CN106093863A - A kind of object localization method using laser scanning and laser receiver - Google Patents
A kind of object localization method using laser scanning and laser receiver Download PDFInfo
- Publication number
- CN106093863A CN106093863A CN201610379036.4A CN201610379036A CN106093863A CN 106093863 A CN106093863 A CN 106093863A CN 201610379036 A CN201610379036 A CN 201610379036A CN 106093863 A CN106093863 A CN 106093863A
- Authority
- CN
- China
- Prior art keywords
- laser
- scanning device
- rotary scanning
- receiver
- rotation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
Abstract
The present invention relates to electronic technology field, particularly relate to a kind of object localization method using laser scanning and laser receiver, including: laser receiver record receives the very first time of the synchronizing signal that the first laser rotary scanning device is launched and receives the second time of laser signal, determine and receive duration and determine the anglec of rotation of the first laser rotary scanning device according to reception duration, the anglec of rotation according to N number of laser rotary scanning device determines the position (identical with target object position) of laser receiver, first laser rotary scanning device is any one in N number of laser rotary scanning device of laser beam emitting device, N is more than or equal to 3.The method has only at least three laser rotary scanning device, can realize laser receiver is positioned, to light, mechanical, electrical less demanding, and the quantity of the laser-sensitive element in laser receiver has only to that at least one is the most permissible, thus apparatus structure is fairly simple.
Description
Technical field
The present invention relates to electronic technology field, particularly relate to a kind of object localization method using laser scanning and laser connects
Receiving apparatus.
Background technology
Location technology is the support technology of the application such as location Based service, virtual reality.For promoting Consumer's Experience, to fixed
The accuracy of position, requirement of real-time are more and more higher.Laser, due to monochromaticity, good directionality, is the master realizing targeting accuracy location
Want one of technological means.Laser has for target location and the main method followed the tracks of at present:
1) method based on Laser Measurement flight time (ToF, Time of Flight), typical case's application has laser ranging
Instrument, 2D (2dimensional, two dimension) laser radar, 3D (3dimensional, three-dimensional) laser radar.The method requires to reach
Accurate timing within nS (nanosecond) level, all has higher requirements to light, mechanical, electrical.And the method uses some hot spot, 3d space is swept
The time cycle length retouched, poor real.
2) method based on Laser Measurement angle of arrival (AoA, Angle of Arrival), utilizes laser direction good
Feature, the angle of arrival of Laser Measurement, then carry out target location by AoA method.The method is by installing on destination object
Multiple laser-sensitive elements, measure laser respectively and arrive the time of multiple laser-sensitive elements.Quick by each multiple laser
The alternate position spike of sensing unit, calculates position and the movement locus of target.The method is to the quantity of laser-sensitive element and installation position
It is equipped with rigors, causes apparatus structure complicated, be unfavorable for large-scale production and maintenance.
In sum, prior art object localization method exists higher to the requirement of equipment, and apparatus structure is more complicated
Problem.
Summary of the invention
The present invention provides a kind of object localization method using laser scanning and laser receiver, in order to solve existing skill
Art object localization method exists higher to the requirement of equipment, the problem that apparatus structure is more complicated.
On the one hand, the embodiment of the present invention provides a kind of object localization method using laser scanning, including:
Laser receiver record receives the very first time of the synchronizing signal that the first laser rotary scanning device is launched, institute
State any one in N number of laser rotary scanning device that the first laser rotary scanning device is laser beam emitting device, described laser
The lasing area that N number of laser rotary scanning device of discharger is launched can intersect at a point and described N number of laser rotary scanning dress
Putting and start by sequence, N is more than or equal to 3；
Described laser receiver record receives the of the laser signal that described first laser rotary scanning device is launched
Two times；
Described laser receiver, according to the described very first time and described second time, determines reception duration, described reception
Duration is for representing from receiving described synchronizing signal to the time interval receiving between laser signal；
Described laser receiver, according to described reception duration, determines the anglec of rotation of described first laser rotary scanning device
Degree；
Described laser receiver, according to the anglec of rotation of described N number of laser rotary scanning device, determines that described laser connects
The position of receiving apparatus, and using the position of described laser receiver as the position of destination object, described laser receiver position
Position in described destination object place.
The method that the embodiment of the present invention provides, laser receiver record receives the first laser rotary scanning device and launches
Very first time of synchronizing signal, when record receives the second of the laser signal that described first laser rotary scanning device is launched
Between, determine reception duration according to the described very first time and described second time, according to described reception duration, determine that described first swashs
The anglec of rotation of light rotating scanning device, and the anglec of rotation according to N number of laser rotary scanning device, determine that laser pick-off fills
The position put, and using the position of laser receiver as the position of destination object, described laser receiver is positioned at described mesh
The position at mark object place, wherein, the first laser rotary scanning device is N number of laser rotary scanning device of laser beam emitting device
In any one, the lasing area that N number of laser rotary scanning device of described laser beam emitting device is launched can intersect at a point and institute
Stating N number of laser rotary scanning device to start by sequence, N is more than or equal to 3.The laser beam emitting device of the method has only to three or
The laser rotary scanning device of more than three, it is possible to by receiving synchronizing signal and the laser signal that laser beam emitting device is launched
Realize location to laser receiver, thus realize the location to destination object, the method to light, mechanical, electrical less demanding, and
And the quantity of the laser-sensitive element in laser receiver has only to that at least one is the most permissible, thus apparatus structure is simpler
Single.
Alternatively, described laser receiver record receives the synchronizing signal of the first laser rotary scanning device transmitting
The very first time, including:
Described laser receiver receives described by least one the laser-sensitive element in described laser receiver
Synchronizing signal, and after receiving described synchronizing signal, notifies described in the timing unit record in described laser receiver
One time；
Described laser receiver record receives the of the laser signal that described first laser rotary scanning device is launched
Two times, including:
Described laser receiver receives described laser signal by least one laser-sensitive element described, and is receiving
After described laser signal, notify the second time described in described timing unit record.
Alternatively, described laser receiver, according to described reception duration, determines described first laser rotary scanning device
The anglec of rotation, including:
Described laser receiver is by described reception duration, during as the rotation of described first laser rotary scanning device
Long；
Described laser receiver is according to the rotation duration of described first laser rotary scanning device and described first laser
The rotating speed of rotating scanning device, determines the anglec of rotation of described first laser rotary scanning device.
Alternatively, described laser receiver, according to the anglec of rotation of described N number of laser rotary scanning device, determines described
The position of laser receiver, including:
Described laser receiver selects three laser rotary scanning devices from described N number of laser rotary scanning device,
The lasing area that described three laser rotary scanning devices are launched can intersect at a point；
Described laser receiver is according to the anglec of rotation of described three laser rotary scanning devices and described three laser
The position at rotating scanning device place, determines the position of described laser receiver by triangulation location.
Alternatively, described first laser rotary scanning device comprises a wordline laser module, DC Brushless Motor and driving
Device, mirror assembly, and described mirror assembly is fixed on described DC Brushless Motor and driver；
Described laser signal is launched as follows by described first laser rotary scanning device, including:
Described first laser rotary scanning device is by described mirror assembly swashing a described wordline laser module transmitting
Optical signal reflexes to monitored area and forms lasing area, and drives described mirror by the rotation of described DC Brushless Motor and driver
The rotation of face device so that monitored area described in lasing area rotation sweep, described destination object is positioned at described monitored area.
