CN104777452B - Positioning system and positioning method of mobile equipment - Google Patents
Positioning system and positioning method of mobile equipment Download PDFInfo
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- CN104777452B CN104777452B CN201510167038.2A CN201510167038A CN104777452B CN 104777452 B CN104777452 B CN 104777452B CN 201510167038 A CN201510167038 A CN 201510167038A CN 104777452 B CN104777452 B CN 104777452B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
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- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a positioning system and a positioning method of mobile equipment. With the adoption of the positioning system and the positioning method, the positioning precision and the anti-interference performance can be improved. The system comprises a laser positioning base station and a positioning vision module mounted on the mobile equipment, wherein the laser positioning base station comprises a ranging laser, a horizontal motor, a pitching motor, a motor driver and a controller; the positioning vision module is used for capturing laser spots sent out by the ranging laser, generating positioning vision module messages and sending the positioning vision module messages to the controller; the controller is used for issuing control commands through the motor driver to drive the horizontal motor and the pitching motor to drive the ranging laser to perform rotating swinging motion in horizontal and vertical directions according to received positioning vision module messages and performing coordinate operations to determine three-dimensional coordinates of the mobile equipment according to ranging values of the ranging laser, rotating angles of the horizontal motor and the pitching motor as well as the received positioning vision module messages. The positioning system and the positioning method are applicable to the technical field of communication.
Description
Technical field
The present invention relates to communication technical field, particularly relates to the alignment system and localization method of a kind of mobile device.
Background technology
In recent years, many mobile devices operationally wait need to know in advance itself be accurately positioned coordinate, for use in
Equipment is travelled or other purposes, and for example, self-navigation transport vehicle (Automatic Guided Vehicle, AGV) is accomplished by
Know that the accurate positional information of vehicle itself just can be travelled independently in advance, therefore, being accurately located at very to mobile device
Many occasions are just particularly important.
In existing alignment system, global positioning system (Global Positioning System, GPS) is by U.S.
Ministry of National Defence of state develops the one kind set up and has comprehensive, round-the-clock, all the period of time, high-precision satellite navigation system, can be the whole world
User provides the navigation informations such as low cost, high accuracy three-dimensional position, speed and accurate timing, is that communication technology of satellite is navigating
The application examples in field, it drastically increases the level of IT application of Terre des Hommes's meeting, has effectively promoted the development of digital economy.
For now, be related to the product of GPS positioning system on the market in China, its positioning precision in meter level, and similar to room
It is interior, GPS is limited very big in the environment of inferior closing, or cannot use at all.
Machine vision location technology refers to the positioning that surrounding is perceived by CCD or other vision sensors, this kind of fixed
Position can typically be only used to specific working environment.Mobile device equipped with machine vision alignment system is excessively to surrounding setting one
A little landmark identification with obvious characteristic point and tracking, with reference to the positional information of specific identifier scenery, and then obtain self-position
Information.The method positioning precision is higher, it is contemplated that working environment actual environment factor, such as light affect, real image
Acquisition seem that some are difficult.
Reckoning location technology be used primarily for sea propagation, be per compass with the course indicated by log, boat
Journey, and Ship Controling key element and distinguished and admirable key element etc. be not under the conditions of by extraneous navigation thing target, asks for flight path and accommodation
Method.With the development of technology, it is used to give land positioning of mobile equipment now.According to what is installed on mobile device
Sensor (directional gyro, velometer, speedometer etc.), so as to calculate the position coordinateses of mobile device.At short notice these
The certainty of measurement of sensor is higher, but for prolonged positioning, often causes cumulative error, affects positioning precision, and
Reckoning location technology can not carry out three-dimensional localization.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of alignment system and localization method of mobile device, existing to solve
There is the circumscribed problem of the location technology existing for technology.
To solve above-mentioned technical problem, the embodiment of the present invention provides a kind of alignment system of mobile device, including：Laser is determined
Position base station and the positioning vision module on the mobile device, the laser positioning base station includes：Range laser, level
Motor, pitching motor, motor driver and controller；
The positioning vision module, for capturing the LASER SPECKLE that the range laser sends, generates positioning vision module
Message, and the positioning vision module message is sent to the controller；
The controller, for according to the positioning vision module message for receiving, by the motor driver control being issued
Horizontal motor, pitching motor described in order-driven processed drive the range laser that rotary oscillation fortune is done on level, vertical direction
It is dynamic, and disappeared according to the distance measurement value of range laser, horizontal motor, the anglec of rotation of pitching motor and the positioning vision module for receiving
Breath carries out coordinate computation, determines the three-dimensional coordinate of the mobile device present position.
Alternatively, the positioning vision module includes：Camera, connect optical screen, visual pattern process plate and radio communication unit；
The camera, penetrates in the laser for connecing any point B point on optical screen for capture that the range laser sends
Speckle；
The visual pattern process plate, for when the LASER SPECKLE connect on optical screen is captured, to swashing for the B points that capture
Hot spot point is processed, and generates positioning vision module message, and the positioning vision module message includes：B points are relative to connecing optical screen
Horizontal departure amount m of center A points, vertical deflection amount n and capture mark；
The radio communication unit, for the positioning vision module message to be sent to the controller.
Alternatively, according to default time interval, positioning is sent to the controller by the radio communication unit and is regarded
Feel module message, the controller is according to the positioning vision module message control horizontal motor, pitching motor for receiving
Motion, if connecing without LASER SPECKLE on optical screen, the positioning vision module message includes：Mark is not captured.
