TWI682189B - Coordinate sensing device and method thereof - Google Patents

Abstract

A coordinate sensing device includes: a receiver for sensing a first light signal, a second light signal, and a third light signal for generating a receiving signal; and a controller for outputting a coordinate of the receiver according to the receiving signal; wherein when the first light signal, the second light signal, and the third light signal project to a horizontal plane, a first straight ray pattern, a second straight ray pattern, and a third straight ray pattern are formed on the horizontal plane.

Description

Coordinate sensing device and sensing method

The invention relates to a coordinate sensing device, in particular to a three-dimensional coordinate sensing device.

Mobile devices (such as mobile phones) have become one of the indispensable supplies in modern life. With the development of positioning technology, any user with a mobile device can easily use related services, such as navigation, guided tours of nearby attractions, Various uses such as social network interactions add a lot of convenience and interest to the lives of modern people. At present, most of the positioning devices (or navigation devices) on the market use the technology of the Global Position System (GPS). The global positioning system is a technology that combines satellite technology and wireless communication to provide users with accurate positioning, speed and Time information.

The positioning of the global positioning system depends on the cooperation between the satellite and the positioning device to operate smoothly. However, the current positioning technology is still mainly used in open spaces outdoors, and is limited by physical conditions. The accuracy of positioning needs to be further improved, especially not suitable for detailed positioning in a single field indoors. For example, when the object to be measured (such as a person) is in a large indoor space (such as a hypermarket), the positioning technology of the conventional global positioning system cannot obtain the object to be measured in the field due to the shadow of the building s position.

The object of the present invention is to provide a three-dimensional coordinate sensing device which can accurately calculate the position of an object to be measured in a specific field.

The invention provides a coordinate sensing device. The coordinate sensing device includes a receiver and a controller. The receiver is used to sense a first optical signal, a second optical signal and a third optical signal to generate a received signal. The controller is used to calculate a target of the receiver according to the received signal. When the first optical signal, the second optical signal and the third optical signal are projected on a horizontal plane, the horizontal plane will present a first linear light pattern, a second linear light pattern and a third linear light pattern, respectively.

The invention provides a sensing method for sensing a target of an object to be measured. The method includes: generating a first optical signal, a second optical signal and a third optical signal, wherein when the first optical signal, the second optical signal and the third optical signal are projected on a horizontal plane, The horizontal plane will present a first linear light pattern, a second linear light pattern and a third linear light pattern respectively; when the first optical signal, the second optical signal and the third optical signal are projected onto the object to be measured respectively At this time, a receiving signal is generated; and a target of the object to be measured is calculated according to the receiving signal.

The coordinate sensing device of the present invention can be used in a positioning system. In the positioning system, the coordinate sensing device scans an object to be measured through three straight lines of light emitted by a transmitter and rotating simultaneously with a rotation center. The transmitter also sends a synchronization signal to a receiver on the object under test to generate a reference time. The receiver outputs a first signal when the first optical signal is detected at a first time, outputs a second signal when the second optical signal is detected at a second time, and detects at a third time When the third optical signal is detected, a third signal is output. The coordinate sensing device calculates the first time, the second time, the third time, a reference time, the angular velocity of the three rays of light when rotating, the distance between the emitting ends, and other known information. The three-dimensional position of the object to be measured. Therefore, the positioning system can accurately calculate the test object in a specific The exact three-dimensional position within the field.

1. 1a‧‧‧Coordinate sensing device

11, 11a‧‧‧Transmitter

111、121‧‧‧Wireless transmission module

112, 112a‧‧‧Bottom

12‧‧‧Receiver

13‧‧‧Controller

301, 401‧‧‧horizontal

302, 304, 306, 308, 502, 504, 506, 508

600‧‧‧Method

700‧‧‧Method

602~616‧‧‧Step

702~716‧‧‧Step

A, B, C, D‧‧‧ position

L1‧‧‧First straight light pattern

L2‧‧‧second straight light pattern

L3‧‧‧third straight light pattern

O‧‧‧rotation center

O1‧‧‧First launch

O2‧‧‧Second transmitter

O3‧‧‧Third transmitter

P‧‧‧horizontal

P1‧‧‧First point position

P2‧‧‧The second point

P3‧‧‧The third point

r‧‧‧Linear distance

S‧‧‧Predetermined pitch

S1, S1a‧‧‧First optical signal

S2, S1b‧‧‧Second optical signal

S3, S1c‧‧‧third optical signal

S11, S11a‧‧‧The first laser light wall

S22, S11b‧‧‧Second laser light wall

S33, S11c‧‧‧ Third Laser Wall

Sr‧‧‧Receive signal

Sn‧‧‧Wireless signal

Sp1, Sp2, Sp3, Sp4 ‧‧‧ pulse signal

t0, t1, t2, t3, t4, t6 ‧‧‧

T, T1, T2

TP‧‧‧ scan cycle

T _d1 ‧‧‧ First time interval

T _d2 ‧‧‧second time interval

N‧‧‧Normal

Rd‧‧‧Reserved distance

d _a , d _b , d _c ‧‧‧ linear distance

θ, Φ, α, β, γ, φ‧‧‧ included angle

Ht, h‧‧‧ height

X‧‧‧Center

FIG. 1A is a schematic diagram of an embodiment of a coordinate sensing device according to the present invention.

FIG. 1B is a schematic diagram of an embodiment of calculating a coordinate of an object to be measured using a coordinate sensing device of the present invention.

FIG. 1C is a schematic diagram of another embodiment of calculating a coordinate of an object to be measured using a coordinate sensing device of the present invention.

FIG. 2A is a schematic diagram of another embodiment of calculating a coordinate of an object to be measured using a coordinate sensing device of the present invention.

FIG. 2B is a schematic diagram of another embodiment of calculating a coordinate of an object to be measured using a coordinate sensing device of the present invention.

FIG. 2C is a top view of another embodiment of a coordinate sensing device of the present invention for scanning an object to be measured.

2D is a waveform diagram of an embodiment of a received signal generated by a receiver of the present invention.

FIG. 3A is a top view of another embodiment of a coordinate sensing device of the present invention for scanning an object to be measured.

FIG. 3B is a waveform diagram of another embodiment of a received signal generated by a receiver of the present invention.

FIG. 3C is a side view of an embodiment in which a coordinate sensing device of the present invention is used to calculate a three-dimensional coordinate of an object to be measured.

FIG. 3D is a top view of another embodiment of a coordinate sensing device of the present invention for scanning an object to be measured.

4 is a side view of another embodiment of calculating a three-dimensional coordinate of an object to be measured using a coordinate sensing device of the present invention.

FIG. 5 is a top view of an embodiment of a coordinate sensing device of the present invention for scanning an object to be measured.

FIG. 6 is a flow chart of an embodiment of a method for computing a coordinate of a test object according to the present invention.

FIG. 7 is a flowchart of another embodiment of a method for computing a coordinate of a test object according to the present invention.

The following disclosure provides many different embodiments or examples for implementing different features of this application. Specific examples of components and configurations are described below to simplify the disclosure of this application. Of course, these are only examples and are not intended to limit this application. For example, the following description of forming the first feature on or above the second feature may include an embodiment of forming the first and second features in direct contact, or may include an embodiment of forming other features between the first and second features Therefore, the first and second features are not in direct contact. In addition, the present application may repeat element symbols and/or letters in different examples. This repetition is for simplicity and clarity, and does not govern the relationship between different embodiments and/or the architecture in question.

