CN105974359B - Positioning equipment, positioning base station, space positioning system and method - Google Patents
Positioning equipment, positioning base station, space positioning system and method Download PDFInfo
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- CN105974359B CN105974359B CN201610522023.8A CN201610522023A CN105974359B CN 105974359 B CN105974359 B CN 105974359B CN 201610522023 A CN201610522023 A CN 201610522023A CN 105974359 B CN105974359 B CN 105974359B
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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
- G01S3/789—Systems for determining direction or deviation from predetermined direction using rotating or oscillating beam systems, e.g. using mirrors, prisms
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/30—Determining absolute distances from a plurality of spaced points of known location
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- Radar, Positioning & Navigation (AREA)
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- Position Fixing By Use Of Radio Waves (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a positioning device, a positioning base station, a space positioning system and a method, wherein the positioning device comprises: a housing; the photosensitive sensor is arranged on the shell; the ultrasonic receiver is arranged on the shell, and the position of the ultrasonic receiver is different from that of the photosensitive sensor. The technical scheme in the embodiment of the invention determines the direction of the positioning equipment relative to the positioning base station according to the laser scanning signal, and determines the distance of the positioning equipment relative to the positioning base station according to the ultrasonic signal sent by the positioning base station.
Description
Technical Field
The present invention relates to the field of spatial positioning, and in particular, to a positioning device, a positioning base station, a spatial positioning system, and a spatial positioning method.
Background
Spatial positioning refers to positioning a device in space, and for example, the device may be located by GPS (global positioning System, chinese) technology. However, as the requirement of people for positioning accuracy is higher and higher, the meter-level accuracy provided by the GPS technology cannot meet the needs of people, and in some specific spaces such as indoor spaces, basements and the like, the GPS technology cannot be applied to the specific spaces because obstacles such as walls and the like can block GPS signals.
Currently, in a specific space such as an indoor space or a basement, positioning is generally performed by a wireless positioning technology, specifically, according to signal strength of a plurality of wireless APs (Access points, chinese, also called hotspots) with known positions received by a device, a distance from a mobile device to each AP is estimated by using a signal attenuation model, and finally, a position of the device is determined by using a triangulation algorithm. However, the accuracy provided by the wireless positioning technology is still in the meter level, and the requirement of people on higher and higher spatial positioning accuracy cannot be met.
With the increasing proliferation of the virtual reality field, virtual games begin to appear, and in the immersive interactive experience provided by the virtual games, an accurate spatial localization tracking technology is particularly critical, so how to quickly and accurately realize spatial localization becomes one of the problems to be solved urgently.
Disclosure of Invention
The invention aims to provide a positioning device, a positioning base station, a spatial positioning system and a spatial positioning method, so as to realize spatial positioning quickly and accurately.
In order to achieve the above object, a first aspect of an embodiment of the present invention provides a positioning apparatus, including:
a housing;
the photosensitive sensor is arranged on the shell;
the ultrasonic receiver is arranged on the shell, and the position of the ultrasonic receiver is different from that of the photosensitive sensor.
Optionally, the housing is embodied as a spherical housing.
Optionally, the positioning range of the positioning device is a;
the light beam receiving range of each photosensitive sensor is B, at least M photosensitive sensors are arranged on the shell, and M is obtained by rounding the A/B upwards;
the beam width receiving range of each ultrasonic receiver is C, at least N photosensitive sensors are arranged on the shell, and N is obtained by rounding the A/C upwards.
Optionally, receiving surfaces of M of the photosensitive sensors and receiving surfaces of N of the ultrasonic receivers are uniformly distributed on the housing.
Optionally, an optical filter is further disposed on the photosensitive sensor.
Optionally, the photosensor is a photodiode, a phototriode, or a silicon photocell.
Optionally, the positioning apparatus further includes a radio frequency signal receiving device, the radio frequency signal receiving device is disposed in the housing, and the radio frequency signal receiving device is configured to receive the synchronization signal.
Optionally, the positioning device further comprises a motion sensor.
A second aspect of the embodiments of the present invention provides a positioning base station, including:
a base;
a rotating shaft disposed on the base;
a first laser scanner disposed at a first position of the rotation axis;
the second laser scanner is arranged at a second position of the rotating shaft, the second position is different from the first position, a first scanning plane corresponding to the first laser scanner and a second scanning plane corresponding to the second laser scanner can intersect to form a straight line when scanning to the same point in space, and the first scanning plane and the second scanning plane are not perpendicular to the rotating shaft;
and the ultrasonic transmitter is arranged on the base.
Optionally, a wavelength of the laser scanning signal emitted by the first laser scanner is a first wavelength, a wavelength of the laser scanning signal emitted by the second laser scanner is a second wavelength, and the first wavelength is different from the second wavelength.
Optionally, the light sources of the first laser scanner and the second laser scanner are the same laser light source, and the laser light generated by the laser light source is respectively conducted to the first laser scanner and the second laser scanner through a light splitting device.
