KR20190008753A - Three dimension measuring apparatus, system and method thereof - Google Patents

Abstract

The present invention provides a three dimension location measuring apparatus, a system and a method thereof to measure a location of a plurality of measurement targets. According to an embodiment of the present invention, the three dimension location measuring apparatus comprises: a transmitting sensor unit transmitting a first wave to a measurement target; at least three receiving sensor units receiving a second wave transmitted from the measurement target which has received the first wave; and a controlling unit calculating a round trip distance from each receiving sensor unit to the measurement target by counting a time of receiving the second wave from each receiving sensor unit after transmitting the first wave at the transmitting sensor unit and calculating a location of the measurement target by using the calculated round trip distance.

Description

TECHNICAL FIELD The present invention relates to a three-dimensional position measuring apparatus, a three-dimensional position measuring apparatus,

The present invention relates to a three-dimensional position measuring apparatus, a system and a method thereof.

In general, the detection of an object using an ultrasonic sensor is mainly performed by measuring the distance from the ultrasonic sensor to the object. The distance measuring method using the ultrasonic sensor measures the time-of-flight (TOF) from the time of transmitting the ultrasonic wave to the time of receiving the ultrasonic waves reflected from the object, Multiplied by the speed.

Here, the skew time is measured by counting a counter having a clock signal of a certain frequency at the time of transmitting the ultrasonic wave and ending the count at the time of receiving the ultrasonic wave reflected from the object.

Such a measurement method using the ultrasonic sensor can be used for various purposes such as detection of an obstacle of a robot or operation of a game controller.

(METHOD AND APPARATUS FOR MEASURING DISTANCE IN A ROBOT CLEANER).

The present invention is to provide a three-dimensional position measuring device, system and method for measuring the positions of a plurality of measurement objects.

According to an aspect of the present invention, there is provided a transceiver comprising: a transmission sensor unit transmitting a first wave as a measurement object; At least three receiving sensor units receiving a second wave transmitted from a measurement object receiving the first wave; And a controller for counting the time of receiving the second wave from each of the reception sensor units after the first wave transmission by the transmission sensor unit to calculate a round trip distance from each reception sensor unit to the measurement object, And a controller for calculating the position of the measurement object using the three-dimensional position measuring device.

In addition, a plurality of measurement objects may be provided, and the second wave may have a different frequency for each measurement object.

In addition, the reception sensor unit may include a plurality of reception sensor modules corresponding to the number of different frequencies.

The reception sensor unit may be provided at a designated direction and at a specified distance from the transmission sensor unit, respectively.

The control unit may include an amplification module for amplifying a signal received from the reception sensor unit; A driver module for driving the transmission sensor unit; Calculates a reciprocating distance from the transmission sensor and the reception sensor unit to the object to be measured by using the counted time in a predetermined three-dimensional coordinate system including the transmission sensor unit and the reception sensor unit, And a signal processing module for calculating the position of the measurement object using the signal processing module.

In addition, the measurement object may include a receiving module for receiving the first wave; And a transmission module for transmitting the second wave.

According to another aspect of the present invention, there is provided a position measuring apparatus, comprising: a position measuring device for calculating a position of a measurement object using a time for receiving a second wave at at least three predetermined positions after a first wave transmission; And a HMD (Human Mounted Device) that receives the first wave from the position measuring device and then transmits a predetermined second wave.

The controller may further include a controller for receiving the first wave from the position measuring device and then transmitting a third wave having a frequency different from the second wave.

According to still another aspect of the present invention, there is provided a method of measuring a measurement object, comprising: transmitting a first wave to a measurement object; Receiving a second wave from the measurement object at at least three predetermined reception positions; Counting a time at which the second wave is received at the three reception positions after transmitting the first wave, respectively, and calculating a time of the body of sight; Calculating a round trip distance to the measurement object by the reception position using the round trip time; And calculating the position of the measurement object using the calculated reciprocating distance.

