver device, and the equipment that the course determined is passed to course to be calibrated.
Further, under the local coordinate system of light receiver device, the position of the light sensor on light receiver device
Put coordinate determination；The equipment in course to be calibrated and the relative position of light receiver device and posture determine.
Further, the sector is vertical with the yaw plane of equipment.
Further, the light launcher is a word laser beam emitting device, and light receiver device fills for laser pick-off
Put.
Further, the light launcher is infrared light, ultraviolet light or VISIBLE LIGHT EMISSION device, light receiver device
It mutually should be the light receiver device of same type.
Further, the sensor is distributed in array, and the direction respectively arranged in array and the pointing direction of equipment hang down
Directly.
Further, the spacing respectively between row's sensor is more than the spacing of adjacent sensors in often row.
(3) beneficial effect
(1) device of the present utility model can calibrate course automatically, it is not necessary to and keep particular pose or carry out specific action,
It is convenient and swift；
(2) by the real time calibration of the utility model device, it is any meet condition in the case of can carry out course school
Standard, ensure availability and the high efficiency of calibration.
Brief description of the drawings
Fig. 1 is the schematic device in the autoalign unit course of the utility model embodiment.
Fig. 2 is a kind of view of light receiver device in Fig. 1.
Fig. 3 is another view of light receiver device in Fig. 1.
Fig. 4 is the device application state schematic diagram in the autoalign unit course of the utility model embodiment.
Embodiment
For the purpose of this utility model, technical scheme and advantage is more clearly understood, below in conjunction with specific embodiment, and
Referring to the drawings, the utility model is described in further detail.
Accompanying drawing appended by explanation simplified and used as illustrating herein.Component count, shape and size shown in accompanying drawing can
Modified according to actual conditions, and the configuration of component is likely more complexity.Also other aspects can be carried out in the utility model
Practice or application, and without departing from spirit and scope defined in the utility model under conditions of, can carry out various change and
Adjustment.
According to basic conception of the present utility model, there is provided a kind of device in autoalign unit course, it is main to include two
Point, a part is light launcher, and another part is light receiver device and processing unit.Light launcher is configured to pacify
Mounted in known course posture either on the part (such as VR glasses or VR helmets) as reference system, by launching scanning ray
Course information is transmitted, and light receiver device is configured to that (such as controller or plinker etc.) reception is installed in equipment to be calibrated
The scanning ray, when relatively large deviation (such as misalignment angle is more than 2 °) be present, processing unit triggering light receiver device and light
Line emitter is aligned.
Fig. 1 is the schematic device in the automatic controller calibration course of the utility model embodiment.
As shown in figure 1, the device 100 in the automatic controller calibration course of the present embodiment, mainly including two parts, a part
It is light launcher 110, another part is light receiver device 120 and processing unit 130.
Wherein, light launcher 110 can divide with known course posture or as the matching relationship of the part of reference system
For two kinds of situations：A kind of is that light emitters are integrally fixed on moving object, but the posture of moving object be it is accurately known,
For example light launcher is fixed on VR glasses (known course posture).Another situation is that light transmitting is fixed, such as
In the application of VR movie theatres, after allowing user to be seated on the seat, front is all set to positive north orientation by the helmet.Light can be launched and fill
Put and be fixed in front of seat, and light receiver device is fixed on VR glasses, for calibrating the course of the VR helmets (as reference
System).
Light launcher 110 is mountable on above-mentioned part, can be by existing generally in field of human-computer interaction
Fixed form known to technology is arranged on VR glasses or the helmet, then the course of the generating laser represent VR glasses or
Helmet etc. can accurately obtain the mobile course (or having a fixed angle) in course, by Inside-out or
The optical modes such as Outside-in obtain accurate course information.Light launcher 110 can be launched in a fan-shaped word
Laser (it is in a covering of the fan that the word Laser emission, which comes out, is then distributed when beating on some face in a line), the fan of a word laser
Shape face is perpendicular to yaw plane.The yaw plane refers to the plane being made up of the course that same point is launched, course
Plane is not necessarily horizontal plane, there is different meanings under different application scene.