Please refer to FIG. 1A, which is a schematic diagram of an embodiment of a coordinate sensing device 1 according to the present invention. The coordinate sensing device 1 includes a transmitter 11, a receiver 12 and a controller 13. The transmitter 11 is used to generate a first optical signal S1, a second optical signal S2 and a third optical signal S3. The receiver 12 is used to sense the first optical signal S1, the second optical signal S2 and the third optical signal S3 to generate a received signal Sr. In one embodiment, the receiver 12 uses a photodiode to detect the first optical signal S1, the second optical signal S2 and the third optical signal S3, and converts the first optical signal S1, the second optical signal S2 and the third optical signal S3 into electrical signals, such as the received signal Sr. The controller 13 is used to calculate a coordinate of the receiver 12 according to the received signal Sr. According to an embodiment of the invention, the transmitter 11 further includes a wireless transmission module 111, and the receiver 12 also includes a wireless transmission module 121. The wireless transmission module 111 of the transmitter 11 is used to transmit a wireless signal Sn to the wireless transmission module 121 of the receiver 12. The wireless signal Sn can be a pulse signal. According to an embodiment of the present invention, the wireless transmission modules 111, 121 can be implemented through radio frequency technology (RF), Bluetooth technology, ZigBee technology, wireless compatibility authentication (Wi-Fi) technology, or other wireless transmission modules To achieve. In addition, the controller 13 is coupled to the transmitter 11 and the receiver 12. In an embodiment, the controller 13 is integrated in the transmitter 11, and the controller 13 and the receiver 12 are communicated through a wireless signal. In another embodiment, the controller 13 is integrated in the receiver 12, and the controller 13 and the transmitter 11 are communicated through a wireless signal. The controller 13 may also be a separately provided component, as long as it can be coupled to the transmitter 11 and the receiver 12 through a wired or wireless method, and the present invention is not limited thereto. Therefore, the transmitter 11, the receiver 12 and the controller 13 can be coupled to each other in a wired or wireless manner. Similarly, the transmitter 11, the receiver 12 and the controller 13 can communicate through radio frequency technology (RF), Bluetooth technology, ZigBee technology, wireless compatibility authentication (Wi-Fi) technology, or other wireless transmission modes Group to achieve.

According to an embodiment of the present invention, the controller 13 may include a core control component of the coordinate sensing device 1, for example, may include at least a central processing unit (CPU, such as a microprocessor) and a memory, or include other control hardware , Software or firmware. Therefore, the three-dimensional coordinates or position of an object T on a horizontal plane P and the transmitter 11 can be calculated by the controller 13.

Please refer to FIG. 1B, which is a schematic diagram of an embodiment of calculating a coordinate of a test object T using the coordinate sensing device 1 of the present invention. The test object T is located in a field, which can be a field Indoor storage space, a store space, an office space or other indoor spaces. The object T can be a person or an object. Further, for the coordinates of the object to be measured T, the receiver 12 of the coordinate sensing device 1 of the present invention may be installed on the object to be measured T. In FIG. 1B and subsequent related drawings, the object to be measured T plus the receiver 12 is marked as T/12. For example, when the object to be measured T is a person, the receiver 12 may be disposed in a mobile device (such as a mobile phone or a tablet) carried by the person. In addition, the receiver 12 may also be provided in a standard sensing device worn by the person (for example, in a smart bracelet worn by the person). In addition, when the object to be measured T is an object, the receiver 12 can be installed on the object.

The transmitter 11 of the coordinate sensing device 1 is disposed above the horizontal plane P, that is, a horizontal height of the transmitter 11 is higher than the horizontal height of the horizontal plane P. For example, the transmitter 11 may be installed on a ceiling, lamps, smoke detectors, air-conditioning vents, or other equipment in the field.

According to an embodiment of the present invention, when the object T and the receiver 12 can move freely at any height h between a horizontal plane P and the transmitter 11 in the field, the controller 13 can calculate the object The three-dimensional coordinate of T in the field.

According to an embodiment of the present invention, through the coordinated arrangement of the transmitter 11 and the receiver 12, the coordinate sensing device 1 can calculate the coordinate of any height h between the horizontal plane P and the transmitter 11. In other words, the coordinate is a three-dimensional coordinate in the field.

According to an embodiment of the present invention, as shown in FIG. 1B, the transmitter 11 emits a first optical signal S1, a second optical signal S2, and a third optical signal S3 toward the horizontal plane P, the first optical signal S1, the second light The signal S2 and the third optical signal S3 have a predetermined projection direction. In this embodiment, the first optical signal S1, the second optical signal S2 and the third optical signal respectively have a first predetermined projection direction, a second predetermined projection direction and a third predetermined projection direction, wherein The first predetermined projection direction, the second predetermined projection direction and the third predetermined projection direction are mutually different projections Shooting direction. The first optical signal S1, the second optical signal S2 and the third optical signal are projected onto the horizontal plane P of the field according to the first predetermined projection direction, the second predetermined projection direction and the third predetermined projection direction, respectively At this time, the surface of the horizontal plane P will present a first straight ray pattern L1, a second straight ray pattern L2 and a third straight ray pattern L3, respectively. Please note that on the surface of the horizontal plane P, the first straight line light pattern L1, the second straight line light pattern L2 and the third straight line light pattern L3 may be non-visible light patterns or visible light patterns. According to an embodiment of the present invention, the transmitter 11 may be a laser transmitter, which may emit three laser beams in different directions. The laser beams may be infrared (IR) laser beams, and the laser beams It will have its own laser light wall, and the first optical signal S1, the second optical signal S2 and the third optical signal S3 may be a first laser light wall, a second laser light wall and a third laser light wall, respectively. Please note that the light wall is a plane formed by light.

According to the embodiment shown in FIG. 1B, there is a predetermined angle θ between the laser light wall of the first optical signal S1 and the laser light wall of the third optical signal S3, and the laser light wall of the second optical signal S2 and the transmitter One of the bottom surfaces 112 of the 11 will have another predetermined angle φ. On the horizontal plane P, the first straight line light pattern L1, the second straight line light pattern L2 and the third straight line light pattern L3 are three straight line light patterns that are substantially parallel, wherein the second straight line light pattern L2 is between the first straight line light pattern L1 and the third Between three straight lines L3. In addition, in this embodiment, since the distance between the horizontal plane P and the transmitter 11 (that is, Ht) and the included angles θ and φ are predetermined values, the first straight line light pattern L1, the second straight line light pattern L2, and the third straight line The pitches between the light patterns L3 are also three predetermined pitches, respectively.

Further, a bottom surface 112 of the transmitter 11 of this embodiment has a first transmitting end O1 and a second transmitting end O2. The first transmitting end O1 is used to output a first optical signal S1 and a third optical signal S3, The second transmitting end O2 is used to output a second optical signal S2, and the distance between the first transmitting end O1 and the second transmitting end O2 is a predetermined distance. In this embodiment, the bottom surface 112 is oriented horizontally Surface P, and the bottom surface 112 is parallel to the horizontal plane P.