Alternatively, described synchronizing signal is launched as follows by described first laser rotary scanning device:
Described first laser rotary scanning device is examined by the angular transducer in described first laser rotary scanning device
Measure described DC Brushless Motor and time driver rotates to the initial angle needing to start scanning, launch institute by synchronization module
State synchronizing signal to described monitored area.
Alternatively, described laser beam emitting device comprises three laser rotary scanning devices, two of which laser rotary scanning
Mirror assembly in device rotates in the horizontal direction and is positioned at same level line with a wordline laser module；Another one laser revolves
Turn the mirror assembly in scanning means vertically to carry out rotating and being positioned at same vertical curve with a wordline laser module.
On the other hand, the embodiment of the present invention provides a kind of laser receiver, including:
Timing unit, receives the very first time of the synchronizing signal that the first laser rotary scanning device is launched for record,
Described first laser rotary scanning device is any one in N number of laser rotary scanning device of laser beam emitting device, described sharp
The lasing area that N number of laser rotary scanning device of light emitting devices is launched can intersect at a point and described N number of laser rotary scanning
Device is started by sequence, and N is more than or equal to 3；Record receives the laser signal of described first laser rotary scanning device transmitting
Second time；And according to the described very first time and described second time, determine that reception duration, described reception duration are used for representing
From receiving described synchronizing signal to the time interval receiving between laser signal；
Positioning unit, for according to described reception duration, determines the anglec of rotation of described first laser rotary scanning device；
According to the anglec of rotation of described N number of laser rotary scanning device, determine the position of described laser receiver, and by described laser
Receiving the position as destination object, the position of device, described laser receiver is positioned at the position at described destination object place.
Alternatively, described laser receiver also includes at least one laser-sensitive element, is used for: described same receiving
After step signal, notify the very first time described in described timing unit record；And after receiving described laser signal, notice is described
Second time described in timing unit record；
Described timing unit, specifically for: after the notice receiving at least one laser-sensitive element described, record institute
State the very first time；And record described second time after the notice receiving at least one laser-sensitive element described.
Alternatively, described positioning unit, specifically for:
By described reception duration, as the rotation duration of described first laser rotary scanning device；
Turning of duration and described first laser rotary scanning device is rotated according to described first laser rotary scanning device
Speed, determines the anglec of rotation of described first laser rotary scanning device.
Alternatively, described positioning unit, it is additionally operable to:
Three laser rotary scanning devices, described three laser rotaries are selected from described N number of laser rotary scanning device
The lasing area that scanning means is launched can intersect at a point；
The anglec of rotation according to described three laser rotary scanning devices and described three laser rotary scanning device places
Position, determined the position of described laser receiver by triangulation location.
Alternatively, described first laser rotary scanning device comprises a wordline laser module, DC Brushless Motor and driving
Device, mirror assembly, and described mirror assembly is fixed on described DC Brushless Motor and driver；
A described wordline laser module is used for launching laser signal to described mirror assembly；
Described mirror assembly, is formed for the laser signal that a described wordline laser module is launched is reflexed to monitored area
Lasing area；
Described DC Brushless Motor and driver, for driving institute by the rotation of described DC Brushless Motor and driver
Stating the rotation of mirror assembly so that monitored area described in described lasing area rotation sweep, described destination object is positioned at described monitoring
In region.
Alternatively, described first laser rotary scanning device also includes angular transducer, for described direct current being detected
When brushless motor and driver rotate to the initial angle needing to start scanning, notice synchronization module is launched described synchronizing signal and is arrived
Described monitored area.
Alternatively, described laser beam emitting device comprises three laser rotary scanning devices, two of which laser rotary scanning
Mirror assembly in device rotates in the horizontal direction and is positioned at same level line with a wordline laser module；Another one laser revolves
Turn the mirror assembly in scanning means vertically to carry out rotating and being positioned at same vertical curve with a wordline laser module.
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in embodiment being described below required for make
Accompanying drawing briefly introduce, it should be apparent that, below describe in accompanying drawing be only some embodiments of the present invention, for this
From the point of view of the those of ordinary skill in field, on the premise of not paying creative work, it is also possible to obtain it according to these accompanying drawings
His accompanying drawing.
A kind of object localization method flow chart using laser scanning that Fig. 1 provides for the embodiment of the present invention；
The laser beam emitting device schematic diagram of the type one that Fig. 2 provides for the embodiment of the present invention；
Laser rotary scanning device signal in the laser beam emitting device of the type two that Fig. 3 provides for the embodiment of the present invention
Figure；
The triangulation location schematic diagram that Fig. 4 provides for the embodiment of the present invention；
A kind of object localization method detail flowchart using laser scanning that Fig. 5 provides for the embodiment of the present invention；
A kind of laser receiver schematic diagram that Fig. 6 provides for the embodiment of the present invention.
Detailed description of the invention
In order to make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing the present invention made into
One step ground describes in detail, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole enforcement
Example.Based on the embodiment in the present invention, those of ordinary skill in the art are obtained under not making creative work premise
All other embodiments, broadly fall into the scope of protection of the invention.
Below in conjunction with Figure of description, the embodiment of the present invention is described in further detail.
As it is shown in figure 1, a kind of object localization method using laser scanning that the embodiment of the present invention provides, including:
Step 101, laser receiver record receive the of the synchronizing signal that the first laser rotary scanning device is launched
One time, described first laser rotary scanning device is any one in N number of laser rotary scanning device of laser beam emitting device,
The lasing area that N number of laser rotary scanning device of described laser beam emitting device is launched can intersect at a point and the rotation of described N number of laser
Turning scanning means to start by sequence, N is more than or equal to 3；
Step 102, described laser receiver record receive the laser that described first laser rotary scanning device is launched
Second time of signal；
Step 103, described laser receiver, according to the described very first time and described second time, determine reception duration,
Described reception duration is for representing from receiving described synchronizing signal to the time interval receiving between laser signal；
Step 104, described laser receiver, according to described reception duration, determine described first laser rotary scanning device
The anglec of rotation；
Step 105, described laser receiver, according to the anglec of rotation of described N number of laser rotary scanning device, determine institute
State the position of laser receiver, and using the position of described laser receiver as the position of destination object, described laser connects
Receiving apparatus is positioned at the position at described destination object place.
In embodiments of the present invention, object locating system comprises laser beam emitting device and laser receiver, and laser
Discharger comprises N number of laser rotary scanning device, and N is the integer more than or equal to 3, say, that in the present invention, laser
Discharger comprises at least three laser rotary scanning device, and described at least three laser rotary scanning device can be
It is installed as integrative-structure, it is also possible to be that the multiple laser rotary scanning devices in laser beam emitting device are independently distributed each other,
Below two kinds of laser beam emitting device is introduced respectively.