In addition, a plurality of measurement objects may be provided, and the second wave may have a different frequency for each measurement object.

In addition, the measurement object may include at least one of a human mounted device (HMD) and a controller.

The three-dimensional position measuring apparatus, the system, and the method according to the embodiment of the present invention are advantageous in that the positions of a plurality of measurement objects can be measured.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a diagram illustrating a three-dimensional position measurement system in accordance with an embodiment of the present invention.
2 is a block diagram illustrating an internal configuration of a controller 130 of the three-dimensional position measuring apparatus 100 according to the present embodiment.
3 is a flowchart illustrating a three-dimensional position measurement method according to the present embodiment.
4 is a view for explaining a measurement principle;

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. In addition, numerals (e.g., first, second, etc.) used in the description of the present invention are merely an identifier for distinguishing one component from another.

Also, throughout the specification, when an element is referred to as being "connected" or "connected" with another element, the element may be directly connected or directly connected to the other element, It should be understood that, unless an opposite description is present, it may be connected or connected via another element in the middle.

Also, throughout the specification, when an element is referred to as "including" an element, it is understood that the element may include other elements as well, without departing from the other elements unless specifically stated otherwise. Also, the terms "a "," module ", and the like in the description mean a unit for processing at least one function or operation, which means that it can be implemented by one or more hardware or software or a combination of hardware and software .

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 is a block diagram illustrating an internal configuration of a controller 130 of a three-dimensional position measuring apparatus 100 according to an embodiment of the present invention. Referring to FIG. 1, to be.

Hereinafter, in order to facilitate understanding and explanation of the present invention, the position measurement object may be an HMD (Human Mounted Device) 140 worn by a user who is experiencing a virtual reality (VR) ). But not limited to this.

1 and 2, a three-dimensional position measuring apparatus 100 according to an embodiment of the present invention may include a transmitting sensor unit 110, at least three receiving sensor units 120, and a controller 130 have.

The transmission sensor unit 110 according to the present embodiment can transmit a first wave having a predetermined frequency. The configuration for transmitting a wave having a predetermined frequency is a known configuration at the time of filing of the present invention, and a detailed description thereof will be omitted.

The wave transmitted by the transmission sensor unit 110 may be various waves such as an electromagnetic wave, a low frequency wave, and a high frequency wave in addition to the ultrasonic wave in the present embodiment. Depending on the environment to which the present invention is applied, And can be selected variously according to the selection.

Hereinafter, in order to facilitate understanding and explanation of the invention, ultrasonic waves are exemplified and described.

The reception sensor unit 120 according to the present embodiment may be provided in predetermined positions and at least three positions.

For example, the reception sensor unit 120 may be provided in a predetermined direction and at a predetermined distance, and at least three places, with the transmission sensor unit 110 as a reference point in a three-dimensional coordinate system.

In this case, the predetermined directions and predetermined distances to the respective reception sensor units 120 may be the same, similar or different from each other, depending on the environment to which the present invention is applied, and the control unit 130 It will be obvious to those skilled in the art in view of the technical idea of the present invention that various designations can be made in consideration of the load at the time of calculating the position of the objects 140, 150 and 152, calculation time and the like.

1, the HMD 140 and the two controllers 150 and 152 of the measurement object according to the present invention are arranged such that, when receiving the first ultrasonic wave, the HMD 140 and the two controllers 150 and 152 are respectively assigned to different frequencies (for example, The HMD 140 and the first and second controllers 150 and 1542 can transmit second ultrasonic waves of frequencies f1, f2 and f3, respectively. To this end, the HMD 140 and the controllers 150 and 152 may include a module for receiving the first ultrasonic wave and a module for transmitting the second ultrasonic wave.

Here, the HMD 140 and the various controllers 150 and 152 are known at the time of filing of the present invention, and additionally, a structure for transmitting ultrasonic waves of mutually different frequencies is also known at the time of filing of the present invention, One explanation is omitted.

