| 摘要 |
<p>Position sensing apparatus comprising an ultrasonic transmitter, an ultrasonic receiver, an infrared transmitter, a 2-dimensional infrared receiver such as a camera, a timer and trigger means for activating the timer, the apparatus being divided into a mobile and a fixed component separate from one-another and the ultrasonic and infrared components being located adjacent one-another in heterogeneous pairs on each respective component, the apparatus further including image processing means for processing the image received by the infrared receiver and control means for coordinating the functions of the said receivers, transmitters and timer, the apparatus being arranged in use to transmit an ultrasonic pulse between the ultrasonic transmitter and receiver and substantially simultaneously to start the timer, the timer being stopped when the ultrasonic pulse has been received thereby measuring the time of flight of the ultrasonic energy between the ultrasonic transmitter and receiver and the apparatus further being arranged to determine a 2-dimensional relative angular position of the infrared transmitter and receiver by processing the image received by the infrared receiver, whereby the ultrasonic distance measurement and infra-red angular measurements together provides a 3-dimensional position fix.</p> |