Type one, described at least three laser rotary scanning device are installed as integrative-structure
I.e. one laser beam emitting device is internally installed at least three laser rotary scanning device, when in use, institute
Some laser rotary scanning devices are all in same position, and all of laser rotary scanning device can regard an entirety
Treating, each laser rotary scanning device can be launched lasing area and be scanned monitored area, described at least three
The lasing area that laser rotary scanning device is launched can intersect at a point, as in figure 2 it is shown, be the laser beam emitting device of type one
Schematic diagram, wherein, exemplarily give wherein comprise three laser rotary scanning devices (in actual application, can be more than three
Individual), each laser rotary scanning device includes a wordline laser module, mirror assembly, shaft coupling, DC Brushless Motor and drives
Dynamic device, a described wordline laser module is used for launching laser signal to mirror assembly, and described mirror assembly is used for swashing a wordline
Light module is transmitted into the laser signal of mirror assembly and reflexes to monitored area, shaft coupling for mirror assembly is fixed on direct current without
Brush motor and driver, DC Brushless Motor and driver can carry out uniform rotation, thus drive the rotation of mirror assembly, thus
Can realize monitored area is carried out laser scanning.Laser beam emitting device also comprises a synchronization module and a multiaxis connection in addition
Dynamic control module, synchronization module is used for launching synchronizing signal to laser receiver, it is achieved and at the beginning of between laser receiver
Beginning angle synchronizes, and multi-shaft interlocked control module controls the DC Brushless Motor in each laser rotary scanning device and driver
Rotating speed, and be controlled for realizing the order of the laser scanning to all laser rotary scanning devices.
At least three laser rotary scanning device that type two, laser beam emitting device comprise is respectively self-contained unit
In the type, each laser rotary scanning device is a single device, described at least three laser rotary
Scanning means may be located at same position, it is also possible to is positioned at different positions, for example, assumes that monitored area is a room
Between, then in type two, multiple laser rotary scanning devices can be respectively placed in the middle of each corner, room, room or
It is in room on ceiling, thus realizes launching laser signal from multiple positions and monitored area is carried out laser scanning.Such as Fig. 3 institute
Show, for the laser rotary scanning device schematic diagram in the laser beam emitting device of type two, wherein include a wordline laser module,
The function of the corresponding module in mirror assembly, shaft coupling, DC Brushless Motor and driver, the function of each module and type one
Identical, it is not repeated herein, and, each laser rotary scanning device in type two includes a synchronization module, is used for
Launch synchronizing signal to laser receiver, it is achieved Tong Bu with the initial angle between laser receiver.All of laser revolves
Turn and can communicate by the way of wired connection between scanning means, it is also possible to carry out by the way of wireless data transmission
Communication, and, it is preferable that the multi-shaft interlocked control of a master control device, its purposes and type one can be increased in monitored area
The purposes of molding block is similar to, for realizing the DC Brushless Motor in each laser rotary scanning device and the rotating speed of driver
It is controlled, and is controlled for realizing the order of the laser scanning to all laser rotary scanning devices.
Laser receiver in the embodiment of the present invention is positioned over the position at destination object place, by receiving multiple laser
The laser signal that rotating scanning device is launched, so that it is determined that laser receiver is respectively and between each laser rotary scanning device
Relative position relation, and then orient the position at laser receiver place, namely orient the position at destination object place.
Specifically described below.In embodiments of the present invention, for convenience of description, follow-up all with the Laser emission of type one
Illustrating as a example by device, the most all of laser rotary scanning device is installed as integrative-structure.Laser for type two
Discharger, its principle is identical with the laser beam emitting device of type one.And, for convenience of description, below to laser beam emitting device
In any one laser rotary scanning device be referred to as the first laser rotary scanning device.
Before carrying out destination object location, first have to dispose the position of laser beam emitting device, such as by Laser emission
Device is positioned over a corner of monitored area, as long as thus mirror assembly in laser rotary scanning device rotates 45 degree, i.e.
To monitored area 90 degree of laser scannings can be realized, namely achieve the scanning of the full laser to monitored area.
Alternatively, the first laser rotary scanning device comprises a wordline laser module, DC Brushless Motor and driver, mirror
Face device, and described mirror assembly is fixed on described DC Brushless Motor and driver；Described laser signal is by described first
Laser rotary scanning device is launched as follows, including: described first laser rotary scanning device is filled by described minute surface
Put by described one wordline laser module launch laser signal reflex to monitored area formed lasing area, and by described direct current without
Brush motor and the rotation rotating the described mirror assembly of drive of driver so that monitored area described in lasing area rotation sweep, institute
State destination object and be positioned at described monitored area.
Can refer to Fig. 2, the wordline laser module in the first laser rotary scanning device launches laser signal, gets to mirror
On the device of face, laser signal is reflexed in monitored area by mirror assembly, forms a lasing area, and owing to mirror assembly is solid
Being scheduled on described DC Brushless Motor and driver, the most alternatively, mirror assembly is fixed on described direct current by a shaft coupling
Brushless motor and driver, driven described DC Brushless Motor and the rotation of driver by multi-shaft interlocked control module, thus carry
The rotation of dynamic mirror assembly, thus the laser signal by a wordline laser module is launched can be realized and reflex to monitored area, and shape
Become a lasing area that monitored area is scanned, as long as laser receiver is positioned at monitored area, and be positioned at the first laser rotation
Turn the laser scanning scope of scanning means, then laser receiver necessarily can receive the first laser rotary scanning device transmitting
The laser signal gone out.
After having disposed laser beam emitting device, control multiple laser rotary scanning devices by multi-shaft interlocked control module and divide
Other monitored area is carried out laser scanning, for example, assume there are three laser rotary scanning devices, represent with A, B, C respectively,
Then can control according to A-B-C-A-B-C-A-B-C-... order monitored area is carried out periodic laser scanning, and
Synchronization can only have a laser rotary scanning device that monitored area is carried out laser scanning.
Alternatively, described laser beam emitting device comprises three laser rotary scanning devices, two of which laser rotary scanning
Mirror assembly in device rotates in the horizontal direction and is positioned at same level line with a wordline laser module；Another one laser revolves
Turn the mirror assembly in scanning means vertically to carry out rotating and being positioned at same vertical curve with a wordline laser module.
Have as a example by three laser rotary scanning devices by laser beam emitting device, then in order to ensure three laser rotary scannings
The lasing area that device is launched can intersect at a point, therefore so that minute surface in two of which laser rotary scanning device
Device rotates in the horizontal direction and is positioned at same level line with a wordline laser module, in another one laser rotary scanning device
Mirror assembly vertically carry out rotating and being positioned at same vertical curve with a wordline laser module, institute in its structure such as Fig. 2
Showing, wherein the mirror assembly in the laser rotary scanning device of both sides rotates in the horizontal direction, middle laser rotary scanning dress
Mirror assembly in putting vertically rotates, thus the lasing area of three laser rotary scanning device transmittings can intersect at one
Point.
Certainly, a kind of optimal way that aforesaid way is merely given as, in actual application, if all of laser rotary scanning
The scanning direction of device be not just the same just can (deployment way etc. of the most various inclinations), why have in this deployment
Requirement, be to ensure that the lasing area that each laser rotary scanning device is launched can intersect at a point.