Optionally, the positioning base station further includes a synchronization device, the synchronization device is disposed on the base, and the synchronization device is configured to send a synchronization signal.
Optionally, the synchronization device is embodied as an LED array and/or a radio frequency signal generator.
Optionally, the positioning base station further includes a rotation axis positioning device, and the rotation axis positioning device is configured to detect a rotation position of the rotation axis.
A third aspect of the embodiments of the present invention further provides a spatial positioning system, including a positioning base station, a positioning device, and a data processing device;
a positioning device as provided in the first aspect;
positioning a base station as provided in the second aspect;
the data processing device is specifically configured to determine, according to the laser scanning signal sent by the positioning base station, a direction of the positioning device relative to the positioning base station, and determine, according to the ultrasonic signal sent by the positioning base station, a distance of the positioning device relative to the positioning base station, so as to determine a position of the positioning device in space.
The fourth aspect of the embodiments of the present invention further provides a spatial positioning method, including:
the positioning base station drives a first laser scanner and a second laser scanner to rotate through a rotating shaft and sends out a first laser scanning signal, a second laser scanning signal and an ultrasonic signal, a first scanning plane corresponding to the first laser scanner and a second scanning plane corresponding to the second laser scanner can intersect into a straight line when scanning to the same point in a space, and a first scanning line sent by the first laser scanner and a second scanning line sent by the second laser scanner are not perpendicular to the rotating shaft;
the positioning equipment receives the first laser scanning signal, the second laser scanning signal and the ultrasonic signal through a photosensitive sensor and an ultrasonic receiver;
and the data processing equipment determines the position of the positioning equipment relative to the positioning base station according to the sending time points and the receiving time points of the first laser scanning signal, the second laser scanning signal and the ultrasonic signal.
Optionally, before the positioning base station drives the first laser scanner and the second laser scanner to rotate through a rotation axis and sends out the first laser scanning signal, the second laser scanning signal, and the ultrasonic signal, the method further includes:
the positioning base station sends a synchronous optical signal and a synchronous radio frequency signal to the positioning equipment;
when the positioning device receives the synchronous optical signal, if the synchronous radio frequency signal is received at the same time, the rising edge of the synchronous optical signal is used as the synchronous time.
One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:
the technical scheme in the embodiment of the invention utilizes the characteristic that light is transmitted along a straight line, determines the direction of the positioning equipment relative to the positioning base station according to the laser scanning signal, and determines the distance of the positioning equipment relative to the positioning base station according to the ultrasonic signal sent by the positioning base station by utilizing the principle of ultrasonic ranging, thereby being capable of determining the position of the positioning equipment in space.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive exercise:
FIG. 1 is a block diagram of a spatial location system according to an embodiment of the present invention;
FIG. 2 is a front view of the positioning apparatus 10 provided by an embodiment of the present invention;
fig. 3 is a schematic view of a positioning range of the positioning apparatus provided in this embodiment;
fig. 4 is a schematic internal structural diagram of the positioning apparatus 10 provided in this embodiment;
FIG. 5 is a circuit diagram of the pointing device 10 according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a positioning base station provided in this embodiment;
fig. 7 is a schematic diagram of the positioning base station 20 according to this embodiment emitting a laser scanning signal.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a block diagram of a spatial positioning system according to an embodiment of the present invention, as shown in fig. 1, the spatial positioning system includes a positioning device 10, a positioning base station 20, and a data processing device 30, where the data processing device 30 is capable of determining a direction of the positioning device 10 relative to the positioning base station 20 according to a laser scanning signal emitted by the positioning base station 20, and determining a distance of the positioning device 10 relative to the positioning base station 20 according to an ultrasonic signal emitted by the positioning base station 20, so as to determine a position of the positioning device 10 in a space.
It can be seen that, in the technical solution in this embodiment, a characteristic that light propagates along a straight line is utilized, a direction of the positioning device 10 relative to the positioning base station 20 is determined according to a laser scanning signal, and a principle of ultrasonic ranging is utilized, and a distance of the positioning device 10 relative to the positioning base station 20 is determined according to an ultrasonic signal emitted by the positioning base station 20, so that a position of the positioning device 10 in a space can be determined.
In the following section, the above-described technical solutions will be described in detail.
Referring to fig. 2, fig. 2 is a front view of a positioning apparatus 10 according to an embodiment of the present invention, and as shown in fig. 2, the positioning apparatus 10 includes:
a housing 101;
the photosensitive sensor 102 is arranged on the shell 101, and in the embodiment, a receiving window of the photosensitive sensor 102 on the surface of the shell 101 is hexagonal;
the ultrasonic receiver 103 is disposed on the housing 101, and a position of the ultrasonic receiver 103 is different from a position of the photosensitive sensor 102, in this embodiment, a receiving window of the ultrasonic receiver 103 on a surface of the housing 101 is circular.