Alternatively, when the controller receives positioning vision module message includes capture mark, by Motor drive
Device issues the motion that the control instruction that controller sends drives the horizontal motor and pitching motor, by horizontal motor, pitching
The motion of motor drive range laser in the horizontal direction with do rotational oscillating motion and make what range laser sent to swash on vertical direction
Light speckle to the center A points for connecing optical screen are moved；
When the controller receives positioning vision module message to be included not capturing mark, issued by motor driver
The control instruction that controller sends drives the horizontal motor and pitching motor to drive range laser towards the mobile device
Direction do W type scanning motions.
Alternatively, in advance the work place of the mobile device determine zero O (0,0,0) set up system coordinates
System, the coordinate that the laser positioning base station is measured in system coordinate system is O1(xO1,yO1,zO1), when the positioning vision module
When capturing LASER SPECKLE, the three-dimensional coordinate A (x of the mobile device present position are determined according to following formulaA,yA,zA)：
[xB,yB,zB]T=[xO1,yO1,zO1]T+l·[cosβ·cosα,cosβ·sinα,cosβ]T
[xA,yA,zA]T=[xB,yB,zB]T+[m·cosγ,m·sinγ,n]T
In formula, (xA,yA,zA) it is the three-dimensional coordinate for connecing optical screen center A points in system coordinate system, as described movement
The present position of equipment, (xB,yB,zB) it is three-dimensional coordinate of the B points in system coordinate system, m, n are respectively B points relative to connecing light
Horizontal departure amount, the vertical deflection amount of screen center A points, α is the anglec of rotation of horizontal motor, and β is the anglec of rotation of pitching motor
Degree, l is the distance measurement value of range laser, and γ is the mobile device course angle.
Alternatively, calculation error △ x of the three-dimensional coordinate of B points in system coordinate system is determined according to the following formulaB、△yB、△
zB：
△xB=xB-[(xO1+△xO1)+(l+△l)·cos(β+△β)·cos(α+△α)]
△yB=yB-[(yO1+△yO1)+(l+△l)·cos(β+△β)·sin(α+△α)]
△zB=zB-[(zO1+△zO1)+(l+△l)·cos(β+△β)]
In formula, △ xO1、△yO1、△zO1For the error of the coordinate in system coordinate system of the laser positioning base station, △ α,
△ β are respectively the rotation error of horizontal motor, pitching motor, and △ l are the measurement error of range laser；
Calculation error △ x according to the three-dimensional coordinate of B points in system coordinate systemB、△yB、△zB, determine that the movement sets
Error of coordinate △ A (the △ x of standby present positionA,△yA,△zA), that is, the three-dimensional coordinate of optical screen center A points is connect in system coordinates
Calculation error △ x in systemA、△yA、△zA：
△xA=xA-[(xB+△xB)+(m+△m)·cos(γ+△γ)]
△yA=yA-[(yB+△yB)+(m+△m)·sin(γ+△γ)]
△zA=zA-[(zB+△zB)+(n+△n)]
In formula, △ m, △ n are respectively the B points of the positioning vision module process relative to the water for connecing optical screen center A points
The error of flat departure, vertical deflection amount, △ γ are the error of the mobile device course angle.
Alternatively, the controller adopts DSP and ARM dual-core architectures；
The ARM structures, for carrying out communication with the positioning vision module positioning vision module message is obtained, and
Gather the distance measurement value of the range laser；
The DSP architecture, for gathering the rotation angle information of horizontal motor and pitching motor, and sends out with reference to ARM structures
The distance measurement value and positioning vision module message of the range laser for sending, determines the three-dimensional coordinate of the mobile device present position, together
When the motion of the horizontal motor and pitching motor is driven by the motor driver transmitting control commands.
On the other hand, the embodiment of the present invention also provides a kind of localization method of mobile device, including：
The LASER SPECKLE that range laser sends is captured by positioning vision module, positioning vision module message is generated, and will
The positioning vision module message is sent to controller；
According to the positioning vision module message, control instruction is generated by controller and level is driven by motor driver
Motor, pitching motor drive range laser to do rotational oscillating motion on level, vertical direction；
According to the distance measurement value of range laser, horizontal motor, the anglec of rotation of pitching motor and the positioning vision module disappear
Breath carries out coordinate computation, determines the three-dimensional coordinate of the mobile device present position.
Alternatively, the positioning vision module includes：Camera, connect optical screen, visual pattern process plate and radio communication unit；
It is described to capture the LASER SPECKLE that range laser sends by positioning vision module, positioning vision module message is generated, and will be described
Positioning vision module message sends to controller and includes：
Penetrated in the laser spot for connecing any point B point on optical screen by what the camera capture range laser sent
Point；
When the LASER SPECKLE connect on optical screen is captured, by the visual pattern process plate swashing to the B points that capture
Hot spot point is processed, and generates positioning vision module message, and the positioning vision module message includes：B points are relative to connecing optical screen
Horizontal departure amount m of center A points, vertical deflection amount n and capture mark；
The positioning vision module message is sent to the controller by the radio communication unit.