Alternatively, described carrying out in the horizontal direction rotates between two the laser rotary scanning devices launching laser signal
Distance is more than or equal to 0.05m.
In above-mentioned steps 101, laser receiver is placed in monitored area, when laser receiver receives first
During the synchronizing signal that laser rotary scanning device is launched, record the very first time, wherein, described first laser rotary scanning device
For any one in N number of laser rotary scanning device of laser beam emitting device, N number of laser rotary of described laser beam emitting device is swept
The lasing area that imaging apparatus is launched can intersect at a point and described N number of laser rotary scanning device is started by sequence, and N is more than or equal to 3.
Wherein, alternatively, described synchronizing signal is launched as follows by described first laser rotary scanning device:
Described first laser rotary scanning device detects described by the angular transducer in described first laser rotary scanning device
When DC Brushless Motor and driver rotate to the initial angle needing to start scanning, launch described synchronization by synchronization module and believe
Number to described monitored area.Alternatively, described angular transducer is photoelectric encoder, Hall element or photoswitch.
That is, it is positioned at initial angle position when the first laser rotary scanning device detects that DC Brushless Motor and driver rotate
When putting (initial angle position can be preset) by thinking, can notify that synchronization module sends a synchronizing signal to monitoring section
Territory, alternatively, described synchronizing signal is radiofrequency signal, blinking light or wire signal, is receiving so that receive device
After described synchronizing signal, recording the very first time, the described very first time shows that the first laser rotary scanning device is currently at
Initial angle position.
Alternatively, described laser receiver record receives the synchronizing signal of the first laser rotary scanning device transmitting
The very first time, including: described laser receiver is connect by least one the laser-sensitive element in described laser receiver
Receive described synchronizing signal, and after receiving described synchronizing signal, notify the timing unit record in described laser receiver
The described very first time.
I.e. first laser rotary scanning device comprises at least one laser-sensitive element, is used for receiving described synchronization and believes
Number, and comprise a timing unit, it is used for recording the described very first time.
Conventionally, as laser beam emitting device typically only includes one or two laser rotary scanning dress
Put, therefore to the position of laser receiver can be accurately positioned, generally comprised many in laser receiver
Individual laser-sensitive element, specifically, it is generally required to the laser-sensitive element of more than ten just can coordinate in laser beam emitting device
Rotating scanning device determine the particular location of laser receiver；And in embodiments of the present invention, in laser receiver
Laser-sensitive element minimum have only to one, naturally it is also possible to be multiple, if if multiple, it is only necessary to Qi Zhongyi
Individual can normally work.In actual application, laser-sensitive element can be light sensitive diode, phototriode etc..Therefore,
In embodiments of the present invention, by the minimizing of laser-sensitive number of elements in laser receiver, greatly reducing laser and connect
The structural complexity of receiving apparatus, ensure that the accuracy that laser receiver positions simultaneously.
In above-mentioned steps 102, laser receiver is receiving the laser signal that the first laser rotary scanning device is launched
Time, recorded for the second time, described second time is used for showing that laser receiver receives the first laser rotary scanning device
The time of the laser signal launched.
Alternatively, described laser receiver record receives the laser letter that described first laser rotary scanning device is launched
Number the second time, receive described laser including: described laser receiver by least one laser-sensitive element described and believe
Number, and after receiving described laser signal, notify the second time described in described timing unit record.
In above-mentioned steps 103, described laser receiver, according to the described very first time and described second time, determines reception
Duration, described reception duration is for representing from receiving described synchronizing signal to the time interval receiving between laser signal.
In above-mentioned steps 104, described laser receiver, according to described reception duration, determines that described first laser rotary is swept
The anglec of rotation of imaging apparatus.
Alternatively, described laser receiver, according to described reception duration, determines described first laser rotary scanning device
The anglec of rotation, including: described laser receiver is by described reception duration, as described first laser rotary scanning device
Rotate duration；Described laser receiver is according to the rotation duration of described first laser rotary scanning device and described first laser
The rotating speed of rotating scanning device, determines the anglec of rotation of described first laser rotary scanning device.
As an example it is assumed that the rotating speed of DC Brushless Motor and driver is 3000 revs/min, it is 20 milliseconds/turns, because of
The time that this turn is 45 degree is 20 milliseconds/8=2.5 millisecond.When assuming the reception currently receiving the statistics of the timing unit in device
A length of 1.25 milliseconds, then show that DC Brushless Motor and driver have selected 22.5 degree, thus may determine that laser receiver
It is in 45 degree of deflection positions of the first laser rotary scanning device.
In above-mentioned steps 105, described laser receiver according to the anglec of rotation of described N number of laser rotary scanning device,
Determine the position of described laser receiver, and using the position of described laser receiver as the position of destination object, described
Laser receiver is positioned at the position at described destination object place.
Alternatively, described laser receiver, according to the anglec of rotation of described N number of laser rotary scanning device, determines described
The position of laser receiver, including: described laser receiver selects three to swash from described N number of laser rotary scanning device
Light rotating scanning device, the lasing area that described three laser rotary scanning devices are launched can intersect at a point；Described laser pick-off
Device is according to the anglec of rotation of described three laser rotary scanning devices and the position at described three laser rotary scanning device places
Put, determined the position of described laser receiver by triangulation location.
For example, with reference to Fig. 4, for triangulation location schematic diagram, Fig. 4 example wherein includes three laser rotaries and sweeps
Imaging apparatus and being positioned on same level line, wherein, the laser that laser rotary scanning device A and laser rotary scanning device C launches
Monitored area is scanned by signal in the horizontal direction, and the laser signal that laser rotary scanning device B launches is the most right
Monitored area is scanned, and laser rotary scanning device A, laser rotary scanning device B, laser rotary scanning device C are at coordinate
Position in system is respectively (a, 0,0), (0,0,0), (c, 0,0), and X-axis negative direction is laser rotary scanning device A and swashs
The initial angle position of the laser signal that light rotating scanning device C launches, Y-axis negative direction is that laser rotary scanning device B sends out
The initial angle position of the laser signal of injection, laser receiver determines the anglec of rotation of the laser rotary scanning device A obtained
Degree is α, and the anglec of rotation of laser rotary scanning device B is β, and the anglec of rotation of laser rotary scanning device C is γ, it is assumed that laser
Receive the position at device place be D (x, y, z), then can be calculated the coordinate of D by following equation:
By above-mentioned equation, due to α, beta, gamma, a, b are known quantities, therefore can solve and obtain laser receiver institute
Position be that (x, y z), and owing to laser receiver is positioned at the position at destination object place, have therefore obtained laser to D
Receive the position at device place, the position at destination object place can be learnt.