1, the first receiving sensor unit 122 of the three-dimensional position measuring apparatus 100 receives three frequencies having different frequencies from the HMD 140 and the two controllers 150 and 152, respectively, And the second reception sensor unit 124 and the third reception sensor unit 126 may also include three reception sensor modules, respectively.

1, it is assumed that each of the first to third receiving sensor units 122, 124, and 126 includes three receiving sensor modules in the case of three measurement objects. However, in an environment where the present invention is applied, It will be obvious to those skilled in the art in view of the technical idea of the present invention that various numbers of receiving modules may be provided in the first to third receiving sensor units 122, 124 and 126.

The control unit 130 according to the present embodiment includes amplification modules 132, 133 and 134 received from the reception sensor unit 120, a driver module 131 for driving the transmission sensor unit 110, A signal processing module 135 composed of a DSP (Digital Signal Processing), and a count module 136 counting under the control of the signal processing module 135.

The amplification modules 132, 133 and 134 according to the present embodiment can amplify a signal received by the reception sensor unit 120. [

For example, in the case where the first receiving sensor unit 122 is configured by three receiving sensor modules as in the present embodiment, the first amplifying module 132 may be configured to receive ultrasonic waves of three different frequencies Each can be amplified.

2, each of the amplification modules 132, 133, and 134 corresponds to the respective reception sensor units 122, 124, and 126. However, the number of the amplification modules 132, 133, and 134 may vary depending on the environment to which the present invention is applied, It will be obvious to those skilled in the art in view of the technical idea of the present invention that the number may be different.

The driver module 131 according to the present embodiment can drive the transmission sensor unit 110 so that the predetermined first ultrasonic wave can be appropriately transmitted as the measurement object.

The signal processing module 135 according to the present embodiment counts the time of receiving the second ultrasonic wave from each receiving sensor unit 120 after the first ultrasonic wave is transmitted from the transmitting sensor unit 110, It is possible to calculate the reciprocating distance to the measurement object 140, 150, 152 and calculate the position of the measurement object 140, 150, 152 using the calculated reciprocating distance.

According to the present embodiment, since at least three receiving sensor units 120 are provided at predetermined positions in a predetermined direction based on the transmitting sensor unit 110, if the transmitting sensor unit 110 is set as the origin, The reception sensor unit 120 of the mobile communication terminal 100 can know the respective positions in the three-dimensional coordinate system.

When the ultrasonic wave propagation velocity is multiplied by the air time counted by the controller 130 as described above, the reciprocal distance to each of the reception sensor units 120 (more specifically, the transmission sensor unit 110 - Distance of the object-reception sensor unit 120) can be calculated.

The control unit 130 controls the position of the transmission sensor unit 110 on the three-dimensional coordinate system, the position of each of the reception sensor units 120, and the distance from each reception sensor unit 120 to the measurement objects 140, The positions of the measurement objects 150 and 152 can be calculated in the three-dimensional coordinate system according to the numerical analysis technique.

In the present embodiment, when three objects to be measured (i.e., the HMD 140 and the two controllers 150 and 152) are used, ultrasonic waves of different frequencies (for example, f1, f2 and f3) And each measurement object 140, 150, 152 can transmit a second ultrasonic wave of a predetermined frequency when it receives the first ultrasonic wave.

For example, the HMD 140 transmits a second ultrasonic wave having a frequency f1, and the two controllers 150 and 152 can transmit a second ultrasonic wave having the frequencies f2 and f3.

In this case, the control unit 130 according to the present embodiment has an advantage that the frequency can be used as an identification factor to quickly calculate each position by dividing a plurality of measurement objects.

With regard to an apparatus and method for measuring a position using an ultrasonic wave, there are many restrictions, such as limiting the number of objects to be measured or requiring at least four receiving sensor units on the ceiling. However, according to the present embodiment, the frequency of the second ultrasonic waves is not limited to the number of the measurement objects 140, 150, and 152, Can be calculated.