Alternatively, the three-dimensional coordinate for determining the mobile device present position includes：
In advance the work place of the mobile device determine zero O (0,0,0) system coordinate system is set up, in system
The coordinate of Laser Measurement locating base station is O in coordinate system1(xO1,yO1,zO1), when the positioning vision module captures laser spot
During point, the three-dimensional coordinate A (x of the mobile device present position are determined according to following formulaA,yA,zA)：
[xB,yB,zB]T=[xO1,yO1,zO1]T+l·[cosβ·cosα,cosβ·sinα,cosβ]T
[xA,yA,zA]T=[xB,yB,zB]T+[m·cosγ,m·sinγ,n]T
In formula, (xA,yA,zA) it is the three-dimensional coordinate for connecing optical screen center A points in system coordinate system, as described movement
The present position of equipment, (xB,yB,zB) it is three-dimensional coordinate of the B points in system coordinate system, m, n are respectively B points relative to connecing light
Horizontal departure amount, the vertical deflection amount of screen center A points, α is the anglec of rotation of horizontal motor, and β is the anglec of rotation of pitching motor
Degree, l is the distance measurement value of range laser, and γ is the mobile device course angle.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
In such scheme, the LASER SPECKLE that range laser sends is captured by positioning vision module, and generate positioning vision
Module message, according to positioning vision module message, the distance measurement value of range laser and horizontal motor, the anglec of rotation of pitching motor
Degree, by the controller founding mathematical models of laser positioning base station coordinate computation is carried out, and determines the mobile device present position
Three-dimensional coordinate, so, using high-precision horizontal motor, pitching motor drive range laser in level, vertical two-dimensional directional
Do rotational oscillating motion, and combine positioning vision module message carries out three-dimensional seat by coordinate computation to mobile device present position
Position is demarcated, the positional information of positioning can reach a millimeter rank, and positioning precision is high, and by the interference such as ambient, signal transmission
Affect less, strong antijamming capability, stability are high, be particularly well-suited to it is indoor, mobile device in inferior enclosed environment enter
Row positioning.
Description of the drawings
Fig. 1 is the positioning principle floor map of mobile device provided in an embodiment of the present invention；
Fig. 2 is positioning vision module structural representation provided in an embodiment of the present invention；
Fig. 3 is that positioning vision module provided in an embodiment of the present invention connects optical screen front view；
Fig. 4 is positioning vision module workflow diagram provided in an embodiment of the present invention；
Fig. 5 is laser positioning architecture of base station schematic diagram provided in an embodiment of the present invention；
Fig. 6 is laser positioning base station operation flow chart provided in an embodiment of the present invention；
Fig. 7 is laser positioning base station parameter reference three-dimensional figure provided in an embodiment of the present invention；
Fig. 8 is laser positioning base station controller design frame chart provided in an embodiment of the present invention.
Specific embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
A kind of circumscribed problem of the present invention for existing location technology, there is provided alignment system of mobile device.
Embodiment one
Referring to shown in Fig. 1, Fig. 2 and Fig. 5, a kind of alignment system of mobile device provided in an embodiment of the present invention, including：Swash
Light projection base station 3 and the positioning vision module 2 on the mobile device 1, the laser positioning base station 3 includes：Range finding
Laser 7, horizontal motor 8, pitching motor 6, motor driver and controller；
The positioning vision module 2, for capturing the LASER SPECKLE that the range laser 7 sends, generates positioning vision mould
Block message, and the positioning vision module message is sent to the controller；
The controller, for according to the positioning vision module message for receiving, by the motor driver control being issued
Horizontal motor 8, pitching motor 6 drive the range laser 7 to do rotary oscillation on level, vertical direction described in order-driven processed
Motion, and according to the distance measurement value of range laser 7, horizontal motor 8, the anglec of rotation of pitching motor 6 and the positioning vision for receiving
Module message carries out coordinate computation, determines the three-dimensional coordinate of the present position of the mobile device 1.
The alignment system of the mobile device described in the embodiment of the present invention, by positioning vision module 2 range laser 7 is captured
The LASER SPECKLE for going out, and positioning vision module message is generated, according to the positioning vision module message, the distance measurement value of range laser 7
And horizontal motor 8, the anglec of rotation of pitching motor 6, carry out coordinate by the controller founding mathematical models of laser positioning base station 3
Computing, determines the three-dimensional coordinate of the present position of the mobile device 1, so, using high-precision horizontal motor 8, pitching motor 6
Drive range laser 7 to do rotational oscillating motion in level, vertical two-dimensional directional, and combine positioning vision module message and pass through coordinate
Computing carries out three-dimensional coordinate positioning to the present position of mobile device 1, and the positional information of positioning can reach a millimeter rank, positioning accurate
Degree is high, and less by interference effects such as ambient, signal transmissions, and strong antijamming capability, stability are high, are particularly well-suited to room
It is interior, mobile device 1 in inferior enclosed environment positioned.
In the embodiment of the present invention, the positioning vision module 2 is fixedly mounted on into one end of the mobile device 1, laser
Locating base station 3 is placed in the work place of the mobile device 1, can not be had between positioning vision module 2 and laser positioning base station 3
Block, the controller gathers the anglec of rotation of horizontal motor 8, pitching motor 6 by motor driver, and by the motor
Driver sends control instruction control horizontal motor 8, pitching motor 6 and moves on level, vertical direction respectively, so as to drive
State range laser 7 and do rotational oscillating motion on level, vertical direction, neutralized based on the directional lighting of range laser 7, light beam collection
Range finding accurately characteristic, can be accurately positioned to the carrying out of the present position of mobile device 1.
In the specific embodiment of the alignment system of aforementioned mobile device, alternatively, the positioning vision module 2 is wrapped
Include：Camera 5, connect optical screen 4, visual pattern process plate and radio communication unit；
The camera 5, swashing for any point B point on optical screen 4 is connect for penetrating of capturing that the range laser 7 sends described
Light speckle；
The visual pattern process plate, for when the LASER SPECKLE connect on optical screen is captured, to swashing for the B points that capture
Hot spot point is processed, and generates positioning vision module message, and the positioning vision module message includes：B points are relative to connecing optical screen 4
Horizontal departure amount m of center A points, vertical deflection amount n and capture mark；
The radio communication unit, for the positioning vision module message to be sent to the controller.