The method that the embodiment of the present invention provides, laser receiver record receives the first laser rotary scanning device and launches
Very first time of synchronizing signal, when record receives the second of the laser signal that described first laser rotary scanning device is launched
Between, determine reception duration according to the described very first time and described second time, according to described reception duration, determine that described first swashs
The anglec of rotation of light rotating scanning device, and the anglec of rotation according to N number of laser rotary scanning device, determine that laser pick-off fills
The position put, and using the position of laser receiver as the position of destination object, described laser receiver is positioned at described mesh
The position at mark object place, wherein, the first laser rotary scanning device is N number of laser rotary scanning device of laser beam emitting device
In any one, the lasing area that N number of laser rotary scanning device of described laser beam emitting device is launched can intersect at a point and institute
Stating N number of laser rotary scanning device to start by sequence, N is more than or equal to 3.The laser beam emitting device of the method has only to three or
The laser rotary scanning device of more than three, it is possible to by receiving synchronizing signal and the laser signal that laser beam emitting device is launched
Realize location to laser receiver, thus realize the location to destination object, the method to light, mechanical, electrical less demanding, and
And the quantity of the laser-sensitive element in laser receiver has only to that at least one is the most permissible, thus apparatus structure is simpler
Single.
A kind of object localization method using laser scanning provided the embodiment of the present invention below is described in detail, such as figure
Shown in 5, including:
Step 501, laser receiver are received by least one the laser-sensitive element in described laser receiver
The synchronizing signal that first laser rotary scanning device is launched, and after receiving described synchronizing signal, notify described laser pick-off
The very first time described in timing unit record in device, described first laser rotary scanning device is the N number of of laser beam emitting device
Any one in laser rotary scanning device, the lasing area that N number of laser rotary scanning device of described laser beam emitting device is launched
Can intersect at a point and described N number of laser rotary scanning device is started by sequence, N is more than or equal to 3；
Step 502, described laser receiver receive described first laser by least one laser-sensitive element described
The laser signal that rotating scanning device is launched, and after receiving described laser signal, notify described in described timing unit record
Second time；
Step 503, described laser receiver, according to the described very first time and described second time, determine reception duration,
Described reception duration is for representing from receiving described synchronizing signal to the time interval receiving between laser signal；
Step 504, described laser receiver are by described reception duration, as described first laser rotary scanning device
Rotate duration；
Step 505, described laser receiver are according to the rotation duration of described first laser rotary scanning device and described
The rotating speed of the first laser rotary scanning device, determines the anglec of rotation of described first laser rotary scanning device；
Step 506, described laser receiver select three laser rotaries to sweep from described N number of laser rotary scanning device
Imaging apparatus, the lasing area that described three laser rotary scanning devices are launched can intersect at a point；
Step 507, described laser receiver are according to the anglec of rotation of described three laser rotary scanning devices and described
The position at three laser rotary scanning device places, determines the position of described laser receiver by triangulation location.
The method that the embodiment of the present invention provides, laser receiver record receives the first laser rotary scanning device and launches
Very first time of synchronizing signal, when record receives the second of the laser signal that described first laser rotary scanning device is launched
Between, determine reception duration according to the described very first time and described second time, according to described reception duration, determine that described first swashs
The anglec of rotation of light rotating scanning device, and the anglec of rotation according to N number of laser rotary scanning device, determine that laser pick-off fills
The position put, and using the position of laser receiver as the position of destination object, described laser receiver is positioned at described mesh
The position at mark object place, wherein, the first laser rotary scanning device is N number of laser rotary scanning device of laser beam emitting device
In any one, the lasing area that N number of laser rotary scanning device of described laser beam emitting device is launched can intersect at a point and institute
Stating N number of laser rotary scanning device to start by sequence, N is more than or equal to 3.The laser beam emitting device of the method has only to three or
The laser rotary scanning device of more than three, it is possible to by receiving synchronizing signal and the laser signal that laser beam emitting device is launched
Realize location to laser receiver, thus realize the location to destination object, the method to light, mechanical, electrical less demanding, and
And the quantity of the laser-sensitive element in laser receiver has only to that at least one is the most permissible, thus apparatus structure is simpler
Single.
Based on identical technology design, the embodiment of the present invention also provides for a kind of laser receiver, as shown in Figure 6, and including:
Timing unit 601, when record receives the first of the synchronizing signal that the first laser rotary scanning device is launched
Between, described first laser rotary scanning device is any one in N number of laser rotary scanning device of laser beam emitting device, described
The lasing area that N number of laser rotary scanning device of laser beam emitting device is launched can intersect at a point and described N number of laser rotary is swept
Imaging apparatus is started by sequence, and N is more than or equal to 3；Record receives the laser signal that described first laser rotary scanning device is launched
The second time；And according to the described very first time and described second time, determining reception duration, described reception duration is used for table
Show from receiving described synchronizing signal to the time interval receiving between laser signal；
Positioning unit 602, for according to described reception duration, determines the anglec of rotation of described first laser rotary scanning device
Degree；According to the anglec of rotation of described N number of laser rotary scanning device, determine the position of described laser receiver, and by described
The position of laser receiver is as the position of destination object, and described laser receiver is positioned at the position at described destination object place
Put.
Alternatively, described laser receiver also includes at least one laser-sensitive element 603, is used for: receiving
After stating synchronizing signal, notify the very first time described in described timing unit record；And after receiving described laser signal, notice
Second time described in described timing unit record；
Described timing unit 601, specifically for: record after the notice receiving at least one laser-sensitive element described
The described very first time；And record described second time after the notice receiving at least one laser-sensitive element described.
Alternatively, described positioning unit 602, specifically for:
By described reception duration, as the rotation duration of described first laser rotary scanning device；
Turning of duration and described first laser rotary scanning device is rotated according to described first laser rotary scanning device
Speed, determines the anglec of rotation of described first laser rotary scanning device.
Alternatively, described positioning unit 602, it is additionally operable to:
Three laser rotary scanning devices, described three laser rotaries are selected from described N number of laser rotary scanning device
The lasing area that scanning means is launched can intersect at a point；
The anglec of rotation according to described three laser rotary scanning devices and described three laser rotary scanning device places
Position, determined the position of described laser receiver by triangulation location.
Alternatively, described first laser rotary scanning device comprises a wordline laser module, DC Brushless Motor and driving
Device, mirror assembly, and described mirror assembly is fixed on described DC Brushless Motor and driver；
A described wordline laser module is used for launching laser signal to described mirror assembly；
Described mirror assembly, is formed for the laser signal that a described wordline laser module is launched is reflexed to monitored area
Lasing area；
Described DC Brushless Motor and driver, for driving institute by the rotation of described DC Brushless Motor and driver
Stating the rotation of mirror assembly so that monitored area described in described lasing area rotation sweep, described destination object is positioned at described monitoring
In region.
Alternatively, described first laser rotary scanning device also includes angular transducer, for described direct current being detected
When brushless motor and driver rotate to the initial angle needing to start scanning, notice synchronization module is launched described synchronizing signal and is arrived
Described monitored area.
Alternatively, described laser beam emitting device comprises three laser rotary scanning devices, two of which laser rotary scanning
Mirror assembly in device rotates in the horizontal direction and is positioned at same level line with a wordline laser module；Another one laser revolves
Turn the mirror assembly in scanning means vertically to carry out rotating and being positioned at same vertical curve with a wordline laser module.
Alternatively, described carrying out in the horizontal direction rotates between two the laser rotary scanning devices launching laser signal
Distance is more than or equal to 0.05m.