In a specific implementation, as shown in fig. 2, the housing 101 is embodied as a spherical housing. Of course, in other embodiments, the casing 101 may be configured as a cubic casing, an ellipsoidal casing, a pyramidal casing, etc. according to actual situations, so as to meet the needs of the actual situations, and will not be described herein again.
In a specific implementation process, please refer to fig. 3, fig. 3 is a schematic view of a positioning range of the positioning apparatus provided in this embodiment, as shown in fig. 3, in this embodiment, the positioning range of the positioning apparatus is a, for example, a may be 300 °;
setting the light beam receiving range of each photosensitive sensor 102 to be B, for example, B may be 25 ° or 30 °, and the like, and at least M photosensitive sensors 102 are disposed on the casing 101, where M is obtained by rounding up a/B;
specifically, the light beam receiving range of the photosensitive sensor 102 may be twice the half angle (half angle) of the light beam, and is specifically a conical shape, so in order to ensure that the photosensitive sensor 102 can collect all the laser scanning signals within the positioning range a of the positioning apparatus, at least M photosensitive sensors need to be disposed on the housing 101, where M is obtained by rounding up a/B, for example, in this embodiment, M is 12, and in another embodiment, if a is 300 ° and B is 35 °, M is 9 by rounding up (300 °/35 ° -8.5714), and thus, the description is omitted.
It should be noted that the number of the photosensitive sensors 102 is also related to the laser scanning signals emitted from the positioning base station 20, specifically, if the laser scanning signals emitted from the positioning base station 20 only include signals with 1 wavelength, the number of the photosensitive sensors 102 is at least M, and if the laser scanning signals emitted from the positioning base station 20 only include signals with 2 wavelengths, the number of the photosensitive sensors 102 is at least 2M.
The beam width (total beam angle) receiving range of each ultrasonic receiver 103 is set to C, for example, C may be 40 ° or 50 °, and at least N photosensitive sensors 102 are disposed on the housing 101, where N is obtained by rounding up a/C. The number of ultrasonic receivers 103 is set in accordance with the principle of the light-sensitive sensor 102 and will not be described in detail here.
Of course, in another embodiment, in order to ensure that the laser scanning signal and the ultrasonic signal transmitted by the positioning base station 20 can be accurately received, more photosensitive sensors and ultrasonic sensors may be disposed on the housing 101 of the positioning apparatus 10, which is not limited herein.
In the present embodiment, in order to ensure accurate reception of the laser scanning signal and the ultrasonic signal transmitted from the positioning base station 20, as shown in fig. 2, the receiving surfaces of the M photosensors 102 and the receiving surfaces of the N ultrasonic receivers 103 are uniformly distributed on the housing 101.
Of course, in another embodiment, a person skilled in the art can suitably adjust the positions of the receiving surfaces of the M photosensitive sensors 102 and the receiving surfaces of the N ultrasonic receivers 103 according to actual conditions, so that the receiving surfaces of the M photosensitive sensors 102 and the receiving surfaces of the N ultrasonic receivers 103 are non-uniformly distributed on the housing 101 to meet the requirements of the actual conditions, for example, more photosensitive sensors 102 and ultrasonic receivers 103 are arranged in a range where positioning is frequently performed on the positioning apparatus 10, less photosensitive sensors 102 and ultrasonic receivers 103 are arranged in a range where positioning is less frequently performed, and the like, without limitation.
In a specific implementation process, in order to avoid interference of external ambient light to the photosensitive sensor 102, an optical filter is further disposed on the photosensitive sensor 102, and the optical filter is used for filtering out ambient light, so that the photosensitive sensor can only receive laser scanning light emitted by the positioning base station 20, and details are not repeated here. Of course, if the positioning base station 20 transmits the synchronization signal through the light emitted from the LED array, the light emitted from the LED array cannot be filtered by the filter.
Referring to fig. 4, fig. 4 is a schematic view of an internal structure of the positioning apparatus 10 provided in this embodiment, as shown in fig. 4, a cylinder inside a casing 101 of the positioning apparatus 10 is a photosensitive sensor 102 or an ultrasonic receiver 103, and certainly, the photosensitive sensor 102 and the ultrasonic receiver 103 need to be connected to an internal processing chip through a certain circuit, which is not described herein again.
As before, if the laser scanning signal emitted by the positioning base station 20 includes two wavelengths, two photosensitive sensors 102 with corresponding wavelengths are disposed in the hollow cylinder where each hexagonal receiving surface is located, so as to receive the laser scanning signals with two wavelengths, which is not described herein again.
Referring to fig. 5, fig. 5 is a circuit diagram of the positioning apparatus 10 according to the embodiment of the present invention, as shown in fig. 5, M photosensitive sensors 102 and N ultrasonic receivers 103 are respectively connected in parallel, so that all the photosensitive sensors and the ultrasonic receivers need only two signal processing circuits in total, only the earliest received signal needs to be processed for the laser scanning signal and the ultrasonic signal, and the circuit cost and the processing cost are greatly reduced.