In the embodiment of the present invention, referring to shown in Fig. 2 and Fig. 3, penetrated described by what the capture range laser 7 of camera 5 sent
The LASER SPECKLE in any point on optical screen 4 is connect, is described for convenience, make any point be B points, connect on optical screen when capturing
During LASER SPECKLE, processed by the LASER SPECKLE of B point of the visual pattern process plate to capturing, generate positioning vision module
Message, the positioning vision module message includes：B points are relative to horizontal departure amount m, the vertical deflection for connecing the center A points of optical screen 4
Amount n and capture mark, and the positioning vision module message transmission that vision module 2 is generated will be positioned by radio communication unit
To the controller of the laser positioning base station 3.
In the specific embodiment of the alignment system of aforementioned mobile device, alternatively, according to default time interval, lead to
Cross the radio communication unit and send positioning vision module message to the controller, the controller is according to what is received
Positioning vision module message control horizontal motor 8, the motion of pitching motor 6, if connecing on optical screen 4 without LASER SPECKLE, the positioning
Vision module message includes：Mark is not captured.
In the embodiment of the present invention, referring to shown in Fig. 4, the positioning vision module 2 can be every t times (Millisecond), example
Such as, 2 milliseconds, positioning vision module message is sent to the controller of the laser positioning base station 3 by radio communication unit, it is described
Controller according to the positioning vision module message control horizontal motor 8 for receiving, the motion of pitching motor 6, when connecing optical screen
On have range laser 7 project LASER SPECKLE when, the positioning vision module message includes：B points are relative to connecing the center of optical screen 4
Horizontal departure amount m of A points, vertical deflection amount n and capture mark；When connect on optical screen 4 without range laser 7 project LASER SPECKLE
When, the positioning vision module message includes：Mark is not captured, and mark will not captured and sent to institute by radio communication unit
State the controller of laser positioning base station 3.
In the specific embodiment of the alignment system of aforementioned mobile device, alternatively, determine when the controller is received
When position vision module message includes capture mark, the control instruction driving water that controller sends is issued by motor driver
The motion of ordinary telegram machine 8 and pitching motor 6, range laser 7 is driven in the horizontal direction by the motion of horizontal motor 8, pitching motor 6
The LASER SPECKLE that range laser 7 sends is set to move to the center A points for connecing optical screen 4 with rotational oscillating motion is done on vertical direction；
When the controller receives positioning vision module message to be included not capturing mark, issued by motor driver
The control instruction that controller sends drives the horizontal motor 8 and pitching motor 6 to drive range laser 7 setting towards the movement
Do W type scanning motions in standby 1 direction；
In the embodiment of the present invention, the controller controls the level electricity according to the positioning vision module message is received
The motion of machine 8 and pitching motor 6, referring to shown in Fig. 5 and Fig. 6, includes when the controller receives positioning vision module message
When not capturing mark, controller sends control instruction, by motor driver motor (horizontal motor 8, pitching motor 6) band
Dynamic range laser 7 is doing W type scanning motions towards the direction of the mobile device 1 (for example, vehicle)；When the controller is received
When including capture mark to positioning vision module message, the control instruction driving institute that controller sends is issued by motor driver
The motion of horizontal motor 8 and pitching motor 6 is stated, range laser 7 is driven in level by the motion of horizontal motor 8, pitching motor 6
Rotational oscillating motion is done on direction and vertical direction makes the LASER SPECKLE that range laser 7 sends move to the center A points for connecing optical screen 4
Dynamic motion, so, the equipment that ensure that laser positioning base station 3 is moved by LASER SPECKLE to the center A points for connecing optical screen 4
In the process of moving can Real-time Collection positioning vision module message, complete continuously to be accurately positioned mobile device 1, send work as
Front coordinate instructs mobile device to travel.
In the specific embodiment of the alignment system of aforementioned mobile device, alternatively, in advance in the mobile device 1
Work place determine zero O (0,0,0) set up system coordinate system, the laser positioning base station is measured in system coordinate system
3 coordinate is O1(xO1,yO1,zO1), when the positioning vision module 2 captures LASER SPECKLE, the shifting is determined according to following formula
Three-dimensional coordinate A (the x of the present position of dynamic equipment 1A,yA,zA)：
[xB,yB,zB]T=[xO1,yO1,zO1]T+l·[cosβ·cosα,cosβ·sinα,cosβ]T
[xA,yA,zA]T=[xB,yB,zB]T+[m·cosγ,m·sinγ,n]T
In formula, (xA,yA,zA) it is the three-dimensional coordinate for connecing the center A points of optical screen 4 in system coordinate system, as described movement
The present position of equipment 1, (xB,yB,zB) it is three-dimensional coordinate of the B points in system coordinate system, m, n are respectively B points relative to connecing light
Shield horizontal departure amount, the vertical deflection amount of 4 center A points, α is the anglec of rotation of horizontal motor 8, and β is the anglec of rotation of pitching motor 6
Degree, l is the distance measurement value of range laser 7, and γ is the course angle of the mobile device 1.
It is shown in Figure 7 in the embodiment of the present invention, select appropriate coordinate in the work place of the mobile device 1 in advance
Origin O (0,0, the system coordinate system of whole work place 0) is set up, the laser positioning base station 3 is measured in system coordinate system
Coordinate O1(xO1,yO1,zO1), coordinate system O of laser positioning base station 31x1y1z1Three-dimensional transition diagram.