Alternatively, described synchronizing signal is radiofrequency signal, blinking light or wire signal.
Alternatively, described angular transducer is photoelectric encoder, Hall element or photoswitch.
The embodiment of the present invention, laser receiver record receives the synchronizing signal that the first laser rotary scanning device is launched
The very first time, record receives the second time of laser signal that described first laser rotary scanning device is launched, according to institute
State the very first time and described second time determines reception duration, according to described reception duration, determine that described first laser rotary is swept
The anglec of rotation of imaging apparatus, and the anglec of rotation according to N number of laser rotary scanning device, determine the position of laser receiver
Put, and using the position of laser receiver as the position of destination object, described laser receiver is positioned at described destination object
The position at place, wherein, the first laser rotary scanning device is appointing in N number of laser rotary scanning device of laser beam emitting device
One, the lasing area that N number of laser rotary scanning device of described laser beam emitting device is launched can intersect at a point and described N number of sharp
Light rotating scanning device is started by sequence, and N is more than or equal to 3.The embodiment of the present invention, has only to three or three in laser beam emitting device
Individual above laser rotary scanning device, it is possible to synchronizing signal and the laser signal launched by reception laser beam emitting device are real
The now location to laser receiver, thus realize location to destination object, the method to light, mechanical, electrical less demanding, and
The quantity of the laser-sensitive element in laser receiver has only to that at least one is the most permissible, thus apparatus structure is fairly simple.
The present invention is with reference to method, equipment (system) and the flow process of computer program according to embodiments of the present invention
Figure and/or block diagram describe.It should be understood that can the most first-class by computer program instructions flowchart and/or block diagram
Flow process in journey and/or square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
Instruction arrives the processor of general purpose computer, special-purpose computer, Embedded Processor or other programmable data processing device to produce
A raw machine so that the instruction performed by the processor of computer or other programmable data processing device is produced for real
The device of the function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame now.
These computer program instructions may be alternatively stored in and computer or other programmable data processing device can be guided with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in this computer-readable memory produces and includes referring to
Make the manufacture of device, this command device realize at one flow process of flow chart or multiple flow process and/or one square frame of block diagram or
The function specified in multiple square frames.
These computer program instructions also can be loaded in computer or other programmable data processing device so that at meter
Perform sequence of operations step on calculation machine or other programmable devices to produce computer implemented process, thus at computer or
The instruction performed on other programmable devices provides for realizing at one flow process of flow chart or multiple flow process and/or block diagram one
The step of the function specified in individual square frame or multiple square frame.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation
Property concept, then can make other change and amendment to these embodiments.So, claims are intended to be construed to include excellent
Select embodiment and fall into all changes and the amendment of the scope of the invention.
Obviously, those skilled in the art can carry out various change and the modification essence without deviating from the present invention to the present invention
God and scope.So, if these amendments of the present invention and modification belong to the scope of the claims in the present invention and equivalent technologies thereof
Within, then the present invention is also intended to comprise these change and modification.
Claims (14)
1. the object localization method using laser scanning, it is characterised in that including:
Laser receiver record receives very first time of synchronizing signal that the first laser rotary scanning device is launched, and described the
One laser rotary scanning device is any one in N number of laser rotary scanning device of laser beam emitting device, described Laser emission
The lasing area that N number of laser rotary scanning device of device is launched can intersect at a point and described N number of laser rotary scanning device by
Sequence starting, N is more than or equal to 3；
When described laser receiver record receives the second of the laser signal that described first laser rotary scanning device is launched
Between；
Described laser receiver, according to the described very first time and described second time, determines reception duration, described reception duration
For representing from receiving described synchronizing signal to the time interval receiving between laser signal；
Described laser receiver, according to described reception duration, determines the anglec of rotation of described first laser rotary scanning device；
Described laser receiver, according to the anglec of rotation of described N number of laser rotary scanning device, determines that described laser pick-off fills
The position put, and using the position of described laser receiver as the position of destination object, described laser receiver is positioned at institute
State the position at destination object place.
2. the method for claim 1, it is characterised in that described laser receiver record receives the first laser rotary
The very first time of the synchronizing signal that scanning means is launched, including:
Described laser receiver receives described synchronization by least one the laser-sensitive element in described laser receiver
Signal, and after receiving described synchronizing signal, when notifying described in the timing unit record in described laser receiver first
Between；
When described laser receiver record receives the second of the laser signal that described first laser rotary scanning device is launched
Between, including:
Described laser receiver receives described laser signal by least one laser-sensitive element described, and receiving
After stating laser signal, notify the second time described in described timing unit record.
3. the method for claim 1, it is characterised in that described laser receiver, according to described reception duration, determines
The anglec of rotation of described first laser rotary scanning device, including:
Described laser receiver is by described reception duration, as the rotation duration of described first laser rotary scanning device；
Described laser receiver is according to the rotation duration of described first laser rotary scanning device and described first laser rotary
The rotating speed of scanning means, determines the anglec of rotation of described first laser rotary scanning device.
4. the method for claim 1, it is characterised in that described laser receiver is swept according to described N number of laser rotary
The anglec of rotation of imaging apparatus, determines the position of described laser receiver, including:
Described laser receiver selects three laser rotary scanning devices from described N number of laser rotary scanning device, described
The lasing area of three laser rotary scanning device transmittings can intersect at a point；
Described laser receiver is according to the anglec of rotation of described three laser rotary scanning devices and described three laser rotaries
The position at scanning means place, determines the position of described laser receiver by triangulation location.
5. the method for claim 1, it is characterised in that described first laser rotary scanning device comprises a wordline laser
Module, DC Brushless Motor and driver, mirror assembly, and described mirror assembly is fixed on described DC Brushless Motor and driving
Device；
Described laser signal is launched as follows by described first laser rotary scanning device, including:
The laser that a described wordline laser module is launched is believed by described first laser rotary scanning device by described mirror assembly
Number reflex to monitored area and form lasing area, and drive described minute surface dress by the rotation of described DC Brushless Motor and driver
The rotation put so that monitored area described in lasing area rotation sweep, described destination object is positioned at described monitored area.
6. method as claimed in claim 5, it is characterised in that described synchronizing signal is by described first laser rotary scanning dress
Put and launch as follows:
Described first laser rotary scanning device is detected by the angular transducer in described first laser rotary scanning device
When described DC Brushless Motor and driver rotate to the initial angle needing to start scanning, launched described same by synchronization module
Step signal is to described monitored area.
7. method as claimed in claim 5, it is characterised in that described laser beam emitting device comprises three laser rotary scanning dresses
Putting, the mirror assembly in two of which laser rotary scanning device rotates in the horizontal direction and is positioned at same with a wordline laser module
One horizontal line；Mirror assembly in another one laser rotary scanning device vertically carry out rotating and with a wordline laser
Module is positioned at same vertical curve.
