82results about How to "Broaden your targeting" patented technology

The invention relates to an unsupervised human detecting and positioning method. The method includes the steps that a transmitter transmits signals, and the signals pass through a monitoring area and are received by a receiver; channel state information data are collected in real time, subcarrier amplitudes of all data in a sliding time window are averaged to obtain a vector containing the average of all the subcarrier amplitudes, and the vector serves as the signal characteristic; the signal characteristic of the detection signals is extracted from the sliding window, the correlation between the detection signal characteristic and the static standard signal characteristic is calculated, if the correlation received by all receiver antennas is larger than a set threshold value, it shows that the human body appears in the monitoring area, the position of the human body is positioned, or else signal detection is continued on the monitoring area; parameter information in a positioning model parameter file is read, the probabilities, at all positions capable of being positioned, of the detection signal characteristic are calculated, and the position with the largest probability correlation is the position where the human body is located most likely.

The invention relates to a three-dimensional accurate positioning method based on wireless sensor network. The method includes that a certain amount of fixed nodes are preset at places required to be positioned and coordinates X, Y and Z of each point are configured by positioning system software. Personnel or device required to be positioned is allocated with a mobile node, each mobile node is required to communicate with at least four nearby fixed nodes, the fixed node transmits radio signal strength received from the mobile node to the positioning system software by each node and gateway while the real-time coordinate of the mobile node is calculated by three-dimensional accurate positioning algorithm, then a three-dimensional building or cartographical model is imported, and a user can look up the position of the personnel or device by a remote PC, mobile phone or hand-held terminal. The invention realizes ad hoc network supported ground wireless three-dimensional accurate positioning system.

The invention discloses a sound positioning device based on a microphone array and a method. The method comprises steps of performing paring sound information collection through a pair of microphones of each linear array, transmitting the collected sound information to a sound recognition positioning unit, comparing the signal intensity of the collected sound information, choosing the linear array where a pair of microphones is positioned, wherein the signal intensity of sound collection information collected by the pair of microphones is strongest, performing paired collection to obtain the sound information of the same radial direction through each pair of microphones of the chosen linear array, transmitting the collected sound information to a sound recognition positioning unit, and performing matching on the collected sound information of the same radial direction and the frequency of a sound source in order to position the distance between the sound source and the microphone array so as to position the sound source. The invention adopts the unique microphone array and realizes the accurate positioning of the sound source through the sound source direction determination by various pairs of microphones of different directions and through sound source matching of the plurality of pairs of microphones of the same radial direction.

The invention discloses a UWB based fork truck anti-collision system and method. The system comprises fork truck module which is arranged in a fork truck and a warehouse module which is placed in a warehouse. The fork truck module comprises a storage battery pack of the fork truck, a vehicle-mounted tablet computer, a UWB reader, a UWB antenna and a UWB label placed at the top of the truck, wherein the UWB antenna is connected with the UWB reader via a serial port, and the storage battery pack of the fork truck supplies power to the UWB reader. Power consumption of the UWB label is extremely low, so that a dry cell is used to supply power to the label, and one AAA cell can satisfy power requirements of the label for one year. The warehouse module comprises a power supply module, a reference label, a UWB antenna, a UWB reader, a synchronization distributor, a switch, a server and a display, wherein the UWB antenna is connected with the UWB reader via the serial port, then to the synchronization distributor via a cable, and finally to the server via the Ethernet switch; and the power supply module (namely, the storage battery pack of the fork truck) uses 48V DC to supply power to the UWB reader.

The invention relates to a pen-based three-dimensional positioning method based on ultrasonic waves and an inertial sensor, and suitable for the application fields of virtual reality, man-machine interaction, informationized education, three-dimensional multimedia interaction control and the like. In the method, an electronic pen is integrated with an ultrasonic transmitter, an infrared transmitter and the nine-axis inertial sensor, the three-dimensional coordinate of the nib of the electronic pen is obtained through a three-dimensional ultrasonic wireless positioning technology, when ultrasonic signals are sheltered, three-dimensional positioning is conducted by means of the nine-axis inertial sensor, and the coordinate of the electronic pen ultrasonic sensor is calculated according to posture information. The problem that the electronic pen cannot be positioned under the condition that the ultrasonic waves are sheltered is solved, the accumulative error of the positioning coordinate of the nine-axis sensor is corrected in real time by means of the three-dimensional ultrasonic coordinate, so that mutual compensation of ultrasonic positioning and nine-axis inertial sensor positioning is achieved, non-sheltered trace tracking and continuous control of a three-dimensional interaction space are achieved.