In the embodiment of the present invention, in order to measure to the present position of the mobile device 1, laser positioning base station need to be opened
3 receive the positioning vision module message that positioning vision module 2 is sent, if the positioning vision module message includes：Mark is not captured
Know, then the controller sends control instruction and makes horizontal motor 8, pitching motor 6 in a certain scope towards the direction of mobile device 1
It is interior to be swung back and forth with appropriate angular velocity, the W-shaped scanning of laser beam that sends of range laser 7 is driven, when there is LASER SPECKLE inswept
Any point B point on optical screen 4 is connect, the LASER SPECKLE is captured by camera 5, positioning vision is generated according to the LASER SPECKLE
Module message, the positioning vision module message includes：Capture mark, B points are inclined relative to the level for connecing the center A points of optical screen 4
Residual quantity m, vertical deflection amount n, and the positioning vision module message is sent to into the controller of laser positioning base station 3, controller
Course angle γ of mobile device 1 is also received simultaneously.
In the embodiment of the present invention, controller is according to distance measurement value, horizontal motor 8, the pitching motor 6 for collecting range laser 7
The anglec of rotation, the course angle of the mobile device 1 for receiving, and with reference to it is described positioning vision module message, carry out coordinate calculating,
Determine the three-dimensional coordinate of the present position of the mobile device 1.Specifically, connect on optical screen 4 arbitrarily when positioning vision module 2 is captured
During LASER SPECKLE at one point B, the three-dimensional coordinate A (x of the present position of the mobile device 1 are determined according to formula (1)A,yA,zA)：
[xB,yB,zB]T=[xO1,yO1,zO1]T+l·[cosβ·cosα,cosβ·sinα,cosβ]T
[xA,yA,zA]T=[xB,yB,zB]T+[m·cosγ,m·sinγ,n]TFormula (1)
In formula (1), (xO1,yO1,zO1) it is three-dimensional coordinate of the laser positioning base station 3 in system coordinate system；(xB,yB,zB)
The three-dimensional coordinate for being B in system coordinate system；(xA,yA,zA) it is the three-dimensional seat for meeting the central point A of optical screen 4 in system coordinate system
Mark, the coordinate A (x of the present position of as described mobile device 1A,yA,zA)；Referring to shown in Fig. 7, α is the rotation of horizontal motor 8
Gyration, laser beam is in O1x1y1z1With O in system coordinate system1x1Axis angle；β for pitching motor 6 the anglec of rotation, laser beam
In O1x1y1z1With O in system coordinate system1x1y1The angle of plane；L is the distance measurement value of range laser 7；γ is the course of mobile device 1
Angle, moving direction in the horizontal plane with Ox axis angles；M, n are respectively B points relative to the horizontal departure for connecing the center A points of optical screen 4
Amount, vertical deflection amount.Relative to GPS positioning system, machine vision location technology, reckoning location technology, the present invention's determines
In the case of using high-precision horizontal motor 8, pitching motor 6, range laser 7, positioning precision can reach centimetre position system
Level, even millimeter rank, position error is little, and positioning precision is high, and the alignment system of the present invention be particularly well-suited to it is indoor,
Mobile device 1 in inferior enclosed environment is positioned, by the interference effects such as ambient, signal transmission are less, anti-interference energy
Power is strong, stability is high.
In the embodiment of the present invention, positioning vision module 2 can be every t times (Millisecond), for example, 3 milliseconds, by wireless
Communication unit to the controller of the laser positioning base station 3 sends positioning vision module message, and laser positioning base station 3 is according to again
The positioning vision module message for receiving, circulation motion as above and computing formula, formula (1) calculates simple, and amount of calculation is little,
And coordinate is not affected the coordinate calculated each time in calculating process by before, will not produce cumulative errors.
In the specific embodiment of the alignment system of aforementioned mobile device, alternatively, the three-dimensional of B points is determined according to the following formula
Calculation error △ x of the coordinate in system coordinate systemB、△yB、△zB：
△xB=xB-[(xO1+△xO1)+(l+△l)·cos(β+△β)·cos(α+△α)]
△yB=yB-[(yO1+△yO1)+(l+△l)·cos(β+△β)·sin(α+△α)]
△zB=zB-[(zO1+△zO1)+(l+△l)·cos(β+△β)]
In formula, △ xO1、△yO1、△zO1For the error of the coordinate in system coordinate system of the laser positioning base station 3, △
α, △ β is respectively horizontal motor 8, the rotation error of pitching motor 6, and △ l are the measurement error of range laser 7；
Calculation error △ x according to the three-dimensional coordinate of B points in system coordinate systemB、△yB、△zB, determine that the movement sets
Error of coordinate △ A (the △ x of standby 1 present positionA,△yA,△zA), that is, the three-dimensional coordinate for connecing the center A points of optical screen 4 is sat in system
Calculation error △ x in mark systemA、△yA、△zA：
△xA=xA-[(xB+△xB)+(m+△m)·cos(γ+△γ)]
△yA=yA-[(yB+△yB)+(m+△m)·sin(γ+△γ)]
△zA=zA-[(zB+△zB)+(n+△n)]
In formula, △ m, △ n are respectively B points that the positioning vision module 2 processes relative to connecing the center A points of optical screen 4
The error of horizontal departure amount, vertical deflection amount, △ γ are the error of the course angle of the mobile device 1.