In an implementation, the photosensor 102 is a photodiode, a phototransistor, or a silicon photocell, and the like, which is not limited herein.
In a specific implementation process, the positioning apparatus 10 further includes a radio frequency signal receiving device, which is disposed in the casing 101 and is used for receiving the synchronization signal.
In a specific implementation process, the positioning device 10 may further include a motion sensor, where the motion sensor detects motion data of the positioning terminal, and performs correction calculation and compensation on the spatial position of the positioning terminal by using the motion data. The motion sensor may be one or more of an Inertial sensor (IMU), an acceleration sensor, and a gyroscope. When the positioning device 10 of the present embodiment is installed in another intelligent terminal for use, the motion sensor may be a motion sensor on the intelligent terminal, which is not described herein again.
In practical applications, the positioning device 10 may be integrated into a handheld device or a head-mounted device, which is not limited herein.
In the following section, the specific structure and operation of the positioning base station 20 will be described.
Referring to fig. 6A and 6B, fig. 6A is a front view of the positioning base station provided in this embodiment, and fig. 6B is a perspective view of the positioning base station provided in this embodiment, as shown in fig. 6A and 6B, the positioning base station 20 includes:
a base 201;
a rotating shaft 202 provided on the base 201; in a specific implementation process, the rotating shaft 202 may be driven to rotate by one or more motors, which is not limited herein;
a first laser scanner 203 provided at a first position of the rotation axis 202;
the second laser scanner 204 is arranged at a second position of the rotating shaft 202, the second position is different from the first position, when a first scanning plane corresponding to the first laser scanner 203 and a second scanning plane corresponding to the second laser scanner 204 scan to the same point in space, the first scanning plane and the second scanning plane can intersect to form a straight line, and a first scanning line emitted by the first laser scanner 203 and a second scanning line emitted by the second laser scanner 204 are not perpendicular to the rotating shaft;
an ultrasonic transmitter 205 disposed on the base 201; in this embodiment, the ultrasonic transmitter 205 is an omnidirectional ultrasonic transmitter.
In this embodiment, the first laser scanner 203 may emit point laser light by a laser generator, and shape the point laser light into a word line laser light by a word line lens, such as a cylindrical lens, a powell prism, or a word line wave prism, so that the word line laser light emitted by the first laser scanner 203 forms a first laser scanning plane, and the space is scanned by the rotation of the rotating shaft 202. In another embodiment, the first laser scanner 203 can also directly emit a word line laser through a word line laser, which is not described herein again.
The specific structure of the second laser scanner 204 is identical to that of the first laser scanner 203, and will not be described herein again.
Of course, in another embodiment, the accuracy of positioning the direction of the positioning apparatus 10 can be improved by disposing more laser scanners on the rotation axis 202, but the principle of the positioning apparatus will not be changed, and thus the description is omitted here.
It should be noted that, in this embodiment, the heights of the first laser scanner 203 and the second laser scanner 204 in the vertical direction are the same, and in other embodiments, the heights of the first laser scanner 203 and the second laser scanner 204 in the vertical direction may also be different, that is, the first laser scanner 203 and the second laser scanner 204 may be at relative positions of one on top of the other on the rotation axis 202, which is not limited herein.
Referring to fig. 7, fig. 7 is a schematic diagram of a laser scanning signal emitted by the positioning base station 20 according to the embodiment, as shown in fig. 7, in the embodiment, a first scanning plane 701 corresponding to the first laser scanner 203 is a vertical plane, and a second scanning plane 702 corresponding to the second laser scanner 204 is a plane having an angle of 45 ° with the vertical direction.
In a specific implementation process, in order to distinguish between the laser scanning signal emitted by the first laser scanner 203 and the laser scanning signal emitted by the second laser scanner 204, the wavelength of the laser scanning signal emitted by the first laser scanner 203 is a first wavelength, the wavelength of the laser scanning signal emitted by the second laser scanner 204 is a second wavelength, and the first wavelength is different from the second wavelength.
In practical applications, for example, laser beams with different wavelengths can be generated by two laser generators and transmitted to the first laser scanner 203 and the second laser scanner 204.
Of course, in another embodiment, the light sources of the first laser scanner and the second laser scanner may be the same laser light source, and the laser generated by the laser light source may be split into the first laser scanner 203 and the second laser scanner 204 by a light splitting device such as a beam splitter, and the laser scanning signal emitted by the first laser scanner 203 and the laser scanning signal emitted by the second laser scanner 204 may be distinguished in a time sequence manner, for example, the positioning base station 20 may further include a synchronizing device, which emits a synchronizing signal first and then distinguishes the laser scanning signal emitted by the first laser scanner 203 and the laser scanning signal emitted by the second laser scanner 204 according to the scanning sequence of the first laser scanner 203 and the second laser scanner 204.