The invention discloses an RFID based fork truck anti-collision system and method. The system comprises a fork truck module which is arranged in a fork truck and a warehouse module which is placed in a warehouse. The fork truck module comprises a storage battery pack of the fork truck, a vehicle-mounted tablet computer, an RFID reader, an RFID omnidirectional antenna and an RFID low-frequency activation label placed at the top of the truck, wherein the RFID omnidirectional antenna is connected with the RFID reader via a serial port, and the storage battery pack of the fork truck supplies power to the RFID reader, namely, dry batteries are used for power supply. The warehouse module comprises a power supply module, an RFID antenna, an RFID reader, low-frequency activators, low-frequency rod-shaped antennas, an Ethernet switch, a server and a display, wherein the RFID antenna is connected with the RFID reader via the serial port, then connected to the Ethernet switch via a cable, and finally connected to the server; each low-frequency activator needs to connected with multiple low-frequency rod-shaped antennas and serves as positioning reference; and the power supply module uses 48V DC to supply power to the RFID reader.

An indoor and outdoor positioning method and an indoor and outdoor positioning system are provided. The indoor and outdoor positioning method is characterized in that a plurality of nodes are set, and each node includes a CPU, a GNSS receiver, an IMU, and a UWB positioning module; for each node, the attribute is set as Tag before the node gets the position thereof, and the attribute is set as Anchor after the node gets the position thereof, which provides a reference position for the positioning of the other nodes; information transmitted between an Anchor node and a Tag node includes ranging information and the position information of the Anchor node; and the nodes of which the attribute is set as Tag are compared in GNSS, UWB and IMU positioning results and positioning accuracy according to a preset Anchor node, the node of highest positioning accuracy is selected, whether the positioning accuracy is over-limit is judged, and if the positioning accuracy is not over-limit, the Tag is converted into Anchor to provide positioning service for other Tags. The scope of positioning is expanded, the system cost is reduced, the reliability and the system scalability are improved, and the privacy of positioning users is protected.

The invention provides a dynamic positioning system and method based on an ultrasonic sensor and belongs to the technical field of information processing.Two groups of ultrasonic receiving modules are fixedly connected to the same height of a robot car; each group of ultrasonic receiving modules comprise two ultrasonic wave sensors, and an installation angle exists between the two ultrasonic wave sensors; an ultrasound transmitting module is carried by a follower; if the two ultrasonic wave sensors in the same group receive ultrasonic wave signals, the average value of the two ultrasonic wave sensors is taken to serve as the distance between a corresponding ultrasonic receiving component and the ultrasound transmitting module.The dynamic positioning system and method have the advantages that real-time positioning of the robot car relative to the follower is achieved; a positioning algorithm is efficient and practical; a positioning blind area is reduced, good positioning precision and a large positioning range are achieved.

The embodiment of the invention provides a positioning method and device, electronic equipment and a readable storage medium. The method is applied to the technical field of wireless positioning. Themethod comprises the following steps of: respectively calculating a difference value between the time when the signal transmitted by each measurement base station reaches the mobile terminal and the time when the signal transmitted by the reference base station reaches the mobile terminal; obtaining each TDOA value; according to the three-dimensional position coordinates of each measurement base station and the reference base station, judging whether the heights between the measurement base stations and between the measurement base stations and the reference base station are the same or not; if yes, measuring the height value of the mobile terminal through air pressure; and taking the height value as a position coordinate of one dimension in the three-dimensional position coordinates of the mobile terminal, and solving the position coordinates of other two dimensions of the mobile terminal through a preset 2.5-dimensional Chan algorithm according to the three-dimensional position coordinates of each measurement base station and the reference base station, each TDOA value, the light speed and the position coordinate of one dimension. The positioning range can be enlarged, and the positioning precision is improved.

The invention belongs to the technical field of wireless sensor positioning, and discloses a joint centroid positioning method suitable for wireless sensor network node positioning based on error correction to solve the problems that according to an existing distribution type sensor positioning method, the precision of the obtained position coordinate information is not high, the calculation quantity is large, the power consumption of nodes is large, calculation complexity is high, the positioning range is small, the positioning precision of unknown nodes in the area where the number of anchor nodes is small is poor, and even some edge nodes cannot be positioned. The method comprises the steps that part of the unknown nodes in the anchor nodes are positioned through the existing anchor nodes in the wireless sensor network, secondary positioning is carried out according to the centroid positioning algorithm, position information is corrected through the error probability distribution, and high-precision positioning of the unknown nodes in an anchor node poor area is achieved. The joint centroid positioning method is suitable for underwater sensor positioning and specific application scenes such as forest fireproofing.