In the embodiment of the present invention, the three-dimensional coordinate of the present position of the mobile device 1 for also calculating to formula (1) is missed
Difference is analysed, and first, by formula (2) calculation error △ x of the three-dimensional coordinate of B points in system coordinate system is determinedB、△yB、△zB：
△xB=xB-[(xO1+△xO1)+(l+△l)·cos(β+△β)·cos(α+△α)]
△yB=yB-[(yO1+△yO1)+(l+△l)·cos(β+△β)·sin(α+△α)]
△zB=zB-[(zO1+△zO1)+(l+ △ l) cos (β+△ β)] formula (2)
In formula (2), △ xO1、△yO1、△zO1For measurement the laser positioning base station 3 coordinate in system coordinate system
Error；△ α, △ β are respectively horizontal motor 8, the rotation error of pitching motor 6, and △ l are the measurement error of range laser 7；
Calculation error △ x according to the three-dimensional coordinate of B points in system coordinate systemB、△yB、△zB, with reference to connecing optical screen 4 just
The three-dimensional coordinate of center A points, by formula (3) error of coordinate △ A (the △ x of the present position of the mobile device 1 are determinedA,△yA,△
zA), that is, meet calculation error △ x of the three-dimensional coordinate of the center A points of optical screen 4 in system coordinate systemA、△yA、△zA：
△xA=xA-[(xB+△xB)+(m+△m)·cos(γ+△γ)]
△yA=yA-[(yB+△yB)+(m+△m)·sin(γ+△γ)]
△zA=zA-[(zB+△zB)+(n+ △ n)] formula (3)
In formula (3), △ m, △ n are respectively B points that the positioning vision module 2 processes relative to connecing the center A points of optical screen 4
Horizontal departure amount, the error of vertical deflection amount, △ γ are the error of the course angle of the mobile device 1.In the embodiment of the present invention,
Positioning vision module 2 can be every t times (Millisecond), for example, 2 milliseconds, by radio communication unit to the laser positioning
The controller of base station 3 sends positioning vision module message, and laser positioning base station 3 disappears according to the positioning vision module for receiving again
Breath, the computing of circulating (3) determines the error of coordinate of the present position of the mobile device 1.
In the specific embodiment of the alignment system of aforementioned mobile device, alternatively, the controller using DSP and
ARM dual-core architectures；
The ARM structures, for carrying out communication with the positioning vision module 2 the positioning vision module message is obtained,
And gather the distance measurement value of the range laser 7；
The DSP architecture, for gathering the rotation angle information of horizontal motor 8 and pitching motor 6, and with reference to ARM structures
The distance measurement value and positioning vision module message of the range laser 7 of transmission, determines the three-dimensional seat of the present position of the mobile device 1
Mark, while driving the motion of the horizontal motor 8 and pitching motor 6 by the motor driver transmitting control commands.
In the embodiment of the present invention, referring to shown in Fig. 8, the controller adopts DSP+ARM dual-core architectures, wherein, the control
Device processed is connected with serial interface, radio communication unit, CAN interface using ARM chips as coprocessor, and ARM chips are by string
Mouth interface gathers the distance measurement value of range laser 7, by radio communication unit and the positioning communication acquisition positioning vision mould of vision module 2
Block message, and communicated with dsp chip by CAN interface, by the distance measurement value of collection range laser 7, the positioning vision for receiving
Module message is transferred to dsp chip.
In the embodiment of the present invention, the controller can adopt 32 floating type dsp chips of TI companies
TMS320F28335 is about 6.67ns as primary processor, maximum operating frequency 150MHz, instruction cycle, is fully able to meet this
The computation complexity of invention alignment system.Dsp chip be connected with servo-drive interface, encoder input interface, GPIO interface,
CAN interface, sends control instruction and drives the horizontal motor 8, bows by servo-drive interface to horizontal motor 8, pitching motor 6
The motion of motor 6 is faced upward, the rotation angle information of horizontal motor 8, pitching motor 6 is gathered by encoder input interface, by CAN
Interface is communicated with ARM chips, while can be according to the horizontal motor 8 of collection, the anglec of rotation letter of pitching motor 6
Breath, and the distance measurement value and positioning vision module message of the range laser 7 sent with reference to ARM chips, determine the institute of the mobile device 1
The three-dimensional coordinate of place position.
Embodiment two
The present invention also provides a kind of specific embodiment of the localization method of mobile device, due to the movement that the present invention is provided
The localization method of equipment is corresponding with the specific embodiment of the alignment system of aforementioned mobile device, the positioning side of the mobile device
Method can realize the purpose of the present invention, therefore above-mentioned movement by the process step in execution said method specific embodiment
Explanation in the alignment system specific embodiment of equipment, is also applied for the localization method of the mobile device of present invention offer
Specific embodiment, will not be described in great detail in detailed description below of the present invention.
The embodiment of the present invention also provides a kind of localization method of mobile device, including：
The LASER SPECKLE that range laser 7 sends is captured by positioning vision module 2, positioning vision module message is generated, and
The positioning vision module message is sent to controller；
According to the positioning vision module message, control instruction is generated by controller and level is driven by motor driver
Motor 8, pitching motor 6 drive range laser 7 to do rotational oscillating motion on level, vertical direction；
According to the distance measurement value of range laser 7, horizontal motor 8, the anglec of rotation of pitching motor 6 and the positioning vision module
Message carries out coordinate computation, determines the three-dimensional coordinate of the present position of the mobile device 1.
The localization method of the mobile device described in the embodiment of the present invention, by positioning vision module 2 range laser 7 is captured
The LASER SPECKLE for going out, and positioning vision module message is generated, according to the positioning vision module message, the distance measurement value of range laser 7
And horizontal motor 8, the anglec of rotation of pitching motor 6, carry out coordinate by the controller founding mathematical models of laser positioning base station 3
Computing, determines the three-dimensional coordinate of the present position of the mobile device 1, so, using high-precision horizontal motor 8, pitching motor 6
Drive range laser 7 to do rotational oscillating motion in level, vertical two-dimensional directional, and combine positioning vision module message and pass through coordinate
Computing carries out three-dimensional coordinate positioning to the present position of mobile device 1, and the positional information of positioning can reach a millimeter rank, positioning accurate
Degree is high, and less by interference effects such as ambient, signal transmissions, and strong antijamming capability, stability are high, are particularly well-suited to room
It is interior, mobile device 1 in inferior enclosed environment positioned.