In another embodiment of the present invention, the first optical signal S1 and the third optical signal S3 may also have the same projection direction, for example, the first optical signal S1 is substantially parallel to the third optical signal S3, as shown in FIG. 1C It is a schematic diagram of another embodiment of calculating a coordinate of an object T using the coordinate sensing device 1a of the present invention. As shown in FIG. 1C, the transmitter 11a can emit three infrared laser beams S1a, S1b, and S1c, wherein the first infrared laser beam S1a is substantially parallel to the third infrared laser beam S1c, and the second infrared beam The laser beam S1b is a non-parallel infrared laser beam S1a, S1c. In this embodiment, there is a predetermined degree φ between the laser light wall of the second infrared laser beam S1b and a bottom surface 112a of the transmitter 11a. Therefore, the present invention does not limit the state in which the transmitter 11a emits light. The horizontal plane P can also be calculated as long as the distance between the infrared laser beams S1a, S1b, S1c and the bottom surface 112a of the transmitter 11a and the distance between the transmitter 11a and the horizontal plane P (that is, z-axis height) are known. The distance between the first straight line light pattern L1, the second straight line light pattern L2 and the third straight line light pattern L3.

Please refer to FIG. 2A, which is a schematic diagram of another embodiment of calculating a coordinate of a test object T using the coordinate sensing device 1 of the present invention. The embodiment shown in FIG. 2A is the same as the embodiment shown in FIG. 1B. As shown in FIG. 2A, the transmitter 11 transmits the first optical signal S1, the second optical signal S2, and the third optical signal S3 by transmitting toward the horizontal plane P. The first optical signal S1, the second optical signal S2 and the third optical signal S3 respectively form a first laser light wall S11, a second laser light wall S22 and a third between the transmitter 11 and the horizontal plane P Road laser light wall S33. The first laser light wall S11, the second laser light wall S22 and the third laser light wall S33 are respectively three triangular planes as shown in FIG. 2A. In addition, the first optical signal S1 and the third optical signal S3 are output from the first transmitting end O1, and the second optical signal S2 is output from the second transmitting end O2. When the first optical signal S1, the second optical signal S2 and the third optical signal S3 reach the horizontal plane P, three parallel linear light patterns can be formed on the water On the plane P, that is, the first straight line light pattern L1, the second straight line light pattern L2, and the third straight line light pattern L3. According to an embodiment of the present invention, a point on the horizontal plane P directly below the transmitter 11 is defined as a rotation center O.

Please refer to FIG. 2B, which is a schematic diagram of another embodiment of calculating a coordinate of an object T using the coordinate sensing device 1 of the present invention. As shown in FIG. 2B, when the coordinate sensing device 1 is operating, the transmitter 11 controls the first optical signal S1, the second optical signal S2, and the third optical signal S3 so that the first linear light pattern L1, the second linear light The line L2 and the third straight line line L3 rotate around the rotation center O. In this embodiment, the rotation direction is clockwise, but the invention is not limited thereto. In another embodiment, the direction of rotation may also be counterclockwise. In an embodiment, the transmitter 11 controls the first optical signal S1, the second optical signal S2 and the third optical signal S3 through a control unit (not shown) so that the first linear light pattern L1 and the second linear light The pattern L2 and the third straight line light pattern L3 rotate simultaneously around the rotation center O, and the first laser light wall S11, the second laser light wall S22 and the third laser light wall S33 in FIG. 2A are sequentially scanned (Or pass) the receiver 12 on the test object T. Please note that the rotation center O of the present invention is not limited to the horizontal plane P located directly below the transmitter 11. In other embodiments, the transmitter 11 itself also rotates in different directions, so that the center of rotation O also rotates on the horizontal plane P at the same time. Alternatively, in other embodiments, the transmitter 11 itself does not rotate, and only the first straight line light pattern L1, the second straight line light pattern L2, and the third straight line light pattern L3 rotate simultaneously around the rotation center O.

When the first straight line light pattern L1, the second straight line light pattern L2 and the third straight line light pattern L3 rotate around the rotation center O, the first laser light wall S11, the second laser light wall S22 and the third laser light wall S33 will scan the receiver 12 on the object T at different time points. When the first laser light wall S11 scans the object T, the receiver 12 on the object T can detect the light of the first laser light wall S11, and enable the receiver 12 to output at a first time A first signal. When the second mine When the light-emitting wall S22 scans the object T, the receiver 12 on the object T detects the light of the second laser light wall S22, and causes the receiver 12 to output a second signal at a second time. When the third laser light wall S33 scans the object T, the receiver 12 on the object T detects the light of the third laser light wall S33, and causes the receiver 12 to output at a third time A third signal. According to an embodiment of the present invention, the first signal and the second signal and the third signal are a first pulse signal, a second pulse signal and a third pulse signal, respectively.

Please refer to FIG. 2C, which is a top view of another embodiment of the coordinate sensing device 1 of the present invention for scanning an object T under test. For simplicity, FIG. 2C only shows the first straight line light pattern L1 and the third straight line light pattern L3 and their respective first laser light wall S11 and third laser light wall S33. In FIG. 2C, the rotation center O overlaps the first transmitting end O1, and is marked as O/O1. The height h of the test object T is between the horizontal plane P and the transmitting end O1. When the first straight line light pattern L1 and the third straight line light pattern L3 rotate one revolution on the horizontal plane P with the rotation center O, the four positions A, B, and B on the first laser light wall S11 and the third laser light wall S33 C and D will scan the receiver 12 on the object T in sequence. The receiver 12 outputs four pulse signals at four corresponding time points, as shown in FIG. 2D. 2D is a waveform diagram of an embodiment of a received signal Sr generated by the receiver 12 of the present invention. The received signal Sr is four pulse signals Sp1, Sp2, Sp3, and Sp4 at time points t1, t3, t4, and t6, respectively. According to an embodiment of the invention, the pulse signals Sp1 and Sp2 respectively correspond to the positions A and B of the first laser light wall S11 and the third laser light wall S33, and the pulse signals Sp3 and Sp4 respectively correspond to the third laser light wall S33 and positions C and D of the first laser light wall S11. Further, if the period of one scan of the first straight line light pattern L1 and the third straight line light pattern L3 is TP, the time difference between the center time points t1 and t4 of the pulse signals Sp1 and Sp3 or the center of the pulse signals Sp2 and Sp4 respectively The time difference between time points t3 and t6 is half a scan period (TP/2). The angular velocity ω of the rotation of the first straight line light pattern L1 and the third straight line light pattern L3 on the horizontal plane P can be determined by Formula (1) to get: ω=2π/TP (1)

Therefore, the angular velocity ω of the rotation of the first straight line light pattern L1 and the third straight line light pattern L3 on the horizontal plane P is a predetermined angular speed. Please note that the angular velocity of the first laser light wall S11 and the third laser light wall S33 at the height h is the same as the angular velocity ω of the first straight line light pattern L1 and the third straight line light pattern L3 on the horizontal plane P.

Please note that in order to avoid the stray light of the external environment from affecting the accuracy of the receiver 12, in some embodiments, the coordinate sensing devices 1, 1a may further include a filter (not shown in the figure) provided on the receiver 12 ), the filter only passes the first optical signal S1, the second optical signal S2 and the third optical signal S3. The filter can be used to filter out the light other than the first optical signal S1, the second optical signal S2 and the third optical signal S3, thereby improving the detection accuracy of the receiver 12.