The embodiment of the invention discloses a positioning communication device, a positioning method and a computer storage medium. The positioning communication device comprises at least two positioning antenna groups and at least one positioning signal for receiving a beacon transmission, wherein the positioning antenna group comprises two positioning antennas which are separated and arranged, andthe positioning ranges of different positioning antenna groups are at least partially different; a selection switching module which is respectively connected with the at least two positioning antennagroups. The positioning communication device also comprises a processing module which is connected with the positioning antenna group through the selection switching module. The processing module isused for controlling the positioning antenna group which is conducted by the selection switching module according to the orientation information of the first time of the beacon, and the orientation information of the current time of the beacon is determined according to the positioning signals received by the conductive positioning antenna group.

The invention discloses a method and an apparatus for extending a locating range of a binocular camera. The apparatus comprises a rotatable pedestal, a locating module, a judging module and a control module; the rotatable pedestal is arranged on the binocular camera, and is used for driving a lens of the binocular camera to rotate; the locating module is used for calculating space coordinates of a to-be-located target in a field of view of the binocular camera in real time according to images of the to-be-located target acquired by the binocular camera; the judging module is used for judging whether the to-be-located target is going to exceed the field of view of the binocular camera according to the space coordinates; the control module is used for controlling the rotatable pedestal to drive the lens of the binocular camera to rotate when the judging module judges that the to-be-located target is going to exceed the field of view of the binocular camera, regulating direction of the lens of the binocular camera, and making the field of view of the binocular camera always cover the to-be-located target. Thus, extension of the locating range of the binocular camera is realized without increase of FOV (Field of View) of the binocular camera and loss of locating accuracy.

The invention relates to a single magnetic nail-based high-precision automatic guided vehicle positioning and orienting device and method. An asymmetrical magnetic field is generated through a magnetic nail; and the magnetic field intensities of the magnetic field which are measured by a magnetic sensor array are different, so that the positioning and orienting processing of an automatic guided vehicle can be realized on the basis of the single magnetic nail. Since the magnetic sensor array is arranged in a two-dimensional form, the anti-jamming capability of a system can be improved, and thepositioning range of the magnetic nail can be increased at the same time, and therefore, when magnetic sensors are laid, the number of the magnetic sensors can be small, and intervals among the magnetic sensors are large, in other words, high-precision position and direction information of the guided vehicle can be obtained with the single-magnetic nail mode adopted under a condition that few magnetic sensors with large intervals are adopted, and the accuracy of the method is superior to that of a conventional magnetic nail navigation method.

The invention discloses a rail-transit underground-station indoor positioning and navigation system. The system comprises a positioning and navigation server, wireless access points and a mobile terminal. The plurality of wireless access points are distributed at different positions in a rail-transit underground-station indoor place. The positioning and navigation server stores wireless access point information of each position and exhaustive navigation lines. The mobile terminal scans a BSSID and an RSSI of each wireless access point and sends the BSSID, the RSSI and a MAC address of the mobile terminal to the positioning and navigation server. The positioning and navigation server compares data acquired from the mobile terminal to stored data so as to form positioning and navigation to the mobile terminal. The mobile terminal and the wireless access points adopt wireless communication based on a protocol IEE 802.11a, IEE 802.11b, IEE 802.11g or IEE 802.11n. The invention also discloses a rail-transit underground-station indoor positioning and navigation method. By using the system and the method of the invention, a positioning scope is large; cost is low and mobile terminal access is convenient.

The embodiment of the invention relates to the technical field of automatic assembly, and discloses a method and device of robot automatic assembly based on multisensor fusion. The invention solves the problemsthatthe positioning range of a system is small, the positioning precision is not accurate and the detection information is incompletein the prior art, according to the technical scheme, thesystem comprises an upper computer system, an industrial robot, a clamping system, a multisensor system and to-be-assembled bodies, wherein the upper computer system is used for acquiring measurementdata of the multisensor system and performing calculation, planning the movement of the robot according to acalculation result and feeding back the movement of the robot to the industrial robot; the industrial robot is used for conveying the to-be-assembled bodies,the clamping system is used for clamping the to-be-assembled bodies,and the multisensor system is used for obtaining the pose relationship and contact force information among the assembly bodies. According to the method and the device, the assembly process is planned according to theaccurate detection of the multisensor fusedmulti-parameter data of the to-be-assembled bodies, so that high-precision automatic assembly of acomplex large body is realized, the system positioning range is expanded, and the positioning precision is improved.