In the specific embodiment of the localization method of aforementioned mobile device, alternatively, the positioning vision module 2 is wrapped
Include：Camera 5, connect optical screen 4, visual pattern process plate and radio communication unit；It is described to be swashed by positioning the capture range finding of vision module 2
The LASER SPECKLE that light 7 sends, generates positioning vision module message, and the positioning vision module message is sent to controller bag
Include：
Swashing for any point B point on optical screen 4 is connect described by the penetrating of capturing that the range laser 7 sends of the camera 5
Light speckle；
When the LASER SPECKLE connect on optical screen is captured, by the visual pattern process plate swashing to the B points that capture
Hot spot point is processed, and generates positioning vision module message, and the positioning vision module message includes：B points are relative to connecing optical screen 4
Horizontal departure amount m of center A points, vertical deflection amount n and capture mark；
The positioning vision module message is sent to the controller by the radio communication unit.
It is alternatively, described to determine the mobile device 1 in the specific embodiment of the localization method of aforementioned mobile device
The three-dimensional coordinate of present position includes：
In advance the work place of the mobile device 1 determine zero O (0,0,0) set up system coordinate system, be
The coordinate of Laser Measurement locating base station 3 is O in system coordinate system1(xO1,yO1,zO1), when it is described positioning vision module 2 capture it is sharp
During light speckle, the three-dimensional coordinate A (x of the present position of the mobile device 1 are determined according to following formulaA,yA,zA)：
[xB,yB,zB]T=[xO1,yO1,zO1]T+l·[cosβ·cosα,cosβ·sinα,cosβ]T
[xA,yA,zA]T=[xB,yB,zB]T+[m·cosγ,m·sinγ,n]T
In formula, (xA,yA,zA) it is the three-dimensional coordinate for connecing the center A points of optical screen 4 in system coordinate system, as described movement
The present position of equipment 1, (xB,yB,zB) it is three-dimensional coordinate of the B points in system coordinate system, m, n are respectively B points relative to connecing light
Shield horizontal departure amount, the vertical deflection amount of 4 center A points, α is the anglec of rotation of horizontal motor 8, and β is the anglec of rotation of pitching motor 6
Degree, l is the distance measurement value of range laser 7, and γ is the course angle of the mobile device 1.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of without departing from principle of the present invention, some improvements and modifications can also be made, these improvements and modifications
Should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of alignment system of mobile device, it is characterised in that include：Laser positioning base station and installed in the mobile device
On positioning vision module, the laser positioning base station includes：Range laser, horizontal motor, pitching motor, motor driver and
Controller；
The positioning vision module, for capturing the LASER SPECKLE that the range laser sends, generates positioning vision module message,
And the positioning vision module message is sent to the controller；
The controller, for according to the positioning vision module message for receiving, issuing control by the motor driver and referring to
Order drives the horizontal motor, pitching motor to drive the range laser that rotational oscillating motion is done on level, vertical direction, and
According to the distance measurement value of range laser, horizontal motor, the anglec of rotation of pitching motor and the positioning vision module message for receiving are entered
Row coordinate computation, determines the three-dimensional coordinate of the mobile device present position；Wherein,
The positioning vision module includes：Camera, connect optical screen, visual pattern process plate and radio communication unit；
The camera, penetrates in the LASER SPECKLE for connecing any point B point on optical screen for capture that the range laser sends；
The visual pattern process plate, for when the LASER SPECKLE connect on optical screen is captured, the laser spot of the B points to capturing
Point is processed, and generates positioning vision module message, and the positioning vision module message includes：B points hit exactly relative to optical screen is connect
Horizontal departure amount m of heart A points, vertical deflection amount n and capture mark；
The radio communication unit, for the positioning vision module message to be sent to the controller.
2. system according to claim 1, it is characterised in that according to default time interval, by the wireless telecommunications
Unit to the controller sends positioning vision module message, and the controller disappears according to the positioning vision module for receiving
Breath control horizontal motor, the motion of pitching motor, if connecing without LASER SPECKLE on optical screen, the positioning vision module message includes：
Mark is not captured.
3. system according to claim 1, it is characterised in that when the controller receives positioning vision module message package
When including capture mark, the control instruction driving horizontal motor and the pitching motor that controller sends is issued by motor driver
Motion, drive range laser to do rotation pendulum with vertical direction in the horizontal direction by the motion of horizontal motor, pitching motor
The dynamic LASER SPECKLE for sending range laser that moves is moved to the center A points for connecing optical screen；
When the controller receives positioning vision module message to be included not capturing mark, control is issued by motor driver
The control instruction that device sends drives the horizontal motor and pitching motor to drive range laser towards the side of the mobile device
To doing W type scanning motions.
4. system according to claim 1, it is characterised in that determine coordinate in the work place of the mobile device in advance
Origin O (0,0,0) system coordinate system is set up, the coordinate that the laser positioning base station is measured in system coordinate system is O1(xO1,
yO1,zO1), when the positioning vision module captures LASER SPECKLE, the mobile device present position is determined according to following formula
Three-dimensional coordinate A (xA,yA,zA)：
[xB,yB,zB]T=[xO1,yO1,zO1]T+l·[cosβ·cosα,cosβ·sinα,cosβ]T
[xA,yA,zA]T=[xB,yB,zB]T+[m·cosγ,m·sinγ,n]T
In formula, (xA,yA,zA) it is the three-dimensional coordinate for connecing optical screen center A points in system coordinate system, as described mobile device
Present position, (xB,yB,zB) it is three-dimensional coordinate of the B points in system coordinate system, m, n are respectively B points relative to connecing optical screen just
The horizontal departure amount of center A points, vertical deflection amount, α for horizontal motor the anglec of rotation, β for pitching motor the anglec of rotation, l
For the distance measurement value of range laser, γ is the mobile device course angle.