In a specific implementation process, the synchronization device may specifically be an LED array and/or a radio frequency signal generator, for example, a synchronization light signal is emitted through the LED array, the synchronization light signal may be, for example, an infrared light signal, and the positioning apparatus 10 can use the current time point as a synchronization time point after receiving the synchronization light signal through the photosensitive sensor 102; similarly, after the radio frequency signal generating device generates and transmits the synchronous radio frequency signal, and the positioning device 10 receives the synchronous radio frequency signal through the radio frequency signal receiving device, the current time point can also be taken as the synchronous time point, which is not described herein again.
It should be noted that, when the synchronization apparatus is an LED array, the positioning device 10 may receive the synchronization light signal emitted by the LED array through the photosensitive sensor 102, or an additional photosensitive sensor may be specially arranged to receive the synchronization light signal emitted by the LED array, which is not limited herein.
Referring to fig. 6A and 6B, as shown in fig. 6A and 6B, in the present embodiment, the LED array 2061 includes a plurality of sub-arrays, and the rf signal generator may be disposed at any position in the positioning base station 20, which is not shown in the drawings.
It should be noted that fig. 6A and fig. 6B are schematic diagrams, in another embodiment, the base 201 may be set to have other suitable shapes according to practical situations, and the LED arrays 2061 may also be set to have a suitable number to meet the needs of practical situations, which is not described herein again.
When the LED array is used alone to transmit the synchronization light signal, the pulse width of the photosensitive sensor 102 may change due to the distance and angle between the LED array and the photosensitive sensor 102 on the positioning device 10, and noise may be generated due to external light, and it is easy to make a mistake in separately determining the rising edge of the synchronization light signal, so that an accurate synchronization time cannot be obtained, and therefore, an error may be caused when the LED array is used alone to transmit the synchronization signal.
When the radio frequency signal generator is used alone to transmit the synchronous radio frequency signal, because the circuit characteristics may cause the uncertainty of the time when the synchronous radio frequency signal reaches the radio frequency signal receiver on the positioning device, and there is a certain time delay, so that the accurate synchronization time cannot be obtained, the error may also be caused by using the radio frequency signal generator alone to transmit the synchronous radio frequency signal.
Therefore, in order to avoid the defect that an error may be caused when the LED array and/or the radio frequency signal generating device are used alone to transmit the synchronization signal in practical application, the embodiment adopts a manner of combining the two devices, which is specifically as follows:
when the synchronization time arrives, that is, when the time required to send the synchronization signal arrives, the positioning base station 20 sends out the synchronization optical signal through the LED array and the radio frequency signal generating device sends out the synchronization radio frequency signal at the same time, when the photosensitive sensor 102 in the positioning device 10 receives the synchronization optical signal, it is determined whether the synchronization radio frequency signal is received at the same time, if the synchronization radio frequency signal is received, specifically, for example, it is detected whether the synchronization radio frequency signal whose duration exceeds the preset value is received, it is indicated that the signal is an effective synchronization signal, and the rising edge of the synchronization optical signal can be used as the synchronization time.
It can be seen that the manner of sending out the synchronization light signal by the LED array has the advantage of being able to accurately determine the receiving time of the synchronization light signal, but the signal is unstable due to practical application conditions or external interference, the mode of sending the synchronous radio frequency signal by the radio frequency signal generating device has the advantage of high reliability of the sent signal, however, a certain time delay is caused by the circuit characteristics, and the scheme in the embodiment combines the two, the advantages of precisely determining the receiving time of the mode of sending the synchronous light signals by the LED array and the advantages of high signal reliability of the mode of sending the synchronous radio frequency signals by the radio frequency signal generating device can be kept, meanwhile, the defect that a mode of sending synchronous optical signals through the LED array has unstable signals is avoided, and the defect that a mode of sending synchronous radio frequency signals by the radio frequency signal generating device has certain time delay is also avoided.
After the synchronization device sends the synchronization signal, and the positioning apparatus 10 receives the synchronization signal, it is set that the first laser scanner 203 sends out the laser scanning signal and the second laser scanner 204 sends out the laser scanning signal according to the rotation direction of the rotation shaft 202, so that it is possible to determine that the laser scanning signal received by the positioning apparatus 10 for the first time is sent out by the first laser scanner 203 and that the laser scanning signal received by the positioning apparatus 10 for the second time is sent out by the second laser scanner 204.
In a specific implementation, the positioning base station 20 further includes a rotation axis positioning device, and the rotation axis positioning device is configured to detect a rotation position of the rotation axis. In practical application, the rotating shaft positioning device can be composed of a Hall sensor and a magnet, or can be composed of a laser generator and a photosensitive sensor, or can be composed of a code disc.