The invention relates to a positioning method, a positioning device, a readable storage medium and an electronic device. The method includes a step of acquiring an image sequence captured by a visionsensor on a mobile device, a step of extracting feature information of each acquired image, a step of matching the feature information of the image and feature information of a map point in a map on aprojection point of a target plane, wherein the target plane is a plane corresponding to a pose of a previous image in image sequence, a step of determining a target map point corresponding to the projection point matched with the feature information of the image, and a step of determining the positioning information of the mobile device according to the position information of the target map point in the map. In this way, since the map point is projected on the plane corresponding to the pose of the previous image, the feature information of the projection point matching the feature information of the image is obtained, the use of a non-continuous key frame image saved in mapping for coarse positioning is not needed, so the positioning range of the mobile device can be improved, and thepositioning efficiency is improved.

The invention provides a positioning system, a positioning base station, a positioning base station network and a positioning terminal. The positioning system comprises N groups of positioning base stations, a positioning terminal which is provided with a photosensitive sensor, and a data processing device. N groups of positioning base stations are arranged in a preset space. Each group comprises M positioning base stations. Each positioning base station comprises a rotation shaft and two laser scanners. 2M laser scanning surfaces emitted by each group of positioning base stations in operation are two groups of parallel planes. The data processing device is connected with a number of positioning base stations, and is used for determining the position of the positioning terminal in the preset space based on the start time point and the end time point for laser scanning lines emitted by the same group of positioning base stations to scan the positioning terminal. The positioning range of the positioning system is conveniently extended. The positioning calculation amount of the positioning terminal is low. The position of the positioning terminal can be calculated in a scan cycle, so that spatial positioning in a wide range can be fast and accurately realized.

The invention discloses a monocular vision-based warehousing robot indoor positioning method, which comprises the following steps of: calibrating internal and external parameters of a monocular camera, determining a mapping relationship between an image coordinate system and a world coordinate system, and describing a homography matrix of the mapping relationship between coordinate points of different cameras; continuously shooting a plurality of mobile robots with optical beacons on the ground by using a plurality of monocular cameras; extracting and marking a detection target, and outputtingrelated parameters of a connected domain; comparing the parameters of the target object in the images acquired by different cameras to realize detection analysis and processing of the cross-view-field homonymous target; according to the related parameters of the connected domain, obtaining static poses of the robot in combination with the eight pose state models of the mobile robot; and establishing a dynamic error compensation model of the mobile robot, and estimating the actual pose of the robot according to the pose data of the robot in the current period and the previous period. Accordingto the invention, the complexity of robot electronic onboard can be reduced, the cost is low, the precision is high, and the coverage range is wide.

The invention relates to a multi-camera internal and external parameter calibration method, device and system based on a single-point calibration object. Specifically, the method is characterized in that, in any positioning space, infrared cameras are distributed according to actual requirements of the positioning space; an object wears a Tracker; LED marker points, which can be coded and can emitinfrared light, are attached on the surface of the Tracker; the system controls camera exposure and LED marker flicker synchronization through a wireless and wired communication mode; image information of the positioning space is obtained in real time through the infrared cameras; codes of the Marker points are identified according to the image information and space location information of the marker points is obtained; and space location information of the Tracker, that is, the space location information of the object, is calculated according to the space location information of the marker points, thereby realizing real-time location tracking of the object. The beneficial effects are that, through the active optical positioning technology, the method is higher in anti-interference performance than a passive optical positioning scheme and is better in robustness, and can be pushed to outdoor scenes; and in the active optical positioning scheme, working distance of cameras is large, sothat the number of the cameras to be installed per unit area is small, and cost is greatly reduced.

A positioning method of static user based on time difference with less than four satellites includes observing satellite once by user at each time interval T, continuously observing twice when three or two satellites are detected, continuously observing four times when only on satellite is detected, receiving the positioning information on time-sharing and deriving out positioning information of user according to four equations when time interval T is satisfied with requirement of certain scope.