Hereinafter, a three-dimensional position measurement method according to the present embodiment will be described with reference to FIGS. 3 and 4. FIG.

FIG. 3 is a flowchart illustrating a three-dimensional position measuring method according to the present embodiment, and FIG. 4 is a view for explaining a measurement principle.

Hereinafter, in describing the position measuring method according to the present embodiment, the appearance of the above-mentioned three-dimensional position measuring apparatus (100 in FIG. 1) and the internal configuration of the control unit 130 are merely an example, .

For example, the transmission sensor unit 110 may be provided at the same position as any one of the reception sensor units 120, as illustrated in FIG.

For example, the internal configuration of the control unit 130 of FIG. 2 may be provided in any chip form, or may be implemented by being divided or integrated into a configuration different from the configuration illustrated in FIG.

Therefore, the internal configuration and appearance of the three-dimensional position measuring apparatus 100 according to the present embodiment are not limited to the examples shown in Figs. 1 and 2, and may be variously configured.

Therefore, in describing the position measuring method according to the present embodiment, the three-dimensional position measuring apparatus 100 will be mainly described.

The three-dimensional position measuring apparatus 100 according to the present embodiment is provided to transmit a first ultrasonic wave and to receive a second ultrasonic wave from at least three predetermined positions from the measurement object.

3 and 4, in step S302, the three-dimensional position measuring apparatus 100 transmits a first ultrasonic wave designated in advance as a measurement object, and may start counting in step S304.

In this case, when receiving the first ultrasonic waves, the measurement object 140, 150, 152 according to the embodiment of the present invention can transmit the second ultrasonic wave of the designated frequency to each of them.

The three-dimensional position measuring apparatus 100 may continue counting until the second ultrasonic wave is received in step S306, and may terminate the counting in step S308 if the second ultrasonic wave is received, and calculate the swing time.

Here, the three-dimensional position measuring apparatus 100 according to the present embodiment receives the second ultrasonic wave at at least three predetermined positions, and when the second ultrasonic wave is received at each position, the counting is ended in step S308 The corresponding time can be calculated.

According to the present embodiment, a plurality of measurement objects can be provided, and a second ultrasonic wave having frequencies different from each other predetermined for each measurement object is transmitted. Therefore, the three-dimensional position measurement apparatus 100 can measure the frequency as an identification factor So that the measurement time can be calculated for calculating the position of the measurement object.

4, the second ultrasonic waves received at the respective receiving positions 120 may be different from each other depending on the positions of the measurement object 150 and the positions of the receiving positions 120 have.

Subsequently, in step S310, the three-dimensional position measuring apparatus 100 can calculate the reciprocating distance from the receiving position to the measurement object 150 using the calculated swing time.

Here, the reciprocating distance can be calculated by multiplying the propagation speed in the air by the swing time of the ultrasonic wave.

Subsequently, in step S312, the three-dimensional position measuring apparatus 100 can calculate the position of the measurement object.

According to the present embodiment, since a predetermined transmission position of the three-dimensional position measuring apparatus 100, at least three predetermined reception positions, can be known in advance in the three-dimensional coordinate system, a three-dimensional coordinate system is constructed, The position of the measurement object can be calculated according to a numerical analysis technique using the calculated reciprocal distance from each reception position to the measurement object (more precisely, the transmission position - the reciprocal distance from the measurement object to the reception position).

In this embodiment, since the frequencies of the second ultrasonic waves are different for the respective measurement objects, the positions of a plurality of measurement objects can be calculated using the frequency as the identification factor.

Below. Referring to FIG. 4, the numerical analysis technique according to this embodiment will be described in detail.

As described above, since the transmission position 110 of the three-dimensional position measuring device and at least three second ultrasonic reception positions R1, R2, and R3 can be known in advance, it can be configured as a three-dimensional coordinate system .