Preferably, it is set at the position that does not shut out the light, and laser beam emitting device 110 is used to launching scanning ray to treating school
On the part in quasi- course, laser beam emitting device 110 can be integrally fixed at the part (as on VR glasses) of known course posture, swash
Light emitting devices 110 itself does not rotate, but because the moving object (such as human body head) for carrying above-mentioned part rotates, therefore he
Also can rotary scanning to light receiver device.In further embodiment, the device 100 in autoalign unit course can also include
Have mechanical runner assembly, it drives light launcher 110 to rotate together, and can be real-time the angle of derotation.
In the utility model, the light that laser beam emitting device 110 is launched can be for laser, infrared light, ultraviolet light either
Visible ray, or their any combination, it is further preferred that the light of transmitting is laser.
Wherein, light receiver device 120 is mountable in the equipment (such as controller) in course to be calibrated, generally man-machine
In interaction field, it can be arranged at by fixed form known in the art on hand controller or game pistol.Light
For reception device for the polytype with light launcher, it is the light receiver device of same type accordingly.
Fig. 2 is a kind of view of light receiver device in Fig. 1.Outside (such as the upper table of light receiver device 120
Face) it is provided with multiple rows of (at least two rows) sensor 121, the light sent for receiving light launcher 110.Often arrange light
The arragement direction of sensor 121 is vertical with the pointing direction (hollow arrow direction in Fig. 2) of controller, and corresponding sensor is in
Array is distributed, i.e., along every row and the pointing direction aligned fashion of controller.
When light receiver device 120 is consistent with the course of light launcher 110, the scanning laser of sector can be along control
Device pointing direction is inswept sensor, i.e., in each scan period, often arranging sensor has one to be swept, and the tactility apparatus being swept
121 arragement directions are consistent with the pointing direction of controller.
Sensor 121 can be with random arrangement, i.e. sensor is not necessarily in a row, or even not necessarily at grade.
The arrangement mode of sensor 121 can also be that two rows two arrange or the array of the form such as two rows three row, so can be with
Relax calibration accuracy, increase calibration number.
Spacing of the preferable arrangement mode between each row's sensor is more than adjacent sensors spacing in often row.For two rows
Parallel sensor, at regular intervals between two row's sensors, spacing is more big more is advantageous to the accuracy of course calibration；And often arrange
Close-packed arrays, accuracy that is more close more being advantageous to course calibration are got between sensor.
Sensor can be with random arrangement, i.e. sensor is not necessarily in a row, or even not necessarily at grade.
Fig. 3 is another view of light receiver device in Fig. 1.In multiple rows of sensor, often arranging has multiple sensings
In the case of device：The course of equipment to be calibrated with transmitting light representated by course it is inconsistent when still can calibrate, now obtain
The angle in two courses.Shown in Fig. 3, hollow arrow represents the course of equipment to be calibrated, and solid arrow represents transmitting light institute
The course of representative, both angles are α.The receiver hit according to every row by laser determines object to be calibrated and course to calculate
Angle between benchmark.
Only had in same row's same period one it is photosensitive hit, the definition hit is received in a cycle
Light intensity value is higher than threshold value, and all light sensor intermediate value maximums more than threshold value in same row, and the data of return are
In first row by the photosensitive sequence number and second row of laser beam hits by the photosensitive sequence number of laser beam hits.When any in first row
One photosensitive and second row in any one photosensitive quilt returned data when shining simultaneously, the scan period should be higher, while refers to
In one scan period.Two sensor relative positions (demarcating in advance or according to known to design) according to being scanned are calculated and treated
The drift angle between object and laser datum is calibrated, and is accordingly compensated when calibrating object course.
In Fig. 1, processing unit 130 and the electric property coupling of light receiver device 120, for triggering the controller adjustment
Course is consistent with the part course in the acquisition course.Set the course of the device itself in course to be calibrated and pass through light receiver
The accurate course angle of device is migration included angle, and when migration included angle exceedes setting value, the equipment for triggering course to be calibrated is carried out
Course adjusts, and when migration included angle is less than setting value (being, for example, 2 °), continues to go as course, the equipment in course to be calibrated is not navigated
To being adjusted.