First, a case where the rotation axis positioning device is composed of a hall sensor and a magnet is described: the magnet can be set up the fixed position on rotation axis 202, hall sensor sets up near the motion path of magnet on base 201, like this, when rotation axis 202 was rotatory, the magnet passes through the position at hall sensor place, arouse the change of the magnetic field near hall sensor, therefore hall sensor can output a pulse signal, after controlling means such as singlechip, processing chip etc. in the location base station 20 received this pulse signal, can control synchronizer promptly and send synchronizing signal, and rotation axis 202 can drive first laser scanner 203 and second laser scanner 204 and scan, when the magnet passes through the position at hall sensor place again after rotation axis 202 rotates a week, can trigger hall sensor again promptly and output pulse signal, just no longer repeated here.
Of course, in practical applications, it may also be set that after the hall sensor outputs the pulse signal for the preset number of times, for example, after the hall sensor outputs the pulse signal for two times, that is, after the rotating shaft 202 rotates twice, the control device in the positioning base station 20 outputs the synchronization signal, and the specific value of the preset number of times may be determined according to the actual situation to meet the needs of the actual situation, which is not described herein again.
Next, a case where the rotation axis positioning device is composed of a laser generator and a photosensor is described: photosensitive sensor can set up on rotation axis 202, laser generator can set up on base 201, thus, photosensitive sensor is under rotation axis 202's drive, photosensitive sensor is when the position at laser generator place, will be under the triggering of the laser that laser generator sent and generate the signal of telecommunication, this signal of telecommunication is received by the controlling means in the basic station 20 of being fixed a position, can control synchronizer and send synchronizing signal promptly, and rotation axis 202 can drive first laser scanner 203 and second laser scanner 204 and scan, photosensitive sensor is when passing through the position at laser generator place again after rotation axis 202 rotation a week, can trigger photosensitive sensor output signal of telecommunication again promptly, just no longer repeated herein.
Of course, in practical applications, the positions of the laser generator and the light sensor are not limited to the above manner, for example, the laser generator may be disposed on the rotating shaft 202, and the light sensor may be disposed on the base 201, or the laser generator and the light sensor may be disposed on the rotating shaft 202 or the base 201 at the same time, and the reflective strip or the reflective mirror may be attached to the corresponding position on the base 201 or the rotating shaft 202, or the infrared integrated transceiver may be disposed on the rotating shaft 202 or the base 201, and the reflective strip or the reflective mirror may be attached to the corresponding position on the base 201 or the rotating shaft 202, and so on, which will not be described herein again.
It should be noted that the light sensor and the laser generator in the rotation axis positioning device need to be separated from the light sensor in the positioning apparatus 10 and the optical scanner in the positioning base station 20, so as to avoid interference with the laser positioning data in the positioning apparatus 10 and the positioning base station 20, for example, the separation can be performed by setting different wavelengths.
Finally, the case where the rotating shaft positioning device is composed of code disks is described: the code disc (english: encoding disk) is a digital encoder for measuring angular displacement, and includes two types, i.e., a contact encoder and an optical encoder, the contact encoder or the optical encoder may be disposed on the rotating shaft 202, so that the position of the rotating shaft 202 can be accurately measured in the rotating process of the rotating shaft 202, and a corresponding signal is generated, and the control device in the positioning base station 20 can control the synchronization device to generate and send out a synchronization signal according to the signal, which is not described herein again.
Certainly, in an ideal situation, if the time on the positioning device 10 is the same as the time on the positioning base station 20, the positioning base station 20 is not required to generate a synchronization signal, and the position of the positioning device can be determined according to the sending time point of the positioning base station sending the laser scanning signal and the ultrasonic signal and the receiving time point of the positioning device receiving the laser scanning signal and the ultrasonic signal, which is not described herein again.
After describing the positioning device 10 and the positioning base station 20, in the following section, how the spatial positioning system provided in the present embodiment performs positioning specifically will be described, the data processing device 30 in the present embodiment performs positioning by combining the laser direction-measuring principle and the ultrasonic distance-measuring principle:
1. supposing that the laser scanning signal scans according to the angular speed of theta/second, timing is started from the starting position, the time from the starting of the positioning light beam to the receiving of the laser scanning signal by the positioning device 10 is t seconds, and then the included angle α between the position of the positioning device 10 and the starting position of the laser scanning signal is theta x t, so that the direction vector of the positioning terminal relative to the base station can be accurately determined by scanning laser in two directions;
specifically, taking number 01 photosensor on positioning apparatus 10 as an example, assuming that the point is p0, assuming that rotation axis 202 on positioning base station 20 is constantly rotating at θ angular velocity, the calculation method of the direction vector of positioning base station 20 pointing to point p0 is as follows:
the first laser scanner 203 sends out a first laser scanning signal after receiving the synchronization signal, records a sending time point, records a receiving time point until the photosensitive sensor # 01 on the positioning device 10 is scanned by a first scanning plane corresponding to the first laser scanner 203, that is, the positioning device 10 receives the first laser scanning signal, and sets a difference value between the sending time point and the receiving time point of the first laser scanning signal to be t1, so that an obtained deflection angle α ═ θ t1 is a deflection angle of the p0 point relative to the first scanning plane;
similarly, by recording the sending time point and the receiving time point of the second scanning signal sent by the second laser scanner 204, the difference between the sending time point and the receiving time point of the second laser scanning signal is set to be t2, and the obtained deflection angle β ═ θ t2 is the deflection angle of the p0 point relative to the second scanning plane;
thus, knowing the two azimuth angles as constraints, the direction vector of the origin pointing to the point p0, that is, the direction vector of the positioning base station 20 pointing to the point p0, has a variety of specific mathematical calculation methods, and is not described herein again.