The invention discloses automatic capture projection equipment for television animation playing, particularly, a servo motor drives a screw rod to rotate to drive a threaded sleeve, a projector and aninfrared capture instrument to ascend and descend, the screw rod rotates, and meanwhile a transmission piece drives a driven shaft and a mounting disc to rotate in a following mode so as to achieve transverse capture. The problem that existing playing projection equipment can only play the fixed position, and consequently the direction needs to be manually adjusted is effectively solved. A heightadjustment assembly comprises the screw rod connected with the servo motor, and the threaded sleeve connected with the screw rod in a threaded mode and fixed to the rear part of the projector; and aswinging assembly is arranged on the position, opposite to one side of the screw rod, of a bottom plate, and comprises the driven shaft with the lower end in bearing connection with the bottom plate,the mounting disc fixed to the upper end of the driven shaft, and an elastic assembly fixed to the outer edge of the mounting disc and connected with the lower surface of the projector.

The invention discloses a broadband high-gain microstrip antenna. The broadband high-gain microstrip antenna comprises a dielectric substrate, a radiator array and a grounding plate multilayer structure, and the top layer of the dielectric substrate is a radiator array which is composed of N rectangular microstrip patches (1), N pairs of rectangular coupling patch pairs (2) and a feed microstrip line (3). The 50-ohm feed microstrip line (3) is connected with the N rectangular microstrip patches (1) and feeds the N rectangular microstrip patches (1) in series; the N pairs of rectangular coupling patch pairs (2) are symmetrically distributed on two sides of the feed microstrip line (3); the structure of the grounding plate layer is similar to that of the radiator array layer, and the grounding plate layer and the top radiation unit are arranged in a staggered manner; the specific numerical value of N is determined according to system gain and system size requirements; and the broadband high-gain microstrip antenna is wide in bandwidth, good in omnidirectivity, high in gain, small in size, compact in structure and convenient to process.

The invention discloses a convenient-to-use positioning device for aluminum machining. The positioning device comprises a supporting plate, wherein mounting plates are fixed on both sides of the top of the supporting plate; mounting grooves are arranged in the sides, close to each other, of the two mounting plates; racks are assembled on the inner walls of the mounting grooves; gears are meshed with the side surfaces of the racks; the gears are arranged in gear seats; driving motors are assembled on the inner walls of the gear seats; output shafts of the driving motors are fixed to the inner rings of the gears; side plates are fixed to the sides, close to each other, of the two gear seats; U-shaped plates are connected to the sides, close to each other, of the two side plates; first clamping plates are elastically connected to the two sides of the inner wall of each U-shaped plate; a containing groove is arranged in one side of the inner wall of each U-shaped plate; and a second clamping plate is arranged in each containing groove. According to the positioning device, the positioning range is widened, aluminum materials can be conveniently machined at different heights, meanwhile, the problem that an existing positioning device cannot conveniently clean the surfaces of the aluminum materials is solved, and the positioning device is reasonable in design and suitable for popularization.

The invention belongs to the technical field of workpiece positioning, particularly relates to a positioning mechanism of air sensor press-fitting equipment, and provides the following scheme to solve the problems that existing positioning mechanisms mostly perform positioning and clamping manually, the tool efficiency is low, the application range of the positioning mechanisms is small, adjustment is inconvenient, and the positioning mechanisms cannot be conveniently used for different crowds. The positioning mechanism comprises a working plate, four supporting legs are fixedly installed at the bottom of the working plate, sliding blocks are installed on the four supporting legs in a sliding mode, universal wheels are fixedly connected to the sides of the four sliding blocks, two lifting plates are vertically installed at the top of the working plate in a sliding mode, the two lifting plates and the tops of the two corresponding sliding blocks are fixedly installed, and a lifting driving mechanism is arranged at the bottom of the working plate. The positioning mechanism is simple in structure and convenient to operate, workpieces can be automatically clamped and positioned, the tool efficiency is improved, the position of the positioning mechanism can be adjusted, the positioning device can be used for different crowds, and the application range is widened.

The invention provides an interactive large space positioning algorithm, and relates to the technical field of space positioning. The method concretely comprises the following steps: 1, allowing a camera to emit an external trigger signal to make three cameras simultaneously acquire a frame of data, and transmitting the data a computer through a wire; 2, respectively calculating the two-dimensional coordinates of all mark points in a three-frame image through calling a distortion processing function and calculating a gravity solving center function; 3, carrying out stereo vision matching on all the mark points through a stereo vision matching technology, and substituting the matched two-dimensional points to the three-dimensional coordinates of all the mark points in trigonometry; 4, calling function display to display all the mark points; and 5, judging whether positioning ends or not, and jumping to step 1 and continuously acquiring the image if no end instruction is received. The positioning range, the device cost and the system real-time performance of the algorithm are greatly improved, and the real-time performance and the accuracy of the algorithm can meet the multi-particle positioning requirements of the interactive large space.