A kind of method of actual alignment can be carried out as follows：
First, processing unit 130 is with least two light sensors on setpoint frequency detection light receiver device 120
No scanned light is irradiated to.If 2 or more than 2 sensors 121, the sensor being just irradiated to have been irradiated to it
121 are fitted to straight line (in the case that these sensors are conllinear) or plane (not conllinear coplanar in the case of)；
Then, because straight line is or the plane of above-mentioned steps and scanning ray institute where scanning ray on covering of the fan
Covering of the fan it is identical therefore course where the course of the straight line or the plane and scanning ray is consistent；
It is then possible to obtain the course of light receiver device；
Finally, due to the relative position and posture of light receiver device 120 and the device in course to be calibrated be to determine it is known
, therefore the course of course object to be calibrated can be obtained.
Fig. 4 is the device application state schematic diagram in the automatic controller calibration course of the utility model embodiment.User exists
When carrying out man-machine interaction, the VR glasses for being fixed on light launcher 110 are worn, operation by human hand controller, set on controller
There are light receiver device 120 and processing unit 130, by the device, user can obtain good interactive experience, meet bar
Course calibration can be carried out in the case of part, ensures availability and the high efficiency of calibration.
Particular embodiments described above, the purpose of this utility model, technical scheme and beneficial effect are carried out to enter one
Step describes in detail, it should be understood that the foregoing is only specific embodiment of the utility model, is not limited to this reality
It is all within the spirit and principles of the utility model with new, any modification, equivalent substitution and improvements done etc., it all should include
Within the scope of protection of the utility model.
Claims (7)
- A kind of 1. device in autoalign unit course, it is characterised in that including：Light launcher, it is configured to be arranged on known course posture or as on the part of reference system, is scanned for launching Light, the scanning range of scanning ray is in sector；Light receiver device, it is configured to be assemblied in the equipment in course to be calibrated, including at least two light sensors；AndProcessing unit, hit for judging whether light sensor has two or more to be scanned light, and calculate light when hitting The course of reception device, and the equipment that the course determined is passed to course to be calibrated.
- 2. the device in autoalign unit course according to claim 1, it is characterised in that in the office of light receiver device Under portion's coordinate system, the position coordinates of the light sensor on light receiver device determines；The equipment in course to be calibrated connects with light The relative position and posture of receiving apparatus determine.
- 3. the device in autoalign unit course according to claim 1, it is characterised in that the fan-shaped boat with equipment It is vertical to plane.
- 4. the device in autoalign unit course according to claim 1, it is characterised in that the light launcher is One word laser beam emitting device, light receiver device are laser receiver.
- 5. the device in autoalign unit course according to claim 1, it is characterised in that the light launcher is Infrared light, ultraviolet light or VISIBLE LIGHT EMISSION device, light receiver device mutually should be the light receiver device of same type.
- 6. the device in autoalign unit course according to claim 1, it is characterised in that the sensor is in array Distribution, and the direction respectively arranged in array is vertical with the pointing direction of equipment.
- 7. the device in autoalign unit course according to claim 6, it is characterised in that between each row's sensor Away from more than adjacent sensors spacing in often arranging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720729346.4U CN206863205U (en) | 2017-06-21 | 2017-06-21 | The device in autoalign unit course |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720729346.4U CN206863205U (en) | 2017-06-21 | 2017-06-21 | The device in autoalign unit course |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206863205U true CN206863205U (en) | 2018-01-09 |
Family
ID=60827610
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720729346.4U Expired - Fee Related CN206863205U (en) | 2017-06-21 | 2017-06-21 | The device in autoalign unit course |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206863205U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109240497A (en) * | 2018-08-28 | 2019-01-18 | 北京航空航天大学青岛研究院 | A kind of eye movement tracking automatic calibrating method in virtual reality scenario |
-
2017
- 2017-06-21 CN CN201720729346.4U patent/CN206863205U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109240497A (en) * | 2018-08-28 | 2019-01-18 | 北京航空航天大学青岛研究院 | A kind of eye movement tracking automatic calibrating method in virtual reality scenario |
| CN109240497B (en) * | 2018-08-28 | 2021-07-13 | 北京航空航天大学青岛研究院 | Automatic calibration method for eye tracking in virtual reality scene |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180109 Termination date: 20180621 |
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| CF01 | Termination of patent right due to non-payment of annual fee |