2. Ultrasonic distance measurement principle: if the propagation speed of the ultrasonic signal in the air is V, the time from the transmission of the ultrasonic signal to the reception of the positioning apparatus 10 is t3 seconds, and the example d between the positioning apparatus 10 and the positioning base station 20 is V × t 3. Of course, in the actual calculation, since the transmission speed of the ultrasonic wave is different at different temperatures, V needs to be adjusted according to the current temperature to ensure the accuracy of the calculation result, which is not described herein again.
In a specific implementation process, the data processing device 30 may obtain data in the positioning device 10 and the positioning base station 20 in a wired or wireless manner, which is not described herein again.
In practical application, in order to avoid the echo interference of the ultrasonic wave, the time interval between two times of sending the ultrasonic wave signals can be set to be large enough, and in addition, because the signal intensity value of the echo interference of the ultrasonic wave is small, the ultrasonic wave signals with the filtering intensity value being too small can be set, so that the accuracy of the measured distance is ensured.
Taking the accurate positioning distance of the positioning base station 20 as 5m as an example, the time consumed by the ultrasonic signal propagation for 5m is about 15ms, so the interval between two ultrasonic signals can be set to 20ms, and certainly, theoretically, the interval is only greater than 15 ms; in addition, the intensity value of the ultrasonic signal at a distance of 5m from the positioning base station 20 may be used as a standard intensity value, and signals smaller than the standard intensity value may be filtered. By either or a combination of these two methods, the interference of the ultrasonic echo signal can be preferably avoided, and will not be described herein again.
Because the precision of laser measurement and ultrasonic measurement is in millimeter level to positioning speed is in the millisecond level, so positioning accuracy and positioning speed all improve greatly in comparison with prior art, realized fast and accurately realize the technological effect of space location.
In practical applications, the data processing device 30 may be physically integrated with the positioning device 10 or the positioning base station 20, or may exist independently, which is not limited herein.
Based on the foregoing description, it can be seen that the positioning device 10 can be positioned in a space by a single positioning base station 20, that is, by a single positioning base station 20 in a space, an omnidirectional positioning effect can be achieved in the present embodiment.
The embodiment also provides a spatial positioning method, which comprises the following steps:
firstly, a positioning base station drives a first laser scanner and a second laser scanner to rotate through a rotating shaft, and sends out a first laser scanning signal, a second laser scanning signal and an ultrasonic signal, a first scanning plane corresponding to the first laser scanner and a second scanning plane corresponding to the second laser scanner can intersect into a straight line when scanning to the same point in a space, and the first scanning plane and the second scanning plane are not perpendicular to the rotating shaft;
then, the positioning equipment receives a first laser scanning signal, a second laser scanning signal and an ultrasonic signal through a photosensitive sensor and an ultrasonic receiver;
finally, the data processing device determines the position of the positioning device relative to the positioning base station according to the sending time point and the receiving time point of the first laser scanning signal, the second laser scanning signal and the ultrasonic signal.
In a specific implementation process, before the positioning base station drives the first laser scanner and the second laser scanner to rotate through a rotating shaft and sends out a first laser scanning signal, a second laser scanning signal and an ultrasonic signal, the method further comprises:
the positioning base station sends a synchronous optical signal and a synchronous radio frequency signal to the positioning equipment;
when the positioning device receives the synchronous optical signal, if the synchronous radio frequency signal is received at the same time, the rising edge of the synchronous optical signal is used as the synchronous time.
The specific operation process of the spatial location method provided in this embodiment has already been described in detail in the foregoing section, and is not repeated herein for brevity of the description.
One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:
the technical scheme in the embodiment of the invention utilizes the characteristic that light is transmitted along a straight line, determines the direction of the positioning equipment 10 relative to the positioning base station 20 according to the laser scanning signal, and determines the distance of the positioning equipment 10 relative to the positioning base station 20 according to the ultrasonic signal sent by the positioning base station 20 by utilizing the principle of ultrasonic ranging, so that the position of the positioning equipment 10 in space can be determined.
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
Any feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
The invention is not limited to the foregoing embodiments. The invention extends to any novel feature or any novel combination of features disclosed in this specification and any novel method or process steps or any novel combination of features disclosed.