Please refer to FIG. 3A, which is a top view of another embodiment of the coordinate sensing device 1 of the present invention for scanning an object T under test. As can be seen from FIG. 3A, when the first straight line light pattern L1, the second straight line light pattern L2, and the third straight line light pattern L3 continue to rotate on the horizontal plane P with the rotation center O, their corresponding first laser light walls S11, The second laser light wall S22 and the third laser light wall S33 sequentially scan the receiver 12 on the object to be measured T. The receiver 12 can detect the light of the first laser light wall S11, the second laser light wall S22, and the third laser light wall S33 multiple times at different time points. Therefore, the received signal Sr generated by the receiver 12 will have multiple sets of pulse signals.

In addition, in this embodiment, when the first laser light wall S11, the second laser light wall S22, and the third laser light wall S33 scan the object to be measured T, the transmitter 11 will first pass the wireless in FIG. 1A The transmission module 111 transmits a wireless signal Sn to the wireless transmission module 121 of the receiver 12. When the receiver 12 receives the wireless signal Sn, the receiver 12 will obtain a reference time t0. The reference time t0 is used to synchronize the transmitter 11 and the receiver 12, so the wireless signal Sn can be regarded as a synchronization signal. Further, the transmitter 11 transmits a wireless signal Sn to the receiver 12 when the first straight line light pattern L1 or the third straight line light pattern L3 has a predetermined angle or a reference angle (for example, 0 degrees), so that the receiver 12 Generate a reference time (ie t0). Then, each time the first straight line light pattern L1 or the third straight line light pattern L3 rotates to the predetermined angle or the reference angle, the transmitter 11 transmits a wireless signal Sn to the receiver 12, so that the receiver 12 generates a reference Time (ie t0). In this way, the transmitter 11 and the receiver 12 are synchronized. Please refer to FIG. 3B, which is a waveform diagram of another embodiment of a received signal Sr generated by the receiver 12 of the present invention. The received signals Sr are three pulse signals Sp1, Sp2, and Sp3 at time points t1, t2, and t3, respectively, and the pulse signals Sp1, Sp2, and Sp3 respectively correspond to the first laser light wall S11, the second laser light wall S22, and the third The laser light wall S33 scans to the position of the object to be measured T. According to an embodiment of the invention, the receiver 12 receives the wireless signal Sn from the transmitter 11 at the reference time t0. In addition, the received signal Sr generated by the receiver 12 can be received and stored by the controller 13.

In addition, there is a time interval (or time difference) T _d1 between the first time t1 and the second time t2, and the time interval T _d1 is the time difference between the central time points of the pulse signals Sp1 and Sp2, that is, T _d1 =t2-t1 . There is a time interval T _d2 between the second time t2 and the third time t3, and the time interval T _d2 is the time difference between the central time points of the pulse signals Sp2 and Sp3, that is, T _d2 =t3-t2.

Please note that in implementation, a microprocessor in the controller 13 can record the time points of the rising and falling edges of the pulse signals (that is, Sp1, Sp2, and Sp3) for three consecutive times to further calculate the center of the two pulse signals Time point, and then get more accurate time difference.

In addition, the first time t1 and the third time t3 have an average value, that is, (t1+t3)/2. The time difference between the average value and the reference time t0, ie (t1+t3)/2-t0, is the first laser light wall S11 or the third laser light wall S33 rotating from the reference angle to the object T The time required for the receiver 12. In addition, the average value, ie (t1+t3)/2, the time difference from the reference time t0 and the angular velocity Multiply the degree ω to get a rotation angle Ψ, as shown in the following equation (2): Ψ=ω*((t1+t3)/2-t0) (2)

Generally speaking, the rotation angle Ψ is the angle at which the first laser light wall S11 or the third laser light wall S33 rotates from a reference point to the object T to be measured. According to an embodiment of the present invention, the controller 13 uses the above-mentioned rotation angle Ψ to calculate the three-dimensional coordinates of the object T at the height h.

Please refer to FIG. 3C, which is a side view of an embodiment in which the coordinate sensing device 1 of the present invention is used to calculate the three-dimensional coordinates of the object T to be measured. In FIG. 3C, the vertical height between the object to be measured T (or the receiver 12) and the horizontal plane P is h. In addition, on a horizontal line 301 of height h, a second laser light wall S22 is formed between the first laser light wall S11 and the third laser light wall S33. In addition, a normal N that is perpendicular to the horizontal plane P and passes through the rotation center O is aligned with the first transmitting end O1 of the bottom surface 112 of the transmitter 11, that is, the normal N passes through the first transmitting end O1. The second laser light wall S22 is emitted from the second emitting end O2, and the second emitting end O2 deviates from the position of the normal line N. In addition, the three light walls S11, S22, and S33 rotate around the rotation center O at an angular velocity ω (ω=2π/TP). The vertical or shortest distance between the transmitter 11 and the horizontal plane P is Ht. Similar to FIG. 1B, the first laser light wall S11 and the third laser light wall S33 have an angle θ, which is a predetermined angle. There is a predetermined distance Rd between the first emitting end O1 and the second emitting end O2 of the bottom surface 112 of the transmitter 11, and an angle φ between the second laser wall S22 and the bottom surface 112 is a predetermined angle.

In addition, on the horizontal line 301 at the height h, the first laser wall S11 intersects the horizontal line 301 at point a, the second laser wall S22 intersects the horizontal line 301 at point b, and the third laser wall S33 and the horizontal line 301 At point c, the normal N and horizontal line 301 intersect at point d. On the horizontal line 301, a linear distance d to point c and the point _{A d,} the linear distance b and point d is the straight line distance d of point _b, point A is the point d d _c. Please note that the linear distances d _a , d _b , and d _c will change as the height h of the object T changes.

Please refer to FIG. 3D above, which is a top view of an embodiment of the coordinate sensing device 1 of the present invention for scanning an object to be measured T. As shown in FIG. 3D, in this embodiment, at a height h, there is a distance r between the normal N of the rotation center O and the receiver 12 of the test object T when viewed from above, and the first laser light wall The position when S11 rotates through the object T is a first point position P1. At the same time, the position on the second laser light wall S22 that has the same distance r from the normal N of the rotation center O is a second point position P2, and the position on the third laser light wall S33 and the rotation center O The position where the normal N has the same distance r is a third point position P3. Here, the first point position P1 and the normal N of the rotation center O form a first straight line 302, the second point position P2 and the normal N of the rotation center O form a second straight line 304, and the third point position P3 and the rotation center The normal N of O forms a third straight line 306, and there is a fourth straight line 308 in the middle of the first laser light wall S11 and the third laser light wall S33. The fourth straight line 308 is parallel to the first laser light wall S11 or the third laser light wall S33. The first straight line 302 and the third straight line 306 form an angle Φ, the first straight line 302 and the fourth straight line 308 form an angle α, the fourth straight line 308 and the second straight line 304 form an angle β, and the second straight line 304 and the third straight line 306 form An angle γ. In this embodiment, the included angle Φ is equal to the sum of included angles α, β, and γ. In addition, the included angle α is approximately half of the included angle Φ. Since the first straight line light pattern L1 and the second straight line light pattern L2 have a predetermined angular velocity ω when rotating at the rotation center O, the above included angle α will be equal to the predetermined angular velocity ω times the first time interval T _d1 and the second time interval T _d2 An average value, as shown in the following equation (3): α=ω*(T _d1 +T _d2 )/2 (3)

In addition, at the height h, there is a distance S between the first laser light wall S11 and the third laser light wall S33 (the distance S in this embodiment changes with the height h).