For example, the transmission position and at least three reception positions are defined as the origin (0,0,0), R1 (X _R1 , Y _R1 , Z _R1 ), R2 (X _R2 , Y _R2 , Z _R2 ) X _R3 , Y _R3 , Z _R3 ).

For example, in order to facilitate the calculation, the three reception positions 120 are located on the same plane or one on each axis in the three-axis coordinate system. 110). ≪ / RTI >

For example, the three-dimensional position measuring device calculates the time of the second time using the time that is received from the first controller at the second frequency of the frequency f2, and outputs the first reception position R1 122 (More precisely, the distance between the first ultrasonic transmission position 110 and the first controller 150 - the first reception position R1 122) in the first reception sensor unit 122 is expressed by the following equation Can be calculated using Equation (1).

&Quot; (1) "

(R1) = distance from the transmitting position to the object to be measured ( _DOT) +

The distance (D _{T -R 1)} from the measurement object to the first reception position

+

=

+

Similarly, the round trip distance at the second reception position R2 124 and the third reception position R3 126 of the three-dimensional position measurement field 100 can be calculated by the following equation (2).

&Quot; (2) "

+

The reciprocating distance (R2) =

+

+

(R3) =

+

The three-dimensional position measuring apparatus 100 according to the present embodiment includes the transmission positions O (110), at least three reception positions R1 122 (122) in the three-dimensional coordinate system, ), R2 (124), R3 (126), and each frequency is used as an identification factor, the solution time is calculated using the computed time of flight and the position of each measurement object 150 Can be measured.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the following claims And changes may be made without departing from the spirit and scope of the invention.

110: transmission sensor unit 120: reception sensor unit
130:

Claims (11)

A transmission sensor unit for transmitting a first wave as a measurement object;
At least three receiving sensor units for receiving a second wave transmitted from a measurement object receiving the first wave; And
Wherein the transmission sensor unit counts the time at which the second wave is received by each of the reception sensor units after the first wave transmission to calculate the reciprocating distance from each reception sensor unit to the measurement object, And calculating a position of the object to be measured.
The method according to claim 1,
Wherein the plurality of measurement objects are plural, and the second wave has a different frequency for each measurement object.
The method according to claim 1,
Wherein the receiving sensor section comprises a plurality of receiving sensor modules corresponding to the number of different frequencies.
The method according to claim 1,
And the reception sensor unit is provided at a specified direction and at a specified distance from the transmission sensor unit, respectively.
The method according to claim 1,
The control unit
An amplification module for amplifying a signal received from the reception sensor unit;
A driver module for driving the transmission sensor unit; And
Calculates a reciprocating distance from the transmission sensor and the reception sensor unit to the object to be measured by using the counted time in a predetermined three-dimensional coordinate system including the transmission sensor unit and the reception sensor unit, And a signal processing module for calculating the position of the measurement object using the three-dimensional position measurement device.
The method according to claim 1,
Wherein the measurement object includes a reception module for receiving the first wave; And a transmission module for transmitting the second wave.
A position measuring device for calculating a position of a measurement object using a time for receiving a second wave at at least three predetermined positions after a first wave transmission; And
And a HMD (Human Mounted Device) that receives the first wave from the position measuring device and then transmits a predetermined second wave.
8. The method of claim 7,
And a controller for receiving a first wave from the position measuring device and then transmitting a third wave having a frequency different from the second wave.
Transmitting a first wave to a measurement object;
Receiving a second wave from the measurement object at at least three predetermined reception positions;
Counting a time at which the second wave is received at the three reception positions after transmitting the first wave, respectively, and calculating a swing time;
Calculating a round trip distance to the measurement object by the reception position using the round trip time; And
And calculating the position of the measurement object using the calculated reciprocating distance.
10. The method of claim 9,
Wherein the plurality of measurement objects are plural, and the second wave has a different frequency for each measurement object.
10. The method of claim 9,
Wherein the measurement object includes at least one of a human mounted device (HMD) and a controller.

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