5. system according to claim 4, it is characterised in that determine the three-dimensional coordinate of B points in system coordinates according to the following formula
Calculation error △ x in systemB、△yB、△zB：
△xB=xB-[(xO1+△xO1)+(l+△l)·cos(β+△β)·cos(α+△α)]
△yB=yB-[(yO1+△yO1)+(l+△l)·cos(β+△β)·sin(α+△α)]
△zB=zB-[(zO1+△zO1)+(l+△l)·cos(β+△β)]
In formula, △ xO1、△yO1、△zO1For the error of the coordinate in system coordinate system of the laser positioning base station, △ α, △ β
The respectively rotation error of horizontal motor, pitching motor, △ l for range laser measurement error；
Calculation error △ x according to the three-dimensional coordinate of B points in system coordinate systemB、△yB、△zB, determine the mobile device institute
Error of coordinate △ A (the △ x of place positionA,△yA,△zA), that is, connect the three-dimensional coordinate of optical screen center A points in system coordinate system
Calculation error △ xA、△yA、△zA：
△xA=xA-[(xB+△xB)+(m+△m)·cos(γ+△γ)]
△yA=yA-[(yB+△yB)+(m+△m)·sin(γ+△γ)]
△zA=zA-[(zB+△zB)+(n+△n)]
In formula, the B points that △ m, △ n are respectively the positioning vision module process are inclined relative to the level for connecing optical screen center A points
The error of residual quantity, vertical deflection amount, △ γ are the error of the mobile device course angle.
6. system according to claim 1, it is characterised in that the controller adopts DSP and ARM dual-core architectures；
The ARM structures, for carrying out communication with the positioning vision module positioning vision module message is obtained, and is gathered
The distance measurement value of the range laser；
The DSP architecture, for gathering the rotation angle information of horizontal motor and pitching motor, and with reference to the transmission of ARM structures
The distance measurement value and positioning vision module message of range laser, determines the three-dimensional coordinate of the mobile device present position, while logical
Cross the motion that the motor driver transmitting control commands drive the horizontal motor and pitching motor.
7. a kind of localization method of mobile device, it is characterised in that include：
The LASER SPECKLE that range laser sends is captured by positioning vision module, positioning vision module message is generated, and will be described
Positioning vision module message is sent to controller；
According to the positioning vision module message, control instruction is generated by controller and level electricity is driven by motor driver
Machine, pitching motor drive range laser to do rotational oscillating motion on level, vertical direction；
According to the distance measurement value of range laser, horizontal motor, the anglec of rotation of pitching motor and the positioning vision module message are entered
Row coordinate computation, determines the three-dimensional coordinate of the mobile device present position；Wherein,
The positioning vision module includes：Camera, connect optical screen, visual pattern process plate and radio communication unit；It is described by fixed
The LASER SPECKLE that position vision module capture range laser sends, generates positioning vision module message, and positions vision mould by described
Block message sends to controller and includes：
Penetrated in the LASER SPECKLE for connecing any point B point on optical screen by what the camera capture range laser sent；
When the LASER SPECKLE connect on optical screen is captured, by the laser spot of B point of the visual pattern process plate to capturing
Point is processed, and generates positioning vision module message, and the positioning vision module message includes：B points hit exactly relative to optical screen is connect
Horizontal departure amount m of heart A points, vertical deflection amount n and capture mark；
The positioning vision module message is sent to the controller by the radio communication unit.
8. method according to claim 7, it is characterised in that the three-dimensional seat of the determination mobile device present position
Mark includes：
In advance the work place of the mobile device determine zero O (0,0,0) system coordinate system is set up, in system coordinates
The coordinate of Laser Measurement locating base station is O in system1(xO1,yO1,zO1), when the positioning vision module captures LASER SPECKLE,
Three-dimensional coordinate A (the x of the mobile device present position are determined according to following formulaA,yA,zA)：
[xB,yB,zB]T=[xO1,yO1,zO1]T+l·[cosβ·cosα,cosβ·sinα,cosβ]T
[xA,yA,zA]T=[xB,yB,zB]T+[m·cosγ,m·sinγ,n]T
In formula, (xA,yA,zA) it is the three-dimensional coordinate for connecing optical screen center A points in system coordinate system, as described mobile device
Present position, (xB,yB,zB) it is three-dimensional coordinate of the B points in system coordinate system, m, n are respectively B points relative to connecing optical screen just
The horizontal departure amount of center A points, vertical deflection amount, α for horizontal motor the anglec of rotation, β for pitching motor the anglec of rotation, l
For the distance measurement value of range laser, γ is the mobile device course angle.
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| CN106054377B (en) * | 2016-08-05 | 2020-02-21 | 北京国承万通信息科技有限公司 | Light beam scanning mechanism, light beam scanning device and positioning system |
| CN108061879B (en) * | 2017-11-30 | 2020-10-09 | 歌尔科技有限公司 | Space positioning method and device, electronic equipment and system |
| TWI646305B (en) * | 2017-12-26 | 2019-01-01 | 國家中山科學研究院 | Three-dimensional displacement measurement method for spot image and its application |
| CN110118571A (en) * | 2019-04-19 | 2019-08-13 | 芜湖智久机器人有限公司 | A kind of method of the setting angle error of laser sensor in acquisition mobile device |
| CN113261884A (en) * | 2021-06-17 | 2021-08-17 | 东莞市光劲光电有限公司 | Floor sweeping robot positioning method |
| CN113758480B (en) * | 2021-08-26 | 2022-07-26 | 南京英尼格玛工业自动化技术有限公司 | Surface type laser positioning system, AGV positioning calibration system and AGV positioning method |
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