As shown in FIGS. 3C and 3D, the first straight line distance d _a is equal to the third straight line distance d _c , as shown in the following equation (4): d _c =d _a =(Ht-h)*tan(θ/2) (4)

The second straight line distance d _b conforms to the following equation (5): d _b =(Ht-h)*cot(φ)-Rd (5)

Furthermore, the following equations (6), (7), (8), (9), and (10) can also be derived from FIGS. 3C and 3D: sinα=S/2r=d _c /r (6)

Sinβ=d _b /r (7)

γ=α-β (8)

Td1=(α+β)/ω (9)

Td2=(α-β)/ω (10)

According to the above equations, the controller 13 can calculate the values of the linear distance r and the height h according to the following two equations (11) and (12), as shown below:

Since the angular velocity ω, the first time interval T _d1 and the second time interval T _d2 can be obtained by measurement and calculation, the height Ht (ie, the distance from the transmitter 11 to the horizontal plane P), the included angle θ, the included angle φ, and the predetermined distance Rd It is a known parameter. Therefore, the controller 13 can solve the height h and the distance r of the tester T from the above simultaneous equations (11) and (12), and the rotation angle Ψ obtained by combining the above equation (2) can be obtained from the following equation (13) Obtain the three-dimensional coordinates (x, y, z) of the object T in the field, as follows: x=r*cos(ψ), y=r*sin(ψ), z=h (13 )

x represents a horizontal coordinate distance of the object T at height h, y represents the object T at height h Is a vertical coordinate distance, z represents the height of the object T from the horizontal plane P, and Ψ represents the rotation angle.

It can be known from the above that the microprocessor in the controller 13 can be based on the angular speed ω (or the first laser light wall S11, the first laser light wall S11, the first optical signal S1, the second optical signal S2 and the third optical signal S3) when the line rotates The angular velocity ω of the second laser wall S22 and the third laser wall S33 when rotating, the distance between the transmitter 11 and the horizontal plane P (ie Ht), the first time interval T _d1 , the second time interval T _d2 , And the reference time t0 to calculate the three-dimensional position coordinates (x, y, z) of the object T in the field. Therefore, the embodiment of the present invention can accurately obtain the exact position of the test object T in a specific field.

Please refer to FIG. 4, which is a side view of another embodiment of calculating the three-dimensional coordinates of the object T using the coordinate sensing device 1 of the present invention. The embodiment shown in FIG. 4 is similar to the embodiment shown in FIG. 1C, so the element numbers in FIG. 4 are similar to the element numbers in FIG. 1C. In addition, compared to the embodiment shown in FIG. 3C, in FIG. 4, in addition to the positions of the first transmitting end O1 and the third transmitting end O3 and the projection directions of the first optical signal S1a and the third optical signal S1c, The other components are similar to those of FIG. 3C. Therefore, for the sake of simplicity, the element numbers of FIG. 4 are similar to the element numbers of FIG. 3C. For the following description of the embodiment of FIG. 4, please refer to FIGS. 3D and 4 simultaneously.

As shown in FIG. 4, the transmitter 11a projects the first optical signal S1a, the second optical signal S1b, and the third optical signal S1c from the first transmitting end O1, the first transmitting end O2, and the third transmitting end O3, respectively. The optical signal S1a is substantially parallel to the third optical signal S1c, and the second optical signal S1b is not parallel to the first optical signal S1a and the third optical signal S1c. Further, the laser light wall S22a of the second optical signal S1b has a predetermined degree φ between a bottom surface 112a of the transmitter 11a, and the laser light wall S11a of the first optical signal S1a and the third optical signal S1c respectively S33a is perpendicular to the bottom surface 112 of the transmitter 11a, and the laser light wall S11a of the first optical signal S1a is parallel to the laser light wall S33a of the third optical signal S1c. When the first optical signal S1a, the second optical signal S1b and the third optical signal S1c are divided When it is not projected to the horizontal plane P with its predetermined projection direction, the horizontal plane P will present three parallel linear light patterns, namely the first linear light pattern L1, the second linear light pattern L2 and the third linear light pattern L3.

On the bottom surface 112a, the distance (straight line distance or shortest distance) between the first emitting end O2 and the third emitting end O3 is a predetermined distance S. Since the laser light walls S11a and S33a of the first optical signal S1a and the third optical signal S1c are vertically emitted from the bottom surface 112 to the horizontal plane P, therefore, on the horizontal plane P, the first straight line light pattern L1 and the third straight line light pattern L3 The distance between them is also S. A center point between the first transmitting end O2 and the third transmitting end O3 is X. During operation, the transmitter 11a rotates about the center point X, so that the first straight line light pattern L1, the second straight line light pattern L2, and the third straight line light pattern L3 rotate about the rotation center O. In other words, a normal N perpendicular to the rotation center O will be aligned with the center point X of the bottom surface 112. In this embodiment, there is a predetermined distance (straight line distance or shortest distance) Rd between the second emitting end O2 and the center point X, and an angle φ between the second laser light wall S11b and the bottom surface 112, which is A predetermined angle.

In addition, on the horizontal line 401 of height h, the first laser wall S11a intersects the horizontal line 401 at point a, the second laser wall S11b intersects the horizontal line 401 at point b, and the third laser wall S11c and the horizontal line 401 At point c, the normal N and horizontal line 401 intersect at point d. On the horizontal line 401, a linear distance d to point c and the point _{A d,} the linear distance b and point d is the straight line distance d of point _b, point A is the point d d _c. Please note that the linear distances d _a , d _b , and d _c will change as the height h of the object T changes.

Please refer to FIG. 5 described above, which is a top view of an embodiment of the coordinate sensing device 1a of the present invention for scanning an object to be measured T. Please note that for simplicity, some element numbers in FIG. 5 are similar to element numbers in FIG. 3D. As shown in FIG. 5, in this embodiment, at a height h, the normal N of the rotation center O and the receiver 12 of the test object T have a distance r in plan view, and the first laser light wall The position when S11a rotates through the object T is a first point position P1. At the same time, a position on the second laser light wall S11b that has the same distance r from the normal N of the rotation center O is a second point position P2, and a position on the third laser light wall S11c and the rotation center O The position where the normal N has the same distance r is a third point position P3. Here, the first point position P1 and the normal N of the rotation center O form a first straight line 502, the second point position P2 and the normal N of the rotation center O form a second straight line 504, and the third point position P3 and the rotation center The normal N of O forms a third straight line 506, and there is a fourth straight line 508 in the middle of the first laser light wall S11 and the third laser light wall S33. The fourth straight line 508 is parallel to the first laser light wall S11a or the third laser light wall S11c. The first straight line 502 and the third straight line 506 form an angle Φ, the first straight line 502 and the fourth straight line 508 form an angle α, the fourth straight line 508 and the second straight line 504 form an angle β, and the second straight line 504 and the third straight line 506 form An angle γ. In this embodiment, the included angle Φ is equal to the sum of included angles α, β, and γ. In addition, the included angle α is approximately half of the included angle Φ. Since the first straight line light pattern L1 and the second straight line light pattern L2 have a predetermined angular velocity ω when rotating at the rotation center O, the above included angle α will be equal to the predetermined angular velocity ω times the first time interval T _d1 and the second time interval T _d2 An average value, as shown in the following equation (14): α=ω*(T _d1 +T _d2 )/2 (14)

At the height h, there is a predetermined distance S between the first laser light wall S11a and the third laser light wall S11c (the predetermined distance S in this embodiment does not change with the height h).