8. a laser receiver, it is characterised in that including:
Timing unit, receives the very first time of the synchronizing signal that the first laser rotary scanning device is launched for record, described
First laser rotary scanning device is any one in N number of laser rotary scanning device of laser beam emitting device, and described laser is sent out
The lasing area that N number of laser rotary scanning device of injection device is launched can intersect at a point and described N number of laser rotary scanning device
Starting by sequence, N is more than or equal to 3；Record receives the second of the laser signal that described first laser rotary scanning device is launched
Time；And according to the described very first time and described second time, determine that reception duration, described reception duration are used for representing from connecing
Receive described synchronizing signal to the time interval receiving between laser signal；
Positioning unit, for according to described reception duration, determines the anglec of rotation of described first laser rotary scanning device；According to
The anglec of rotation of described N number of laser rotary scanning device, determines the position of described laser receiver, and by described laser pick-off
The position of device is as the position of destination object, and described laser receiver is positioned at the position at described destination object place.
9. laser receiver as claimed in claim 8, it is characterised in that described laser receiver also includes at least one
Laser-sensitive element, is used for: after receiving described synchronizing signal, notifies the very first time described in described timing unit record；With
And after receiving described laser signal, notify the second time described in described timing unit record；
Described timing unit, specifically for: after the notice receiving at least one laser-sensitive element described, record described the
One time；And record described second time after the notice receiving at least one laser-sensitive element described.
10. laser receiver as claimed in claim 8, it is characterised in that described positioning unit, specifically for:
By described reception duration, as the rotation duration of described first laser rotary scanning device；
Rotation duration according to described first laser rotary scanning device and the rotating speed of described first laser rotary scanning device, really
The anglec of rotation of fixed described first laser rotary scanning device.
11. laser receivers as claimed in claim 8, it is characterised in that described positioning unit, are additionally operable to:
Three laser rotary scanning devices, described three laser rotary scannings are selected from described N number of laser rotary scanning device
The lasing area that device is launched can intersect at a point；
The anglec of rotation according to described three laser rotary scanning devices and the position at described three laser rotary scanning device places
Put, determined the position of described laser receiver by triangulation location.
12. laser receivers as claimed in claim 8, it is characterised in that described first laser rotary scanning device comprises
One wordline laser module, DC Brushless Motor and driver, mirror assembly, and described mirror assembly is fixed on described brush DC
Motor and driver；
A described wordline laser module is used for launching laser signal to described mirror assembly；
Described mirror assembly, forms laser for the laser signal that a described wordline laser module is launched is reflexed to monitored area
Face；
Described DC Brushless Motor and driver, for driving described mirror by the rotation of described DC Brushless Motor and driver
The rotation of face device so that monitored area described in described lasing area rotation sweep, described destination object is positioned at described monitored area
In.
13. laser receivers as claimed in claim 12, it is characterised in that described first laser rotary scanning device also wraps
Include angular transducer, for detecting that described DC Brushless Motor and driver rotate to the initial angle needing to start scanning
Time, notice synchronization module launches described synchronizing signal to described monitored area.
14. laser receivers as claimed in claim 12, it is characterised in that described laser beam emitting device comprises three laser
Rotating scanning device, the mirror assembly in two of which laser rotary scanning device rotate in the horizontal direction and with a wordline laser
Module is positioned at same level line；Mirror assembly in another one laser rotary scanning device vertically carry out rotating and with
One wordline laser module is positioned at same vertical curve.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610379036.4A CN106093863B (en) | 2016-05-31 | 2016-05-31 | A kind of object localization method and laser receiver using laser scanning |
| PCT/CN2017/077343 WO2017206571A1 (en) | 2016-05-31 | 2017-03-20 | Target positioning method using laser scanning and laser receiving apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610379036.4A CN106093863B (en) | 2016-05-31 | 2016-05-31 | A kind of object localization method and laser receiver using laser scanning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106093863A true CN106093863A (en) | 2016-11-09 |
| CN106093863B CN106093863B (en) | 2018-08-14 |
Family
ID=57230583
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610379036.4A Active CN106093863B (en) | 2016-05-31 | 2016-05-31 | A kind of object localization method and laser receiver using laser scanning |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106093863B (en) |
| WO (1) | WO2017206571A1 (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106526538A (en) * | 2016-11-25 | 2017-03-22 | 北京凌宇智控科技有限公司 | Positioning base station, positioning system and positioning method |
| CN106526539A (en) * | 2016-11-25 | 2017-03-22 | 北京凌宇智控科技有限公司 | Positioning base station, positioning system and positioning method |
| CN106802412A (en) * | 2017-01-23 | 2017-06-06 | 南京大学 | A kind of closely movable positioning system and its method based on laser and wireless technology |
| CN107024677A (en) * | 2016-11-15 | 2017-08-08 | 上海乐相科技有限公司 | A kind of virtual reality alignment system |
| CN107271960A (en) * | 2017-05-26 | 2017-10-20 | 中国科学院半导体研究所 | Aerial vehicle position system and its localization method |
| WO2017206571A1 (en) * | 2016-05-31 | 2017-12-07 | 陈朝阳 | Target positioning method using laser scanning and laser receiving apparatus |
| CN108226865A (en) * | 2016-12-22 | 2018-06-29 | 上海乐相科技有限公司 | A kind of object localization method and device using laser scanning |
| CN108426562A (en) * | 2018-05-14 | 2018-08-21 | 北京雷图科技有限公司 | A kind of laser tunnel cross-section detector |
| CN108828520A (en) * | 2018-06-15 | 2018-11-16 | 深圳草莓创新技术有限公司 | The indoor flying method and Related product of unmanned plane |
| CN111337876A (en) * | 2020-03-04 | 2020-06-26 | 广东博智林机器人有限公司 | Positioning device and target positioning method |
| CN111913150A (en) * | 2020-08-19 | 2020-11-10 | 四川道通达工程技术有限公司 | Station-surveying positioning method based on laser scanning |
| CN112747751A (en) * | 2021-01-05 | 2021-05-04 | 北京中科深智科技有限公司 | Indoor positioning method and positioning system |
| CN113758480A (en) * | 2021-08-26 | 2021-12-07 | 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 |
| CN114353662A (en) * | 2021-12-31 | 2022-04-15 | 天津大学 | Passive multi-target receiving and transmitting integrated scanning base station |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111948660B (en) * | 2020-08-19 | 2023-12-01 | 成都清正公路工程试验检测有限公司 | Automatic target identification method based on laser scanning |
