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介绍基于超声波测距技术的6自由度3－D输入设备的设计原理.采用检测渡越时间的方法,结合自动增益控制(AGC),自适应可变阈值技术和温度补偿技术,提高距离检测精度.经过空间解析几何运算,确定输入设备在空间坐标系中的位置和姿态.同时,检测按键的状态,确定所要实现的操作.可用于遥操作机器人系统中末端执行器的定位与定向、虚拟现实系统的3－D交互设备、头盔跟踪、视点导航和目标操纵等.
This paper introduces the design principle of 6-DOF 3-D input device based on ultrasonic ranging technology.Adopting the method of detecting transit time, combined with automatic gain control (AGC), adaptive variable threshold technique and temperature compensation technology, the accuracy of distance detection Through the spatial analysis of geometric operations to determine the position and attitude of the input device in the space coordinate system.At the same time, the state of the key is detected to determine the desired operation.It can be used in the positioning and orientation of the end effector in teleoperation robot system, virtual reality System 3-D interaction device, helmet tracking, viewpoint navigation and target manipulation.