The invention belonging to the image acquisition system field provides a positionable panoramic three-dimensional imaging system and a positioning method thereof. The panoramic three-dimensional imaging system comprises camera shooting control equipment, at least two spherical camera shooting devices, and a data processing unit. Each spherical camera shooting device comprises at least three lens groups and an image sensor for receiving optical signals of the lens groups. The camera shooting control equipment is used for controlling all the spherical camera shooting devices to shoot target points at the same time; the two spherical camera devices form a first panorama and a second panorama respectively, the first panorama and the second panorama have an shooting overlapping area, and a target point is located in the shooting overlapping area. Therefore, problems that when a target positioning point and an imaging system are located on the two sides of a transparent object, laser or structured light can be reflected and refracted after passing through the surface of the transparent object and the intensity or direction of the laser or structured light is affected, and thus errors occur in measurement of the target positioning point, and the target point with the visible actual view cannot be located are solved.

The invention discloses a personnel positioning system and method based on a wearable bracelet and an emergency lamp. A wearable bracelet is used as a carrier of personnel position information; a positioning network of a building space and a data transmission node of a wearable bracelet are formed by using emergency lamps; real-time positioning of indoor personnel is realized through a wireless communication technology and a computer technology; dynamic image presentation is achieved, integrated investment cost is low, positioning precision is high, use range is wide, high-efficiency management and safety monitoring of indoor personnel in various places such as shopping malls, factories and commercial houses are facilitated; the great significance is realized particularly in the field of fire rescue; the system can also be used as an intelligent security and protection system, when a disaster occurs, rescue personnel can avoid danger through accurate and comprehensive personnel position information and the damage condition of each emergency lamp, rescue can be carried out in a targeted mode, an optimal rescue route can be easily obtained, and the life safety of rescuers and rescuers is greatly guaranteed.

The invention relates to the technical field of positioning, in particular to an experimental device based on an RFID and satellite positioning system. The experimental device comprises a satellite positioning module, a 2.4G radio frequency master read-write module, a serial port communication module and a plurality of 2.4G active reference tags which are arranged in a distributed mode. The 2.4G radio frequency master read-write module is electrically connected with the data port of the satellite positioning module and the data port of the serial port communication module. The 2.4G active reference tags are connected with the 2.4G radio frequency master read-write module and a 2.4G radio frequency slave read-write module through wireless radio frequency. Through combination with the advantages of satellite positioning and RFID positioning, the reference tags are used, and therefore RFID positioning accuracy can be improved; the slave read-write module is used in the further technical scheme, and therefore the positioning range can be enlarged, and positioning accuracy can be improved.

The invention discloses a shoe sole length measurement device with an accurate positioning function. The device comprises a left foot sole supporting block, a right foot sole supporting block and a heel supporting block, wherein the inner portions of the left foot sole supporting block and right foot sole supporting block are provided with a first placement groove, a second placement groove, a buffer hole and a spring hole respectively, the inner wall of each first placement groove is communicated with the inner wall of the corresponding first placement groove, and the inner walls of each first placement groove and corresponding second placement groove are both communicated with one end of the corresponding buffer hole. The shoe sole length measurement device with the accurate positioningfunction has the advantages that a self-adaptive positioning effect of shoes of different sizes is achieved, pressure springs can make a buffer column always keep stretching outward elastically, thereby achieving precise positioning, and achieving an effect of measuring the length of the shoe sole, a telescopic spring can make the heel supporting block always in contact with a shoe heel for accurate measurement, thereby effectively solving the problem of errors easily caused when the length size of the shoe sole is measured in the shoe production process.

The invention discloses a virtual reality device and a positioning method, and relates to the field of virtual reality devices. The method comprises the following steps: tracking a handle; when it is determined that the handle is located outside the irradiation range of the camera, receiving a pulse signal of ultrasonic waves, and obtaining first positioning data of the handle according to an ultrasonic ranging principle; obtaining an acceleration value of the handle, and obtaining second positioning data of the handle according to an algorithm; and determining the positioning position of the handle according to the first positioning data and the second positioning data.