The first straight line distance d _a is equal to the third straight line distance d _c , as shown in the following equation (15): d _c =d _a =S/2 (15)

Since the predetermined distance S based on known parameters, so that a first straight line and the third straight line distance d _a distance d _c is also known parameters.

The second straight line distance d _b conforms to the following equation (16): d _b =(Ht-h)*cot(φ)-Rd (16)

Furthermore, the following equations (17), (18), (19), (20), (21) can also be derived from Figures 3D and 4: sinα=S/2r (17)

Sinβ=d _b /r (18)

γ=α-β (19)

Td1=(α+β)/ω (20)

Td2=(α-β)/ω=γ/ω (21)

According to the above equations, the controller 13 can calculate the values of the linear distance r and the height h according to the following two equations (22) and (23), as shown below:

Since the angular velocity ω, the first time interval T _d1 and the second time interval T _d2 can be obtained by measurement and calculation, the predetermined distance S, height Ht (that is, the distance from the transmitter 11a to the horizontal plane P), the included angle φ, and the predetermined distance Rd is a known parameter. Therefore, the controller 13 can solve the height h and the distance r of the T under test from the above simultaneous equations (22) and (23), as shown in the following equations (24) and (25):

Combined with the rotation angle Ψ obtained by the above equation (2), the three-dimensional coordinates (x, y, z) of the object T in the field can be obtained by the following equation (26), as shown below: x=r* cos(ψ), y=r*sin(ψ), z=h (26)

x represents a horizontal coordinate distance of the object T at height h, y represents a vertical coordinate distance of the object T at height h, z represents the height of the object T from the horizontal plane P, and Ψ represents the rotation angle .

It can be known from the above that the microprocessor in the controller 13 can be based on the angular velocity ω (or the first laser light wall S11a, the first laser light wall S11a, the first optical signal S1a, the second optical signal S1b, and the third optical signal S1c when rotating linearly) The angular velocity ω when the second laser wall S11b and the third laser wall S11c rotate, the distance between the transmitter 11a and the horizontal plane P (that is, Ht), the first time interval T _d1 , the second time interval T _d2 , And the reference time t0 to calculate the three-dimensional position coordinates (x, y, z) of the object T in the field. Therefore, the embodiment of the present invention can accurately obtain the exact position of the test object T in a specific field.

In addition, in the coordinate sensing device 1, 1a of this embodiment, the transmitters 11 and 11a are generally arranged above the person (object to be measured T), so the light emitted by the transmitters 11 and 11a does not directly hit the person Eyes, it will not cause damage to human eyes. In addition, if the rotational speed of the three rays of light emitted by the transmitters 11 and 11a is changed (that is, the angular velocity ω is changed), the resolution of the coordinate sensing devices 1, 1a can be changed. Further, when the angular velocity ω is low, even if the distance of the object T is far, the coordinate sensing device 1 can accurately calculate the coordinate position of the object T. However, if the angular velocity ω of the three rays is too low, for example, less than a predetermined value, there will be a problem of afterimages of laser stripes, which will affect the visual perception of the personnel. In a warehouse space with fewer personnel, multiple transmitters 11 and 11a can be installed in multiple lamps in the warehouse, respectively, and a lower angular velocity ω can be used to obtain a larger range of positioning accuracy; but if it is applied In a hypermarket space with a large number of people, it is necessary to use a higher angular velocity ω to improve the problem of afterimages and avoid eye discomfort. In addition, for example, multiple transmitters 11, 11a can be installed on multiple lamps, smoke detectors, air-conditioning vents, or other equipment on the ceiling to detect how many people are in the field and their locations Or the position of an object (such as a shopping cart), which can be provided to the store for statistics or reference when the goods are sold test.

In short, the above method for calculating the coordinates of the object T under the coordinate sensing device 1 can be simplified into the steps shown in FIG. 6. FIG. 6 is a flow chart of an embodiment of a method 600 for computing a coordinate of a test object according to the present invention. The sequence of steps shown in FIG. 6 is not a limitation of the method 600 of this embodiment, and the sequence can be arbitrarily adjusted according to actual requirements or other necessary steps can be inserted. The method 600 includes the following steps: Step 602: Generate a first optical signal, a second optical signal, and a third optical signal, wherein the first optical signal, the second optical signal, and the third optical signal are projected on the A first linear light pattern, a second linear light pattern and a third linear light pattern are respectively presented on the horizontal plane, wherein the first optical signal, the second optical signal and the third optical signal respectively take a first projection direction, A second projection direction and a third projection direction are projected on the horizontal plane; Step 604: The first straight line light pattern, the second straight line light pattern and the third straight line light pattern are rotated around a rotation center on the horizontal plane; Step 606: Send a wireless signal to the object under test to generate a reference time; Step 608: Calculate a first laser light wall, a second laser light wall and a third laser light wall A first time, a second time and a third time when measuring the object; Step 610: Calculate an angular velocity of the first straight line light pattern, the second straight line light pattern and the third straight line light pattern on the horizontal plane Step 612: Calculate a rotation angle based on the angular velocity, the first time, the third time and the reference time; Step 614: According to the first time, the second time, the third time, the angular velocity, A first height, a predetermined distance, a first predetermined angle and a second predetermined angle are used to calculate a second height of the object to be measured, and a normal of the center of rotation at the second height The linear distance from the device under test, wherein the first height is the height of a transmitter, and the predetermined distance is used to emit a first transmitting end of the first optical signal and the third optical signal To emit the distance between a second emitting end of the second optical signal, the first predetermined angle is the angle between the first optical signal and the third optical signal, and the second predetermined angle is the second The angle between the optical signal and a bottom surface; Step 616: Calculate the three-dimensional coordinates of the object under test based on the linear distance and the rotation angle.

In addition, the above-mentioned method for calculating the coordinates of the object T to be measured by the coordinate sensing device 1a can be simplified into the steps shown in FIG. 7. FIG. 7 is a flowchart of an embodiment of a method 700 for computing a coordinate of a test object according to the present invention. The sequence of steps shown in FIG. 7 is not a limitation of the method 700 of this embodiment, and the sequence can be arbitrarily adjusted according to actual requirements or other necessary steps are inserted. The method 700 includes the following steps: Step 702: Generate a first optical signal, a second optical signal, and a third optical signal, wherein the first optical signal, the second optical signal, and the third optical signal are projected on the A first straight light pattern, a second straight light pattern and a third straight light pattern are respectively presented on the horizontal plane, wherein the first optical signal, the second optical signal and the third optical signal respectively take a first projection direction, A second projection direction and a third projection direction are projected on the horizontal plane; Step 704: The first straight line light pattern, the second straight line light pattern and the third straight line light pattern are rotated around a rotation center on the horizontal plane; Step 706: Send a wireless signal to the object under test to generate a reference time; Step 708: Calculate a first laser light wall, a second laser light wall and a third laser light wall A first time, a second time and a third time when measuring the object; Step 710: Calculate the first straight line light pattern, the second straight line light pattern and the third straight line light An angular velocity on the horizontal plane; step 712: calculate a rotation angle according to the angular velocity, the first time, the third time and the reference time; step 714: according to the first time, the second time, The third time, the angular velocity, a first height, a first predetermined distance, a second predetermined distance and a predetermined angle are used to calculate a second height of the object to be measured, and calculate the second height , The linear distance between a normal line of the rotation center and the device under test, wherein the first height is the height of a transmitter, and the first predetermined distance is a first distance used to emit the first optical signal The distance between the transmitting end and a third transmitting end used to emit the third optical signal, the second predetermined distance is used to emit the second optical signal between a second transmitting end and a center point Distance, the predetermined angle is the angle between the second optical signal and a bottom surface; Step 716: Calculate the three-dimensional coordinates of the object to be measured according to the linear distance and the rotation angle.

In summary, the coordinate sensing device of the present invention can be used in a positioning system. In the positioning system, the coordinate sensing device scans an object to be measured through three straight lines of light emitted by a transmitter and rotating simultaneously with a rotation center. The transmitter also sends a synchronization signal to a receiver on the object under test to generate a reference time. The receiver outputs a first signal when the first optical signal is detected at a first time, outputs a second signal when the second optical signal is detected at a second time, and detects at a third time When the third optical signal is detected, a third signal is output. The coordinate sensing device calculates the first time, the second time, the third time, a reference time, the angular velocity of the three rays of light when rotating, the distance between the emitting ends, and other known information. The three-dimensional position of the object to be measured. Therefore, the positioning system can accurately calculate the three-dimensional exact position of the object under test in a specific field.

The above is only exemplary, and not restrictive. Any equivalent modifications or changes made without departing from the spirit and scope of the present invention shall be included in the scope of the attached patent application.

1‧‧‧ Coordinate sensing device

11‧‧‧Transmitter

12‧‧‧Receiver

L1‧‧‧First straight light pattern

L2‧‧‧second straight light pattern

L3‧‧‧third straight light pattern

O‧‧‧rotation center

P‧‧‧horizontal

S1‧‧‧First optical signal

S2‧‧‧Second optical signal

S3‧‧‧ Third optical signal

T‧‧‧ test object

Claims (35)

A coordinate sensing device includes: a receiver for sensing a first optical signal, a second optical signal, and a third optical signal to generate a received signal; and a controller, based on the receiving Signal to calculate a standard of the receiver; when the first optical signal, the second optical signal and the third optical signal are projected on a horizontal plane, the horizontal plane will present a first linear light pattern, a first Two straight line light patterns and a third straight line light pattern, the first straight line light pattern, the second straight line light pattern and the third straight line light pattern rotate around a rotation center on the horizontal plane, and the received signal is on a first A time, a second time and a third time have a first pulse, a second pulse and a third pulse respectively, the first time, the second time and the third time respectively correspond to the receiver sensing Time to the first optical signal, the second optical signal and the third optical signal, and the controller calculates the coordinates of the receiver at least according to the first time, the second time and the third time . The coordinate sensing device as described in item 1 of the patent application scope, wherein the first straight line light pattern, the second straight line light pattern and the third straight line light pattern are substantially parallel to each other, and the second straight line light pattern is located at Between the first straight light pattern and the third straight light pattern. The coordinate sensing device as described in item 1 of the patent application scope, wherein the controller calculates the first straight line light pattern, the second straight line light pattern and the third straight line light according to the first time and the third time An angular velocity of the grain, the controller also calculates the base of the receiver according to the angular velocity Mark. The coordinate sensing device as described in item 3 of the patent application scope, wherein the receiver further generates a reference time according to a wireless signal, and the controller also calculates the coordinate of the receiver according to the reference time. The coordinate sensing device as described in item 4 of the patent application scope, wherein the receiver further calculates a rotation angle based on the first time, the third time, the reference time and the angular velocity, and the controller further determines the rotation angle Rotate the angle to calculate the coordinates of the receiver. The coordinate sensing device described in item 5 of the patent application scope further includes: a transmitter, which is arranged at a first height from the horizontal plane, the transmitter has a first transmitting end and a second transmitting end, The first transmitting end is used to output the first optical signal and the third optical signal, the second transmitting end is used to output the second optical signal, and the distance between the first transmitting end and the second transmitting end Is a predetermined distance; wherein the controller also calculates the coordinates of the receiver according to the first height and the predetermined distance. The coordinate sensing device as described in item 6 of the patent application range, wherein the first optical signal and the third optical signal have a first predetermined angle, and the controller calculates the first angle according to the first predetermined angle The coordinates of the receiver. The coordinate sensing device as described in item 7 of the patent application scope, wherein the second transmitting end is provided Set on a bottom surface of the transmitter, a second predetermined angle is formed between the second optical signal and the bottom surface, and the controller calculates the coordinates of the receiver according to the second predetermined angle. The coordinate sensing device as described in item 8 of the patent application scope, wherein the coordinate is a three-dimensional coordinate at a second height at which the receiver is located, the second height being between the horizontal plane and the first height The controller calculates the second time according to the first time, the second time, the third time, the angular velocity, the first height, the predetermined distance, the first predetermined angle and the second predetermined angle The height, and the straight-line distance between a normal of the rotation center and the receiver calculated at the second height. The coordinate sensing device as described in item 9 of the patent application scope, wherein the controller calculates the coordinate of the receiver according to the second height, the linear distance and the rotation angle. The coordinate sensing device as described in item 9 of the patent application scope, wherein the controller calculates the straight-line distance and the second height according to the following two equations:

Where r represents the linear distance, ω represents the angular velocity, T _d1 represents a first time difference between the first time and the second time, T _d2 represents a second time difference between the second time and the third time, Ht represents The first height, h represents the second height, θ represents the first predetermined angle, φ represents the second predetermined angle, and _Rd represents the predetermined distance. The coordinate sensing device as described in item 11 of the patent application scope, wherein the controller calculates the coordinate of the receiver according to the following equation: X=r*cos(ψ), y=r*sin(ψ), z =h where x represents a horizontal coordinate distance of the receiver at the second height, y represents a vertical coordinate distance of the receiver at the second height, and z represents the second height of the receiver from the horizontal plane , And Ψ represent the rotation angle. The coordinate sensing device as described in item 5 of the patent application scope further includes: a transmitter, which is arranged at a first height from the horizontal plane, the transmitter has a first transmitting end, a second transmitting end and A third transmitting end is used to output the first optical signal, the second optical signal and the third optical signal, respectively, the distance between the first transmitting end and the third transmitting end is a first predetermined distance, and The distance between a center point between the first transmitting end and the third transmitting end and the second transmitting end is a second predetermined distance; wherein the controller further depends on the first height and the first predetermined distance The coordinates of the receiver are calculated from the second predetermined distance. The coordinate sensing device as described in item 13 of the patent application scope, wherein the second transmitting end is provided on a bottom surface of the transmitter, and the second optical signal has a predetermined angle between the bottom surface and the controller The coordinates of the receiver are calculated according to the predetermined angle. The coordinate sensing device as described in item 14 of the patent application scope, wherein the coordinate is a three-dimensional coordinate at a second height at which the receiver is located, the second height being between the horizontal plane and the first Between a height, the controller calculates according to the first time, the second time, the third time, the angular velocity, the first height, the first predetermined distance, the second predetermined distance, the predetermined angle The second height, and the linear distance between a normal line of the rotation center and the receiver calculated at the second height. The coordinate sensing device as described in item 15 of the patent application scope, wherein the controller calculates the coordinate of the receiver according to the second height, the linear distance and the rotation angle. The coordinate sensing device as described in item 15 of the patent application scope, wherein the controller calculates the straight-line distance according to the following equation:

Where r represents the linear distance, ω represents the angular velocity, T _d1 represents a first time difference between the first time and the second time, T _d2 represents a second time difference between the second time and the third time, and S represents The first predetermined distance. The coordinate sensing device as described in Item 17 of the patent application scope, wherein the controller calculates the second height according to the following equation:

Where h represents the second height, Ht represents the first height, r represents the linear distance, ω represents the angular velocity, T _d1 represents a first time difference between the first time and the second time, and T _d2 represents the second A second time difference between the time and the third time, S represents the first predetermined distance, _Rd represents the second predetermined distance, and φ represents the predetermined angle. The coordinate sensing device as described in item 18 of the patent application scope, wherein the controller calculates the coordinate of the receiver according to the following equation: x=r*cos(ψ), y=r*sin(ψ), z =h where x represents a horizontal coordinate distance of the receiver at the second height, y represents a vertical coordinate distance of the receiver at the second height, and z represents the second height of the receiver from the horizontal plane , And Ψ represent the rotation angle. A sensing method for sensing a target of an object to be measured includes: generating a first optical signal, a second optical signal and a third optical signal, wherein when the first optical signal and the second When the optical signal and the third optical signal are projected on a horizontal plane, the horizontal plane will present a first linear light pattern, a second linear light pattern and a third linear light pattern; control the first linear light pattern and the second linear light pattern The linear light pattern and the third linear light pattern rotate around a rotation center on the horizontal plane; when the first optical signal, the second optical signal, and the third optical signal are projected on the object to be measured, respectively A receiving signal; calculating a first time, a second time, and a third time when the first optical signal, the second optical signal, and the third optical signal are projected onto the object to be measured according to the received signal Time; and A target of the object to be measured is calculated based on at least the first time, the second time, and the third time. The sensing method described in item 20 of the patent application scope further includes: calculating the first straight line light pattern, the second straight line light pattern and the third straight line light pattern according to the first time and the third time An angular velocity of; and the step of calculating the coordinate of the object under test based on the received signal further includes: calculating the coordinate of the receiver according to the angular velocity. The sensing method described in item 21 of the patent application scope further includes: generating a reference time based on a wireless signal; and calculating the coordinates of the object under test based on the received signal. The step further includes: according to the The coordinates of the object to be measured are calculated with reference to time. The sensing method described in item 22 of the patent application scope includes: calculating a rotation angle based on the first time, the third time, the reference time and the angular velocity; and calculating based on the received signal The coordinate step of the test object further includes: calculating the coordinate of the test object according to the rotation angle. The sensing method as described in item 23 of the patent application scope further includes: outputting the first optical signal and the third optical signal from a first transmitting end at a first height from the horizontal plane, from a The second transmitting end outputs the second optical signal, and the The distance between the first transmitting end and the second transmitting end is a predetermined distance; and the step of calculating the coordinate of the object under test based on the received signal further includes: calculating based on the first height and the predetermined distance The coordinates of the object to be tested are displayed. The sensing method as described in item 24 of the patent application scope, wherein the first optical signal and the third optical signal have a first predetermined angle, and the coordinates of the object to be measured are calculated according to the received signal The step further includes: calculating the coordinates of the object to be measured according to the first predetermined angle. The sensing method as described in item 25 of the patent application scope, wherein the second transmitting end is disposed on a bottom surface, and there is a second predetermined angle between the second optical signal and the bottom surface, and the operation is based on the received signal The step of extracting the coordinates of the object to be tested further includes: calculating the coordinates of the receiver according to the second predetermined angle. The sensing method as described in item 26 of the patent application scope, wherein the coordinate is a three-dimensional coordinate at a second height where the device under test is located, the second height being between the horizontal plane and the first height The sensing method further includes: according to the first time, the second time, the third time, the angular velocity, the first height, the predetermined distance, the first predetermined angle and the second predetermined angle Calculate the second height, and calculate the straight line distance between a normal line of the rotation center and the device under test at the second height. The sensing method described in Item 27 of the patent application scope also includes calculating the straight-line distance and the second height according to the following two sets of equations:

Where r represents the linear distance, ω represents the angular velocity, T _d1 represents a first time difference between the first time and the second time, T _d2 represents a second time difference between the second time and the third time, Ht represents The first height, h represents the second height, θ represents the first predetermined angle, φ represents the second predetermined angle, and _Rd represents the predetermined distance. The sensing method described in item 28 of the patent application scope also includes calculating the coordinates of the device under test according to the following equation: X=r*cos(ψ), y=r*sin(ψ), z=h Where x represents a horizontal coordinate distance of the DUT at the second height, y represents a vertical coordinate distance of the DUT at the second height, and z represents the second distance of the DUT from the horizontal plane The height, and Ψ represent the rotation angle. The sensing method described in item 23 of the patent application scope also includes: at a first height from the horizontal plane, from a first transmitting end, a second transmitting end and a third transmitting end Output the first optical signal, the second optical signal and the third optical signal, the distance between the first transmitting end and the third transmitting end is a first predetermined distance, and the first transmitting end and the third optical signal The distance between a center point between the three transmitting ends and the second transmitting end is a second predetermined distance; and the step of calculating the coordinate of the object under test based on the received signal further includes: The coordinates of the receiver are calculated according to the first height, the first predetermined distance and the second predetermined distance. The sensing method as described in item 30 of the patent application scope, wherein the second transmitting end is disposed on a bottom surface, a predetermined angle is formed between the second optical signal and the bottom surface, and the calculation is performed based on the received signal The coordinate step of the object to be measured further includes: calculating the coordinate of the receiver according to the predetermined angle. The sensing method as described in item 31 of the patent application scope, wherein the coordinate is a three-dimensional coordinate at a second height where the device under test is located, the second height being between the horizontal plane and the first height The sensing method further includes: according to the first time, the second time, the third time, the angular velocity, the first height, the first predetermined distance, the second predetermined distance, the predetermined angle Calculate the second height, and calculate the linear distance between a normal line of the rotation center and the receiver at the second height. The sensing method described in item 32 of the patent application scope also includes calculating the straight-line distance according to the following equation:

Where r represents the linear distance, ω represents the angular velocity, T _d1 represents a first time difference between the first time and the second time, T _d2 represents a second time difference between the second time and the third time, and S represents The first predetermined distance. The sensing method described in item 33 of the patent application scope also includes calculating the second height according to the following equation:

Where h represents the second height, Ht represents the first height, r represents the linear distance, ω represents the angular velocity, T _d1 represents a first time difference between the first time and the second time, and T _d2 represents the second A second time difference between the time and the third time, S represents the first predetermined distance, _Rd represents the second predetermined distance, and φ represents the predetermined angle. The sensing method described in item 34 of the patent application scope also includes calculating the coordinates of the device under test according to the following equation: X=r*cos(ψ), y=r*sin(ψ), z=h Where x represents a horizontal coordinate distance of the DUT at the second height, y represents a vertical coordinate distance of the DUT at the second height, and z represents the second distance of the DUT from the horizontal plane The height, and Ψ represent the rotation angle.

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