Claims (7)
1. A positioning base station, comprising:
a base;
a rotating shaft disposed on the base;
a first laser scanner disposed at a first position of the rotation axis;
the second laser scanner is arranged at a second position of the rotating shaft, the second position is different from the first position, a first scanning plane corresponding to the first laser scanner and a second scanning plane corresponding to the second laser scanner can intersect to form a straight line when scanning to the same point in space, and a first scanning line emitted by the first laser scanner and a second scanning line emitted by the second laser scanner are not perpendicular to the rotating shaft;
the ultrasonic transmitter is arranged on the base;
the positioning base station also comprises a synchronizing device, the synchronizing device is arranged on the base and used for sending a synchronizing signal, the synchronizing device is specifically an LED array and a radio frequency signal generator, when a synchronizing time arrives, namely when a time needing to send the synchronizing signal arrives, the positioning base station sends a synchronizing light signal through the LED array and sends a synchronizing radio frequency signal through the radio frequency signal generator, when a photosensitive sensor in the positioning equipment receives the synchronizing light signal, whether the synchronizing radio frequency signal is received at the same time is judged, if the synchronizing radio frequency signal is received, the signal is an effective synchronizing signal, and a rising edge of the synchronizing light signal is used as the synchronizing time.
2. The positioning base station of claim 1, wherein the wavelength of the laser scanning signal emitted by the first laser scanner is a first wavelength, and the wavelength of the laser scanning signal emitted by the second laser scanner is a second wavelength, and wherein the first wavelength is different from the second wavelength.
3. The positioning base station according to claim 1, wherein the light sources of the first laser scanner and the second laser scanner are the same laser light source, and laser light generated by the laser light source is split to the first laser scanner and the second laser scanner by a light splitting device.
4. The positioning base station of claim 1, further comprising a rotation axis positioning device configured to detect a rotational position of the rotation axis.
5. A spatial positioning system comprising a positioning base station, a positioning device and a data processing device according to any of claims 1-4;
the positioning device comprises a photosensitive sensor and is arranged on the shell; the ultrasonic receiver is arranged on the shell, and the position of the ultrasonic receiver is different from that of the photosensitive sensor;
the data processing device is specifically configured to determine, according to a laser scanning signal emitted by the positioning base station, a direction of the positioning device relative to the positioning base station, and determine, according to an ultrasonic signal emitted by the positioning base station, a distance of the positioning device relative to the positioning base station, so as to determine a position of the positioning device in space;
if the laser scanning signal sent out from the positioning base station only comprises signals with 1 wavelength, the positioning range of the positioning equipment is A, the light beam receiving range of each photosensitive sensor is B, at least M photosensitive sensors are arranged on the shell, and M is obtained by rounding the A/B upwards; if the laser scanning signal emitted by the positioning base station only comprises signals with 2 wavelengths, the number of the photosensitive sensors is at least 2M.
6. A spatial localization method, comprising:
the positioning base station drives a first laser scanner and a second laser scanner to rotate through a rotating shaft and sends out a first laser scanning signal, a second laser scanning signal and an ultrasonic signal, a first scanning plane corresponding to the first laser scanner and a second scanning plane corresponding to the second laser scanner can intersect into a straight line when scanning to the same point in a space, and a first scanning line sent by the first laser scanner and a second scanning line sent by the second laser scanner are not perpendicular to the rotating shaft;
the positioning base station also comprises a synchronizing device, the synchronizing device is arranged on the base and used for sending a synchronizing signal, the synchronizing device is specifically an LED array and a radio frequency signal generator, when a synchronizing time arrives, namely when a time needing to send the synchronizing signal arrives, the positioning base station sends a synchronizing light signal through the LED array and sends a synchronizing radio frequency signal through the radio frequency signal generator, when a photosensitive sensor in the positioning equipment receives the synchronizing light signal, whether the synchronizing radio frequency signal is received at the same time is judged, if the synchronizing radio frequency signal is received, the signal is an effective synchronizing signal, and the rising edge of the synchronizing light signal is used as the synchronizing time;
the positioning equipment receives the first laser scanning signal, the second laser scanning signal and the ultrasonic signal through a photosensitive sensor and an ultrasonic receiver;
and the data processing equipment determines the position of the positioning equipment relative to the positioning base station according to the sending time points and the receiving time points of the first laser scanning signal, the second laser scanning signal and the ultrasonic signal.
7. The spatial location method of claim 6, wherein before the positioning base station rotates the first laser scanner and the second laser scanner through a rotation axis and emits the first laser scanning signal, the second laser scanning signal, and the ultrasonic signal, the method further comprises:
the positioning base station sends a synchronous optical signal and a synchronous radio frequency signal to the positioning equipment;
when the positioning device receives the synchronous optical signal, if the synchronous radio frequency signal is received at the same time, the rising edge of the synchronous optical signal is used as the synchronous time.
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| CN201610522023.8A CN105974359B (en) | 2016-06-30 | 2016-06-30 | Positioning equipment, positioning base station, space positioning system and method |
| CN201610944492.9A CN106546950A (en) | 2016-06-30 | 2016-06-30 | A kind of locating base station |
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