| CN112485773B (en) * | 2020-11-09 | 2023-06-06 | 中国人民解放军军事科学院国防科技创新研究院 | External parameter information calibration method for laser radar and inclination angle sensor |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060044570A1 (en) * | 2004-08-25 | 2006-03-02 | Prueftechnik Dieter Busch Ag | Laser-based position measuring device |
| CN2773714Y (en) * | 2005-02-21 | 2006-04-19 | 王治平 | Laser scanning detector |
| CN1808169A (en) * | 2005-01-19 | 2006-07-26 | 北京创先泰克科技有限公司 | System for automatically measuring opposite direction between two objects and implementing method therefor |
| CN101320094A (en) * | 2008-05-21 | 2008-12-10 | 旭丽电子(广州)有限公司 | Light source scanning positioning system and its positioning method |
| CN104991244A (en) * | 2015-06-19 | 2015-10-21 | 上海卓易科技股份有限公司 | Method for measuring target object distance, device measuring target object distance and mobile terminal |
| CN105068082A (en) * | 2015-08-19 | 2015-11-18 | 胡小波 | Laser radar scanning detection method and device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5100229A (en) * | 1990-08-17 | 1992-03-31 | Spatial Positioning Systems, Inc. | Spatial positioning system |
| US5128794A (en) * | 1990-12-31 | 1992-07-07 | Honeywell Inc. | Scanning laser helmet mounted sight |
| CN101672913B (en) * | 2009-10-27 | 2012-09-19 | 湖南农业大学 | Laser three-point dynamic positioning method and system thereof |
| DE102010023461A1 (en) * | 2010-06-11 | 2011-12-15 | Wacker Neuson Se | Device and method for determining the position of a working device |
| CN105607034A (en) * | 2015-12-23 | 2016-05-25 | 北京凌宇智控科技有限公司 | Three-dimensional space detection system, positioning method and system |
| CN106093863B (en) * | 2016-05-31 | 2018-08-14 | 上海乐相科技有限公司 | A kind of object localization method and laser receiver using laser scanning |
-
2016
- 2016-05-31 CN CN201610379036.4A patent/CN106093863B/en active Active
-
2017
- 2017-03-20 WO PCT/CN2017/077343 patent/WO2017206571A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060044570A1 (en) * | 2004-08-25 | 2006-03-02 | Prueftechnik Dieter Busch Ag | Laser-based position measuring device |
| CN1808169A (en) * | 2005-01-19 | 2006-07-26 | 北京创先泰克科技有限公司 | System for automatically measuring opposite direction between two objects and implementing method therefor |
| CN2773714Y (en) * | 2005-02-21 | 2006-04-19 | 王治平 | Laser scanning detector |
| CN101320094A (en) * | 2008-05-21 | 2008-12-10 | 旭丽电子(广州)有限公司 | Light source scanning positioning system and its positioning method |
| CN104991244A (en) * | 2015-06-19 | 2015-10-21 | 上海卓易科技股份有限公司 | Method for measuring target object distance, device measuring target object distance and mobile terminal |
| CN105068082A (en) * | 2015-08-19 | 2015-11-18 | 胡小波 | Laser radar scanning detection method and device |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017206571A1 (en) * | 2016-05-31 | 2017-12-07 | 陈朝阳 | Target positioning method using laser scanning and laser receiving apparatus |
| CN107024677A (en) * | 2016-11-15 | 2017-08-08 | 上海乐相科技有限公司 | A kind of virtual reality alignment system |
| CN106526539B (en) * | 2016-11-25 | 2023-12-08 | 北京凌宇智控科技有限公司 | Positioning base station, positioning system and positioning method |
| CN106526539A (en) * | 2016-11-25 | 2017-03-22 | 北京凌宇智控科技有限公司 | Positioning base station, positioning system and positioning method |
| CN106526538A (en) * | 2016-11-25 | 2017-03-22 | 北京凌宇智控科技有限公司 | Positioning base station, positioning system and positioning method |
| CN106526538B (en) * | 2016-11-25 | 2024-02-20 | 北京凌宇智控科技有限公司 | Positioning base station, positioning system and positioning method |
| CN108226865A (en) * | 2016-12-22 | 2018-06-29 | 上海乐相科技有限公司 | A kind of object localization method and device using laser scanning |
| CN106802412A (en) * | 2017-01-23 | 2017-06-06 | 南京大学 | A kind of closely movable positioning system and its method based on laser and wireless technology |
| CN107271960A (en) * | 2017-05-26 | 2017-10-20 | 中国科学院半导体研究所 | Aerial vehicle position system and its localization method |
| CN108426562A (en) * | 2018-05-14 | 2018-08-21 | 北京雷图科技有限公司 | A kind of laser tunnel cross-section detector |
| CN108828520A (en) * | 2018-06-15 | 2018-11-16 | 深圳草莓创新技术有限公司 | The indoor flying method and Related product of unmanned plane |
| CN111337876B (en) * | 2020-03-04 | 2022-09-27 | 广东博智林机器人有限公司 | Positioning device and target positioning method |
| CN111337876A (en) * | 2020-03-04 | 2020-06-26 | 广东博智林机器人有限公司 | Positioning device and target positioning method |
| CN111913150B (en) * | 2020-08-19 | 2023-12-01 | 成都清正公路工程试验检测有限公司 | Station measuring positioning method based on laser scanning |
| CN111913150A (en) * | 2020-08-19 | 2020-11-10 | 四川道通达工程技术有限公司 | Station-surveying positioning method based on laser scanning |
| CN112747751A (en) * | 2021-01-05 | 2021-05-04 | 北京中科深智科技有限公司 | Indoor positioning method and positioning system |
| CN113758480A (en) * | 2021-08-26 | 2021-12-07 | 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 |
| CN114353662A (en) * | 2021-12-31 | 2022-04-15 | 天津大学 | Passive multi-target receiving and transmitting integrated scanning base station |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017206571A1 (en) | 2017-12-07 |
| CN106093863B (en) | 2018-08-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106093863A (en) | A kind of object localization method using laser scanning and laser receiver | |
| CN206400088U (en) | A kind of sender unit | |
| US10725147B2 (en) | Positioning light beam emission system, method and indoor positioning system | |
| JP7077013B2 (en) | 3D information processing unit, device equipped with 3D information processing unit, unmanned aerial vehicle, notification device, moving object control method using 3D information processing unit, and program for moving object control processing | |
| CN105824004A (en) | Method and system for positioning interactive space | |
| CN105974359A (en) | Positioning device, positioning base station, spatial positioning system and method | |
| CN106443699A (en) | Multi-combination laser radar device and scanning method thereof | |
| EP3514489B1 (en) | Surveying device and surveying method | |
| CN108226865A (en) | A kind of object localization method and device using laser scanning | |
| EP3351899B1 (en) | Method and device for inpainting of colourised three-dimensional point clouds | |
| CN106851575B (en) | Method for uniformly positioning base station coordinate system and positioning calibration device | |
| CN107024677B (en) | Virtual reality positioning system | |
| CN106323230A (en) | Obstacle identification apparatus and obstacle identification method | |
| CN106526538A (en) | Positioning base station, positioning system and positioning method | |
| CN107346013B (en) | A kind of method and device for calibrating locating base station coordinate system | |
| CN106878944A (en) | A kind of method and locating calibration device for calibrating locating base station coordinate system | |
| CN105842659A (en) | Auxiliary positioning system and method, and indoor positioning system and method | |
| CN106646498B (en) | A kind of development machine lateral shift measurement method | |
| CN110865337B (en) | Unmanned aerial vehicle laser positioning device | |
| CN106950541A (en) | A kind of alignment system, locating base station, locating base station network and positioning terminal | |
| CN110109056A (en) | A kind of multiple target laser orientation system | |
| CN206479638U (en) | A kind of optical scanner sensor | |
| CN106526539A (en) | Positioning base station, positioning system and positioning method | |
| CN106646365A (en) | Positioning base station, positioning system and positioning method | |
| CN106443584A (en) | Position determination method and apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |