CN106154229B - Reference light source emitting system, reference light source emitting method, optical signal emitting system and positioning system - Google Patents

Reference light source emitting system, reference light source emitting method, optical signal emitting system and positioning system Download PDF

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Publication number
CN106154229B
CN106154229B CN201610517537.4A CN201610517537A CN106154229B CN 106154229 B CN106154229 B CN 106154229B CN 201610517537 A CN201610517537 A CN 201610517537A CN 106154229 B CN106154229 B CN 106154229B
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reference light
light source
positioning
emitting device
effective illumination
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CN106154229A (en
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郭成
杨骁�
董荣省
李鸿清
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BEIJING G-WEARABLES INFORMATION SCIENCE & TECHNOLOGY Co Ltd
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BEIJING G-WEARABLES INFORMATION SCIENCE & TECHNOLOGY Co Ltd
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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
    • G01S5/16—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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The invention discloses a reference light source emitting system, a reference light source emitting method and a positioning system for auxiliary positioning. The first reference light source emits a first reference light pulse to the first effective illumination range. The second reference light source is separate from the first reference light source and emits a second reference light pulse toward the second effective illumination range. The second reference light source emits a reference light pulse simultaneously with the first reference light source. When the horizontal position of the first reference light source is outside the field angle direction range of the second fan-shaped area and the horizontal position of the second reference light source is inside the first fan-shaped area, the combination of the first effective illumination range and the second effective illumination range covers a space within a predetermined distance range around the second reference light source. Thus, the first reference light source and the second reference light source are separated, and the effective irradiation range of the reference light pulse emitted by each reference light source does not need to cover the whole positioning space, so that the intensity of the reference light pulse emitted by each reference light source does not need to be too large, and the positioning cannot be influenced.

Description

Reference light source emitting system, reference light source emitting method, optical signal emitting system and positioning system
Technical Field
The invention relates to the field of positioning, in particular to a reference light source emitting system and method, an optical signal emitting system and a positioning system for auxiliary positioning.
Background
The indoor positioning technology is used as auxiliary positioning of satellite positioning, and can solve the problems that satellite signals are weak and cannot penetrate through buildings when reaching the ground. The laser positioning technology is a common indoor positioning technology, and the scheme is that a positioning light tower for emitting laser is built in a positioning space, the positioning space is subjected to laser scanning, a plurality of laser receiving inductors are designed on an object to be positioned, data are subjected to operation processing at a receiving end, and three-dimensional position coordinate information is directly output. The positioning process can be shown in fig. 1.
In order to better meet the positioning requirement of an object to be positioned, a plurality of positioning light beam emitting devices are often required to be arranged in a positioning space. For example, in order to prevent the laser receiving sensor on the object to be positioned from receiving the positioning beam emitted by the positioning beam emitting device due to occlusion, a plurality of positioning beam emitting devices need to be arranged at different positions in the positioning space. For another example, since the scanning area of the laser is limited, when the positioning space is expanded into a plurality of positioning spaces, it is necessary to provide positioning beam emitting devices in the plurality of positioning spaces, respectively, so that the positioning beams emitted by the plurality of positioning beam emitting devices can cover the entire positioning space.
When a plurality of positioning beam emitting devices are arranged in a positioning space, positioning beams swept by the plurality of positioning beam emitting devices need to be calibrated, so that the positioning beam emitting devices corresponding to the positioning beams received by a laser receiving sensor on an object to be positioned can be identified. The existing calibration mode is mostly to realize the calibration of the positioning light beam emitting device by arranging a calibration light source. In order to enable signals emitted by the calibration light source and the positioning light beam emitting device to be received by the laser receiving sensor on the object to be positioned, the calibration light beam is usually arranged close to the positioning light beam emitting device, and in order to enable the calibration signal emitted by the calibration light beam to fully cover the whole positioning space, the intensity of the calibration signal emitted by the calibration light source needs to be improved, and the too strong calibration signal can cause interference on the positioning signal in the range near the positioning light beam emitting device, so that the phenomenon that part of the area of the positioning space cannot be positioned can be caused.
Disclosure of Invention
The invention mainly solves the technical problem of providing a reference light source emission system, a reference light source emission method, an optical signal emission system and a positioning system for auxiliary positioning, which can calibrate a positioning light beam emission device in a positioning space and simultaneously do not influence the normal positioning of an object to be positioned.
According to an aspect of the present invention, there is provided a reference light source emitting system for assisted positioning, comprising: a first reference light source for emitting a first reference light pulse to a first effective illumination range, the first effective illumination range substantially corresponding to a first sector area on a horizontal plane, the first sector area being peaked at a horizontal position of the first reference light source and having a first effective illumination radius; a second reference light source, separate from the first reference light source, for emitting a second reference light pulse to a second effective illumination range, the second effective illumination range substantially corresponding to a second sector area on the horizontal plane, the second sector area being peaked at a horizontal position of the second reference light source and having a second effective illumination radius; wherein the second reference light source emits the reference light pulse simultaneously with the first reference light source, and the combination of the first effective illumination range and the second effective illumination range can cover a space within a predetermined distance range around the second reference light source in a case where the first reference light source and the second reference light source are set such that the horizontal position of the first reference light source is located outside the angular direction range of the second sector region and the horizontal position of the second reference light source is located within the first sector region.
According to another aspect of the present invention, there is also provided a positioning light signal transmitting system for assisting positioning, including: the above-mentioned reference light source emission system; and a positioning beam emitting device adapted to be disposed adjacent to one of the first reference light sources for sweeping the positioning beam toward the positioning space at a predetermined sweeping period and a predetermined angular velocity.
According to another aspect of the present invention, there is also provided a positioning system including: the above-mentioned positioning light signal emitting system; and a plurality of receivers adapted to be fixed at a plurality of different positions on the outer surface of the object to be positioned for receiving the positioning beams, the relative spatial positional relationship between the plurality of beam receivers being fixed.
Preferably, according to another aspect of the present invention, there is also disclosed a reference light source emission method for assisting positioning, the method comprising: emitting a first reference light pulse at an edge or corner position of the localization space that is offset from the central position to a first effective illumination area, the first effective illumination area substantially corresponding to a first sector area on a horizontal plane, the first sector area being centered on the horizontal position of the first reference light source and having a first effective illumination radius; emitting a second reference light pulse at a central position in the localization space towards a second effective illumination range, the second effective illumination range substantially corresponding to a second sector area on the horizontal plane, the second sector area being centered on the horizontal position of the second reference light source and having a second effective illumination radius, wherein a combination of the first effective illumination range and the second effective illumination range is capable of covering the localization space.
In summary, the reference light source emitting system, the reference light source emitting method, the optical signal emitting system and the positioning system of the present invention can be used not only for calibrating the positioning light beam of the positioning light beam emitting device, but also for calibrating the scanning period starting point, and in the calibration process, the normal positioning is not affected.
Drawings
The foregoing and other objects, features and advantages of the disclosure will be apparent from the following more particular descriptions of exemplary embodiments of the disclosure as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the disclosure.
Fig. 1 shows a flow of implementing a conventional laser positioning scheme.
Fig. 2 shows a schematic block diagram of the structure of a reference light source emission system according to an embodiment of the present invention.
Figure 3 shows a schematic view of a sector area.
Fig. 4 shows a schematic block diagram of the structure of a reference light source emission system according to another embodiment of the present invention.
Fig. 5 a-5 c show schematic views of a situation when one second reference light source and two first reference light sources are arranged in one positioning space.
Fig. 6 shows a schematic block diagram of the structure of a reference light source emission system according to another embodiment of the present invention.
Fig. 7 is a schematic block diagram showing the structure of a positioning optical signal transmission system according to an embodiment of the present invention.
Fig. 8 is a schematic structural view showing a positioning beam emitting apparatus according to another embodiment of the present invention.
Fig. 9-11 show several schematic views of the state in which the positioning light signal transmission system is arranged in the positioning space.
Fig. 12 shows a schematic block diagram of the structure of a positioning system according to an embodiment of the invention.
Detailed Description
Preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The invention firstly provides a reference light source emitting system which is suitable for being installed in a positioning space and used for assisting positioning. The positioning space may be a single positioning space or a plurality of expanded positioning spaces, and the shape of the positioning space may be a regular quadrilateral area such as a rectangle or a rhombus, or may be other irregular polygonal areas. Fig. 2 shows a schematic block diagram of the structure of a reference light source emitting system for assisted positioning according to an embodiment of the present invention.
As shown in fig. 2, the reference light source emitting system 10 of the embodiment of the present invention includes a first reference light source 1 and a second reference light source 2.
The first reference light source 1 and the second reference light source 2 are separated, and the first reference light source 1 and the second reference light source 2 emit a reference light pulse simultaneously. The first reference light source 1 emits a first reference light pulse to the first effective illumination range, and the second reference light source 2 emits a second reference light pulse to the second effective illumination range.
Where the term "reference light pulse" is referred to herein, it may be considered to be a diffused light beam in the form of a pulse having a solid angle, which may be generated in a variety of ways. For example, the reference light source (the first reference light source and/or the second reference light source) may be a surface light source, and the surface light source emits a diffused light beam with a certain opening angle in a pulse form.
The reference light pulses emitted by the first reference light source 1 and the second reference light source 2 have a certain illuminance, which is attenuated during propagation. When the illuminance of the reference light pulse decays to less than the effective receiving threshold, it cannot be sensed by the receiver disposed on the object to be positioned. Therefore, the term "first effective illumination range" mentioned here refers to an area where the illuminance of the first reference light pulse is not less than the effective reception threshold, and the term "second effective illumination range" refers to an area where the illuminance of the second reference light pulse is not less than the effective reception threshold. Wherein the specific value of the effective reception threshold is related to a parameter of a receiver arranged on the object to be positioned.
The first effective illumination range substantially corresponds to a first sector area on the horizontal plane, which is at the apex of the horizontal position of the first reference light source 1 and has a first effective illumination radius. The second effective illumination range substantially corresponds to a second sector area on the horizontal plane, which is centered on the horizontal position of the second reference light source 2 and has a second effective illumination radius.
In the case where the first reference light source 1 and the second reference light source 2 are set such that the horizontal position of the first reference light source 1 is located outside the angular direction range of the second fan-shaped region and the horizontal position of the second reference light source 2 is located inside the first fan-shaped region, the combination of the first effective illumination range and the second effective illumination range can cover the space within the predetermined distance range around the second reference light source 2.
For ease of understanding, the terms "inside the fan-shaped area" and "outside the angular range" are used herein for brevity. The fan-shaped regions (the first fan-shaped region and the second fan-shaped region) mentioned herein may be fan-shaped regions shown in fig. 3, which have a certain effective irradiation radius R and an angular direction range (see the range shown by the arc-shaped line with an arrow in the figure). The "fan-shaped region" can be regarded as a region constituted by the effective irradiation radius R in the field angle direction range, the "inside of the fan-shaped region" refers to the inside of the region constituted by the effective irradiation radius R in the field angle direction range, and the "outside of the field angle direction range" refers to the outside of the field angle direction range. As shown in fig. 3, a is located inside the sector area, B1, B2, B3 are located outside the field angle direction range, and C is considered to be located outside the effective irradiation radius. Here, "outside the effective irradiation radius" refers to the outside of the effective irradiation radius R in the angular direction range.
The size of the space within the predetermined distance range that can be covered by the combination of the first effective illumination range and the second effective illumination range may be set according to a specific application scenario. For example, when the first reference light source 1 and the second reference light source 2 are arranged in the positioning space, a space within a predetermined distance range that can be covered by a combination of the first effective irradiation range and the second effective irradiation range may be set as the entire positioning space.
In summary, the reference light source emitting system 10 of the embodiment of the present invention includes two reference light sources (a first reference light source 1 and a second reference light source 2) separated from each other. When the reference light source emitting system 10 of the embodiment of the present invention is applied to positioning, the first reference light source 1 and the second reference light source 2 in the reference light source emitting system 10 may be respectively disposed at different positions in the positioning space, so that each reference light source is responsible for emitting a reference light pulse to different areas in the positioning space (i.e., the effective irradiation ranges of the different reference light sources are different), and the effective irradiation ranges of the reference light pulses emitted by the two reference light sources may substantially cover the positioning space.
In this way, the effective illumination range of the reference light pulse emitted by each reference light source only needs to cover a part of the localization space, not the entire localization space, so that the intensity of the reference light pulse emitted by each reference light source does not need to be too large.
Therefore, when the reference light source emitting system is applied to calibration of the positioning light beam emitted by the positioning light beam emitting device, interference on the positioning process caused by overlarge intensity of the reference light pulse emitted by the reference light source is avoided. The process of calibrating the positioning light beam emitted by the positioning light beam emitting device using the reference light source emitting system will be described in detail below, and will not be described here.
In addition, the size of the opening angle of the first and second fan-shaped areas mentioned above is related to the shape of the positioning space and the position of the arrangement of the first and second reference light sources.
For example, when the positioning space corresponds to a square area on a horizontal plane, the horizontal position of the first reference light source 1 corresponds to a position at one corner of the square area, and the horizontal position of the second reference light source 2 corresponds to a central position of the square area, the opening angle of the first fan-shaped area is preferably not less than 90 °, and the opening angle of the second fan-shaped area is preferably not less than 270 °.
Of course, when the positioning space has other shapes and the first reference light source 1 and the second reference light source 2 are disposed at different positions in the positioning space, the opening angles of the first fan-shaped region and the second fan-shaped region may have other angular ranges. Preferably, the angular size of the opening angle of the first sector area and the second sector area is such that the combination of the first sector area and the second sector area covers substantially the whole positioning space, so that the receiver arranged on the object to be positioned can receive the reference light pulse when the object to be positioned moves back and forth in the positioning space.
When the reference light source emitting system of the embodiment of the invention is applied to calibration of the positioning light beam emitting device in the positioning space, the first reference light pulse and the second reference light pulse should have the same code. There may be various ways to encode the reference light pulse, which are not described herein again.
The basic structure of the reference light source emitting system 10 of the present invention is described in detail with reference to fig. 2 and 3. When the reference light source emitting system 10 of the present invention is applied to positioning, the number of the first reference light sources 1 and the number of the second reference light sources 2 constituting the surface light source emitting system 10 are different depending on the number of positioning spaces and the number of positioning light beam emitting devices set in the positioning spaces.
For example, in the case where the positioning space is one and a plurality of positioning beam emitting devices are provided in the positioning space, referring to fig. 4, the reference light source emitting system 10 may include one second reference light source 2 and M first reference light sources 1, where M is a natural number greater than 1. Wherein the value of M may be comparable to the number of positioning beam emitting devices within the positioning space.
Each first reference light source 1 is capable of emitting a first reference light pulse at a different time instant, and the first reference light pulses emitted by each first reference light source 1 may have a first effective illumination range of a different angular direction range. The second reference light source 2 has M kinds of light emission patterns corresponding to the M first reference light sources 1, respectively, and the M kinds of light emission patterns correspond to M second effective illumination ranges having different angular direction ranges, respectively.
While a first reference light source 1 emits a first reference light pulse, a second reference light source 2 emits a second reference light pulse in a light emission pattern corresponding to the first reference light source 1.
Therefore, the M kinds of light emission patterns of the second reference light source 2 are respectively in one-to-one correspondence with the M first reference light sources 1, so that in a case where one first reference light source 1 of the M first reference light sources and the second reference light source 2 are set such that the horizontal position of the first reference light source 1 is located outside the angular direction range of the second sector area, and the horizontal position of the second reference light source 2 is located within the first sector area of the first reference light source 1, the combination of the first effective illumination range of the first reference light source 1 and the second effective illumination range of the second reference light source 2 corresponding to the light emission pattern of the first reference light source 1 can cover the space within the predetermined distance range around the second reference light source 2.
The above descriptions of "inside the fan-shaped area", "outside the field angle direction range", "the first effective illumination range", and "the second effective illumination range" may refer to the above descriptions, and are not repeated herein.
Fig. 5 a-5 c show a schematic view of a second reference light source 2 and two first reference light sources arranged in a positioning space.
Referring to fig. 5a, the second reference light source 2 may be disposed at a central position within the positioning space, and the two first reference light sources are disposed at two positions distant from the second reference light source 2, respectively, and may be disposed at two corners on a diagonal line, as shown in the drawing. The second reference light source 2 has two light emission modes corresponding to the two first reference light sources, respectively.
Referring to fig. 5b, while the first reference light source in the lower left corner emits the first reference light pulse, the second reference light source 2 may emit the second reference light pulse in a light emission pattern corresponding to the first reference light source in the lower left corner, at which time the combination of the effective illumination ranges of the first reference light pulse and the second reference light pulse may cover substantially the entire localization space.
Referring to fig. 5c, when the first reference light source in the lower right corner emits the first reference light pulse, the second reference light source 2 may emit the second reference light pulse in a light emission pattern corresponding to the first reference light source in the lower right corner, and the combination of the effective illumination ranges of the first reference light pulse and the second reference light pulse may cover substantially the entire localization space.
So far, reference light source emitting system 10 comprising two first reference light sources and one second reference light source 2 has been schematically illustrated in connection with fig. 5 a-5 c. In addition, it should be understood that, according to actual situations, the number of the first reference light sources corresponding to one second reference light source 2 may also be three, four, and so on, and according to the difference of the shapes of the positioning spaces, the arrangement manners of the second reference light sources 2 and the corresponding first reference light sources are not the same, and are not described herein again.
The first reference light pulses emitted by each of the M first reference light sources 1 may have a different code, respectively, and the second reference light pulses emitted by the second reference light source 2 in a light emission pattern corresponding to one of the M first reference light sources 1 may have the same code as the first reference light pulses emitted by that first reference light source 1.
Thus, when the reference light source emitting system of the embodiment of the present invention is applied to a case where a plurality of positioning light beam emitting devices are provided in the positioning space, it is possible to provide one first reference light source 1 at a position close to each positioning light beam emitting device, respectively, and then provide one second reference light source 2 at another position different from the first reference light source 1 in the positioning space.
Thus, a positioning beam emitting device may correspond to a first reference light source 1, and the reference light pulses emitted by each first reference light source 1 may have a unique code. Therefore, the first reference light source and the positioning light beam emitting devices corresponding to the first reference light source can be associated, so that the positioning light beam emitting devices corresponding to the received positioning light beams can be judged according to the coding mode of the reference light pulses received by the receiver, and the calibration of the positioning light beams emitted by the plurality of positioning light beam emitting devices in the positioning space is realized. The specific calibration process will be described in detail below, and will not be described herein again.
In addition, with the reference light source emitting system 10 shown in fig. 4, each first reference light source 1 in the reference light source emitting system 10 may also emit a plurality of kinds of first reference light pulses with different codes, in this case, one positioning light beam emitting device may correspond to a plurality of first reference light sources, and each first reference light source may also correspond to a plurality of positioning light beam emitting devices. The specific correspondence will be described in detail below, and the description is made here only with reference to the features that the first reference light source 1 and the second reference light source 2 in the light source emission system 10 may have themselves.
In particular, with the reference light source emission system 10 shown in fig. 4, in which there may be at least two associated first reference light sources, when one of the first reference light sources emits a first reference light pulse, the other first reference light sources, except for the first reference light source associated with that first reference light source, each emit a first reference light pulse having the same code as the first reference light pulse emitted by the one reference light source. Thus, each first reference light source can also emit first reference light pulses of multiple encoding modes. Wherein the associated first reference light sources 1 may preferably be arranged at a relatively large distance in the positioning space (for example, the associated first reference light sources 1 may be two and may be located at two ends of a diagonal line of the positioning space), and the second reference light sources 2 may refer to the same description as above with reference to fig. 4, which is not repeated herein.
In the above description, with reference to fig. 4, 5a, 5b, and 5c, the structure of the light source emission system 10 is described in the case where there is one positioning space and a plurality of positioning light beam emission devices are provided in the positioning space. In addition, when the positioning space is expanded into a plurality of positioning spaces and one or more positioning light beam emitting devices are provided in each positioning space, referring to fig. 6, the reference light source emitting system 10 may further include N reference light source groups 11, where N is a natural number greater than 1.
The reference light source group 11 has a value corresponding to the number of positioning spaces, each reference light source group 11 corresponds to one positioning space, and the reference light source group 11 is composed of a first reference light source and a second reference light source.
The number of first reference light sources in the reference light source group 11 is equivalent to the number of positioning light beam emitting devices in the positioning space corresponding to the reference light source group 11. Here, the light emitting characteristics and the arrangement manner of the first reference light source and the second reference light source in the reference light source group 11 may be referred to the above description, and are not described again here.
The reference light source emitting system of the present invention is described in detail with reference to fig. 2 to 6. In addition, the invention also provides a positioning optical signal transmitting system.
Referring to fig. 7, the positioning light signal emission system 15 of the embodiment of the present invention includes a reference light source emission system 10 and a positioning light beam emission device 20.
The positioning beam emitting device 20 is adapted to be arranged close to one first reference light source 1 in the reference light source emitting system 10 for sweeping the positioning beam towards the positioning space with a predetermined sweeping period and a predetermined angular velocity.
The scanning of the positioning beam to the positioning space where the positioning beam emitting device 20 is located can be achieved in various ways. For example, the positioning beam emitting device can scan the positioning beam to the positioning space where the positioning beam emitting device is located in various ways such as motor rotation scanning, MEMS scanning mirror scanning, single-mode fiber dithering scanning, and the like. Of course, other implementations are possible for those skilled in the art, and are not described here.
The predetermined sweep period (T) may or may not correspond to the predetermined angular velocity (ω). For example, when the optical beam emitting device is positioned to make a uniform circumferential rotation around the sweep axis, the sweep period may be considered to correspond to a predetermined angular velocity, where T is 2 pi/ω. On the other hand, in some cases, the positioning beam emitting device need only be rotated less than one revolution, for example about one quarter of a revolution, i.e. about 90 °, in order for the scanning beam to completely scan the sub-positioning space. In this way, the rotation speed can be different when the scanning beam scans the sub-localization space and when it does not. Alternatively, the positioning beam emitting device may be arranged so that the scanning beam is reciprocally scanned in the sub-positioning space. In these cases, T ≠ 2 π/ω.
The structure of the light source emitting system 10 can be referred to the above description in connection with fig. 2 to 6, and will not be described herein again.
The reference light source emitting system 10 can be used to calibrate the positioning light beams swept by the positioning light beam emitting devices 20, so that the positioning light beams swept by different positioning light beam emitting devices 20 (which may be different positioning light beam emitting devices in the same positioning space, or different positioning light beam emitting devices belonging to different positioning spaces) can be distinguished.
The scanning positioning beam of one positioning beam emitting device 20 can be calibrated by one first reference light source 1 and one second reference light source 2, or by a plurality of first reference light sources 1 and one second reference light source 2.
That is, one first reference light source 1 and one second reference light source 2 in the reference light source emission system 10 may correspond to one positioning light beam emission device 20, or a plurality of first reference light sources 1 and one second reference light source 2 in the reference light source emission system 10 may correspond to one positioning light beam emission device 20. Also, each of the first reference light sources 1 may also correspond to a plurality of positioning beam emitting devices 20.
The mechanism for calibrating the positioning beam emitting device 20 will be described in detail below with reference to the light source emitting system 10.
The inventors have found, after intensive research, that the positioning light beam emitting device 20 can be associated with the reference light source (the first reference light source and/or the second reference light source, and the number of the first reference light sources can be multiple) corresponding to the positioning light beam emitting device, so that the positioning light beam emitting device corresponding to the positioning light beam received by the positioning light beam emitting device can be identified according to the code of the reference light pulse received by the receiver on the object to be positioned.
Here, the time when the positioning light beam emitting device 20 scans the positioning light beam in each scanning period may be associated with the time when the reference light source corresponding to the positioning light beam emits the reference light pulse, so that after the receiver on the object to be positioned receives the reference light pulse and the positioning light pulse associated with the reference light pulse, the received positioning light beam may be distinguished according to the code of the received reference light pulse.
Specifically, in each scanning cycle, at the same time as the positioning beam emitting device 20 starts scanning the positioning beam, or at a time having a predetermined time interval from the time when the positioning beam emitting device 20 starts scanning the positioning beam (which may be the same time as the positioning beam emitting device 20 starts scanning the positioning beam, or may be before the positioning beam emitting device 20 starts scanning the positioning beam, or may be a time after the positioning beam emitting device 20 starts scanning the positioning beam), the first reference light source 1(s) and/or the second reference light source 2 in the reference light source emitting system 10 emit the first and/or second reference light pulses corresponding to the positioning beam emitting device 20.
Thus, the time when the reference light source emits the reference light pulse and the time when the positioning light beam emitting device scans the positioning light beam can be correlated. Thus, after the receiver on the object to be positioned receives the reference light pulse, the positioning light beam received at the same time as, before or after the reference light pulse is received can be identified as the positioning light beam associated with the reference light pulse. Therefore, the calibration of the positioning light beam swept by the positioning light beam emitting device can be realized.
In addition, the reference light source (the first reference light source 1 and/or the second reference light source 2) in the reference light source emitting system 10 can also be used for calibrating the scanning period starting point of the positioning light beam emitting device.
Specifically, the reference light source emitting system 10 may be configured to have a predetermined time interval between the time when the reference light source (the first reference light source 1 and/or the second reference light source 2) in the reference light source emitting system 10 emits the reference light pulse and the time when the positioning beam emitting device 10 starts to sweep the positioning beam in each sweep period, so that the reference light pulse emitted by the reference light source emitting system 10 can also be used for time calibration in the positioning process.
Since the time when the reference light source (the first reference light source 1 and/or the second reference light source 2) in the reference light source emitting system 10 emits the reference light pulse has a predetermined time interval from the time when the positioning light beam emitting device 20 scans the positioning light beam. Therefore, the time when the reference light source emitting system 10 emits the reference light pulse can be used as the starting point of the scanning period of the positioning light beam emitting device, and the starting point of the scanning period corresponds to a zero-angle line which is used for calibrating the plane of the positioning light beam scanned by the positioning light beam emitting device 20 in the propagation direction when the reference light source emitting system 10 emits the reference light pulse.
After a receiver arranged on an object to be positioned receives the reference light pulse, the time of the coded pulse can be recorded (which can be recorded by the receiver or a processor connected with the receiver), when the positioning light beam emitting device scans the object to be positioned, the receiver on the object to be positioned receives the positioning light beam, the included angle of the position of the object to be positioned deviating from a zero angle line can be calculated through the time difference of two received signals and the angular velocity of the positioning light beam scanned by the positioning light beam emitting device, and the positioning light beam emitting device from which the received positioning light beam comes can be distinguished, so that the relative position information of the object to be positioned relative to the positioning light beam emitting device can be obtained.
There may be various ways to realize that the reference light source emitting system emits the reference light pulse at a time and the positioning light beam emitting device starts scanning the positioning light beam within each scanning period with a predetermined time interval. For example, the positioning beam emitting device may comprise a signal emitter, and at a predetermined time within each scanning period, the signal emitter may emit a trigger signal to a first reference light source and/or a second reference light source in the reference light source emitting system, the first reference light source and/or the second reference light source emitting respective pulses of reference light in response to receiving the trigger signal. The trigger signal emitted by the signal emitter can also be a positioning light beam, namely, in the process that the positioning light beam emitting device scans the positioning light beam to the positioning space at a preset scanning period and a preset angular speed, when the positioning light beam emitting device scans to a certain position, the scanned positioning light beam can be received by the first reference light source and/or the second reference light source in the reference light source emitting system, and in response to receiving the positioning light beam, the first reference light source and/or the second reference light source emits corresponding reference light pulses.
Fig. 8 shows a schematic structural diagram of a device for calibrating and positioning the starting point of the scanning period of the light beam emitting device by using the reference light source emitting system.
Referring to fig. 8, the positioning light beam emitting device may be composed of a scanning light source 21 and a rotating device 22, the scanning light source 21 is fixed on the rotating device 22, and the rotating device 22 may rotate around a fixed shaft. The scanning light source 21 may be a vertical linear light source (e.g., a linear light source obtained by passing a light source through a slit) in the figure, an inclined linear light source or an array light source, or other types of light sources, and after the rotating device 22 rotates around the rotating shaft by a certain angle, the positioning light beam emitted by the scanning light source 21 may cover most or the entire area of the sub-positioning space.
The signal emitter 31 may be fixedly disposed at a position near the rotating device 22, so that when the sweeping light source 21 rotates with the rotating device 22 to a position where the positioning beam swept by the sweeping light source 21 can be received by the signal emitter 31, the signal emitter 31 emits a trigger signal in response to receiving the positioning beam by the signal emitter 31.
The reference light source (the first reference light source and/or the second reference light source) in the reference light source emitting system may be connected to the signal emitter 31 (not shown in the drawings, and may be connected by a wire or wirelessly), and in response to receiving the trigger signal sent by the signal emitter 31, the reference light source (the first reference light source and/or the second reference light source) in the reference light source emitting system may emit a corresponding reference light pulse.
Since the position of the signal emitter 31 is fixed, when the time when the reference light source (the first reference light source and/or the second reference light source) in the reference light source emitting system emits the reference light pulse is taken as the starting point of the scanning period of the positioning light beam emitting device, the zero-angle line corresponding to the starting point of the scanning period is the plane of the positioning light beam in the propagation direction when the positioning light beam emitting device rotates to the position where the positioning light beam emitted by the positioning light beam emitting device can be received by the signal emitter 31.
Now, the process of calibrating the positioning light beam swept by the positioning light beam emitting device 20 by the reference light source emitting system 10 in the positioning light signal emitting system 15 is described in detail.
As described above, the number of first reference light sources constituting the area light source emission system 10 differs depending on the number of positioning spaces and the number of positioning beam emitting devices set in the positioning spaces.
Therefore, the positioning light signal transmission system 15 can be divided into a plurality of positioning transmission groups. The number of the positioning emission groups is equal to that of the positioning spaces, each positioning space corresponds to one positioning emission group, each positioning emission group comprises M first reference light sources, one second reference light source and M positioning light beam emission devices, and M is a natural number greater than 1. The number of the positioning beam emitting devices and the first reference light sources included in each positioning emission group may be set according to actual conditions.
When a different number of positioning light beam emitting devices 20 are disposed in the positioning space, the detailed description has been given above with reference to the specific configuration of the light source emitting system 10, and will not be repeated here. Several schemes for arranging the positioning optical signal transmission system 15 in the positioning space will be described below with reference to the drawings. In which only a few examples are shown, it being understood that many other arrangements are possible, depending on the actual situation.
Referring to fig. 9, the positioning spaces are four (as shown by positioning spaces a, b, c, d), and each positioning space is provided with a positioning beam emitting device 20, a first reference light source 1, and a second reference light source 2.
The horizontal position of the second reference light source 2 corresponds to the central position on the horizontal plane of the positioning space, and the horizontal positions of the first reference light source 1 and the positioning light beam emitting device 20 correspond to the edge or corner positions on the horizontal plane of the positioning space far from the central position, and as shown in the drawing, the first reference light source 1 and the positioning light beam emitting device 20 may be located at one corner of the positioning space.
The first reference light source 1 and the second reference light source 2 emit the reference light pulses synchronously. Specifically, taking the localization space a in fig. 9 as an example, when the first reference light source emits the first reference light pulse toward the center position, the first effective irradiation range corresponding to the first reference light pulse is a first sector area having the horizontal position of the first reference light source as the vertex.
At this time, in order that the combination of the effective irradiation ranges of the second reference light pulse and the first reference light pulse emitted by the second reference light source may cover substantially the entire localization space, the second reference light source 2 need only emit the second reference light pulse to the other regions in the localization space except for the first sector region. Thereby, the second reference light pulse emitted by the second reference light source 2 may not be emitted towards the edge or corner position where the positioning light beam emitting device 20 is located, that is, the second reference light source 2 may not be emitted towards the edge or corner position where the first reference light source 1 is located.
The first reference light source 1 and the second reference light source 2 in the same positioning space simultaneously emit reference light pulses and have the same code, and the reference light pulses emitted by the first reference light source 1 and the second reference light source 2 belonging to different positioning spaces may have different codes.
Thus, the codes of the reference light pulses emitted by the reference light sources in different positioning spaces are different, and when the object to be positioned moves in a plurality of positioning spaces, the positioning space where the object to be positioned is located can be determined according to the reference light pulses received by the receiver on the object to be positioned, and the positioning light beam emitting device corresponding to the positioning light beam received by the receiver can be determined (here, the corresponding positioning light beam emitting device can also be directly determined according to the received reference light pulses according to the preset corresponding relationship).
Thereby, the reference light pulses emitted by the reference light sources in different localization spaces can be encoded differently, so that the reference light pulses emitted by the reference light sources in different localization spaces can be distinguished, so that the localization spaces can be expanded.
The localization space shown in fig. 9 corresponds to a square area on the horizontal plane, and at this time, it is preferable that the opening angle of the first fan-shaped area of the first reference light pulse emitted from the first reference light source 1 is not less than 90 °, and the opening angle of the second fan-shaped area of the second reference light pulse emitted from the second reference light source 2 is not less than 270 °. Further, in order to enable the first and second reference light pulses to cover substantially the entire localization space, the first and/or second effective illumination radius is not smaller than half of the diagonal of the square area. The "sector area" and "effective irradiation radius" concepts referred to herein can be referred to in the foregoing description.
Fig. 9 shows a case where one positioning beam emitting device is provided in each of a plurality of positioning spaces. In addition, in order to avoid the situation that the receiver on the object to be positioned cannot receive the positioning light beam due to the shielding or the orientation, a plurality of positioning light beam emitting devices 20 can be arranged in each positioning space.
As shown in fig. 10, in each positioning space, two positioning light beam emitting devices 20 are disposed at two positions away from each other, for example, at two corners of a square area on a diagonal line, and a first reference light source 1 is disposed near each positioning light beam emitting device, and a second reference light source 2 is disposed at a central position of the positioning space, and each first reference light source 1 can emit a first reference light pulse toward the central position. Wherein different first reference light sources 1 within the same localization space may emit first reference light pulses at different times.
The second reference light source 2 has two light emission patterns corresponding to the two first reference light sources 1 belonging to the same localization space, and when one first reference light source in one localization space emits the first reference light pulse, the second reference light source 2 may emit the second reference light pulse having the same code as the first reference light pulse in the light emission pattern corresponding to the first reference light source. The second reference light source 2 may have a plurality of emission surfaces capable of emitting reference light pulses in different directions, and different light emission modes of the second reference light source 2 may achieve emission of the second reference light pulses in different directions by activating different light emission surfaces or different light emission areas of the light emission surfaces.
Specifically, taking the positioning space c as an example, when the first reference light source at the lower left corner emits the first reference light pulse, the first effective irradiation range corresponding to the first reference light pulse is a first sector area whose vertex is the horizontal position of the first reference light source at the lower left corner. At this time, the second reference light source 2 may emit the second reference light pulse to other areas within the localization space than the first fan-shaped area, so that the combination of the effective irradiation ranges of the second reference light pulse and the first reference light pulse may cover substantially the entire localization space. I.e. the second reference light source 2 may not emit the second reference light pulse towards the position of the first reference light source 1 in the lower left corner. Correspondingly, when the first reference light source at the upper right corner emits the first reference light pulse, the second reference light source 2 may not emit the second reference light pulse toward the position where the first reference light source 1 at the lower left corner is located.
Here, it is defined that the second reference light source 2 does not emit the second reference light pulse towards the location where the first reference light source 1 is located, mainly for the purpose of avoiding interference. Briefly, for the positioning space b and the positioning space c, the positioning light beam emitting device at the lower left corner in the positioning space b and the positioning light beam emitting device at the upper right corner in the positioning space c may scan the positioning light beams to the respective positioning spaces simultaneously, when they emit the positioning light beams simultaneously, the first reference light source at the lower left corner in the positioning space b and the second reference light source at the center position emit corresponding reference light pulses, and the first reference light source at the upper right corner in the positioning space c and the second reference light source at the center position also emit corresponding reference light pulses.
At this time, if the second reference light source in the localization space b also emits the reference light pulse toward the lower left corner, the emitted reference light pulse may cover the upper right corner partial area in the localization space c. Because the direction of the reference light pulse emitted by the second reference light source in the positioning space b towards the lower left corner is consistent with the direction of the reference light pulse emitted by the first reference light source in the upper right corner in the positioning space c, when the object to be positioned moves to the upper right corner partial area of the positioning space c, a receiver arranged on the object to be positioned may receive two different reference light pulses, and at this time, the received positioning light beams cannot be distinguished according to the received reference light pulse, so that interference is caused to the positioning process.
As shown in fig. 11, when the positioning space corresponds to a square area on a horizontal plane, it is also possible to provide one positioning light beam emitting device 20 at each of the four corners of the positioning space, and to provide one first reference light source 1 near each positioning light beam emitting device 20 and one second reference light source 2 at the center position of the positioning space. In order to avoid the generation of the laser overlapping area, different positioning beam emitting devices in the same positioning space can scan the positioning beam to the positioning space where the positioning beam emitting devices are located at different moments.
Further, in two positioning spaces diagonally adjacent to each other, the positioning beam emitting devices provided near diagonal positions close to each other can emit the positioning beams in synchronization, and the positioning beam emitting devices provided near diagonal positions far from each other can also emit the positioning beams in synchronization. Taking the positioning space b and the positioning space c as an example, the area at the lower left corner in the positioning space b and the area at the upper right corner in the positioning space c belong to diagonal positions close to each other, and the area at the upper right corner in the positioning space b and the area at the lower left corner in the positioning space c belong to diagonal positions far away from each other.
At this time, the second reference light source 2 in each localization space has four light emission patterns corresponding to the four first reference light sources belonging to the same localization space, respectively.
For the case shown in fig. 11, one positioning beam emitting device may correspond to three first reference light sources and one second reference light source. Specifically, in each scanning cycle, at the same time as the time when one positioning beam emitting device starts scanning the positioning beam or at a time having a predetermined time interval from the time when one positioning beam emitting device starts scanning the positioning beam, of the four first reference light sources belonging to the same positioning emission group as one positioning beam emitting device, the remaining three first reference light sources, except for one first reference light source disposed at a diagonal position of one positioning beam emitting device, each emit a first reference light pulse corresponding to the positioning beam emitting device, and the second reference light source belonging to the same positioning emission group as one positioning beam emitting device emits a second reference light pulse corresponding to the positioning beam emitting device.
Taking the positioning space c as an example, when the positioning light beam emitting device 20 at the lower left corner scans the positioning light beam, the first reference light source arranged at the lower left corner synchronously emits the first reference light pulse. At this time, the second reference light source disposed at the central position of the positioning space c may emit the second reference light pulse in the light emitting mode corresponding to the first reference light source at the lower left corner, where the second reference light source may emit the second reference light pulse in three directions substantially consistent with the direction of the first reference light pulse emitted by the first reference light source at the lower left corner as shown in the figure (that is, the second reference light source does not emit the second reference light pulse toward the position of the first reference light source at the lower left corner, so the reason for such limitation may refer to the above description in conjunction with fig. 10, which is not described herein again), or may only emit the second reference light pulse toward the upper right corner.
While the first reference light source in the lower left corner emits the first reference light pulse, the first reference light sources in the upper left corner and the lower right corner may also emit the first reference light pulse with the same code, while the first reference light source in the upper right corner does not emit light. Here, the first reference light source located at the upper right corner is defined not to emit light, mainly to prevent interference that may occur during the positioning process. Specifically, for the positioning space b and the positioning space c, the positioning beam emitting device at the lower left corner in the positioning space c and the positioning beam emitting device at the upper right corner in the positioning space b can sweep the positioning beam at the same time. When they scan the positioning light beam, if the first reference light source at the upper right corner in the positioning space c also emits the first reference light pulse, the second reference light pulse emitted by the second reference light source in the positioning space b may cover the upper right corner part area in the positioning space c, and since the direction of the second reference light pulse emitted by the second reference light source in the positioning space b is substantially the same as the direction of the first reference light pulse emitted by the first reference light source at the upper right corner in the positioning space c, when the object to be positioned moves to the upper right corner part area in the positioning space c, the receiver arranged on the object to be positioned may receive two different reference light pulses, and at this time, the received positioning light beam cannot be distinguished according to the received reference light pulse, thereby causing interference to the positioning process. Therefore, when the positioning light beam emitting device at the lower left corner in the positioning space c scans the positioning light beam, the other three first reference light sources except the first reference light source arranged at the diagonal position (upper right corner) of the positioning light beam emitting device can emit the first reference light pulse corresponding to the positioning light beam emitting device.
To this end, taking the positioning space corresponding to the square area on the horizontal plane and the positioning space being 4 as an example, several structural schematic diagrams of arranging the first reference light source, the second reference light source and the positioning light beam emitting device in the positioning space are described in detail with reference to fig. 9 to 11. Of these, fig. 9-11 are only schematic illustrations, and many different arrangements are possible based on the specific shape and number of the reference light source emission system and the positioning space of the present invention. For example, the number of the positioning beam emitting devices, the first reference light sources, and the like provided in each positioning space may also be 5, 6, and so on, and at the same time as the time when one of the positioning beam emitting devices starts sweeping the positioning beam or at a time having a predetermined time interval from the time when the positioning beam emitting device starts sweeping the positioning beam, the remaining first reference light sources, except for the first reference light source provided at a diagonal position of the positioning beam emitting device, each emit a first reference light pulse corresponding to the positioning beam emitting device, and the second reference light source emits a second reference light pulse corresponding to the positioning beam emitting device, which is not directed toward an edge or a corner position where the positioning beam emitting device is located, in each sweep period. Of course, there may be other various arrangements according to the actual situation, and the description is omitted here.
Fig. 12 shows a schematic block diagram of a positioning system according to another embodiment of the invention.
Referring to FIG. 12, a positioning system 40 of an embodiment of the present invention includes a positioning optical signal transmission system 15 and a plurality of receivers (shown as first receiver 25-1, second receiver 25-2, …, Nth receiver 25-N).
The number of the receivers can be set according to actual conditions, the plurality of receivers are suitable for being fixed at a plurality of different positions of the outer surface of the object to be positioned, and the relative spatial position relationship among the plurality of light beam receivers is fixed. The receiver can receive the positioning light beam emitted by the positioning light beam emitting device of the positioning light signal emitting system 15, and also can receive the reference light pulse emitted by the reference light source emitting system in the positioning light signal emitting system 15.
The positioning optical signal transmitting system 15 has already been described in detail above, and is not described herein again.
In addition, as shown in fig. 12, the positioning system 40 according to the embodiment of the present invention may further include a processor 27, and the processor 27 is respectively connected to the plurality of receivers (may be connected by a wire or wirelessly).
As described above, the reference light pulse emitted by the reference light source emitting system 10 may be used to calibrate the positioning light beam, and therefore, the processor may determine the positioning light beam emitting device corresponding to the positioning light beam received by the receiver according to the reference light pulse received by the receiver that receives both the reference light pulse and the positioning light beam in one scanning cycle, and then determine the position of the object to be positioned according to the time, the angular velocity, the relative spatial position relationship of the positioning light beams received by the plurality of receivers in one scanning cycle, and the determined predetermined position of the positioning light beam emitting device.
In addition, the invention can also be realized as a reference light source emitting method for assisting positioning, wherein the method corresponds to the reference light source emitting system mentioned above. Only the basic steps of the emission method with reference to the light source are mentioned here, and for details mentioned in these steps and those not mentioned here, see the above-mentioned relevant description.
The auxiliary positioning reference light source emitting method comprises the following steps: emitting a first reference light pulse at an edge or corner position of the localization space that is offset from the central position to a first effective illumination area, the first effective illumination area substantially corresponding to a first sector area on a horizontal plane, the first sector area being centered on the horizontal position of the first reference light source and having a first effective illumination radius; emitting a second reference light pulse at a central position in the localization space towards a second effective illumination range, the second effective illumination range substantially corresponding to a second sector area on the horizontal plane, the second sector area being centered on the horizontal position of the second reference light source and having a second effective illumination radius, wherein a combination of the first effective illumination range and the second effective illumination range is capable of covering the localization space.
Wherein the positioning space corresponds to a square area on a horizontal plane, the opening angle of the first sector area is not less than 90 °, the opening angle of the second sector area is not less than 270 °, and/or the first effective irradiation radius and/or the second effective irradiation radius is not less than half of a diagonal of the square area.
According to the invention, the following technical schemes are disclosed:
1. a reference light source emitting system for aiding in positioning, comprising:
a first reference light source for emitting a first reference light pulse to a first effective illumination range, the first effective illumination range substantially corresponding to a first sector-shaped area on a horizontal plane, the first sector-shaped area being peaked at a horizontal position of the first reference light source and having a first effective illumination radius;
a second reference light source, separate from the first reference light source, for emitting a second reference light pulse to a second effective illumination range, the second effective illumination range substantially corresponding to a second sector area on the horizontal plane, the second sector area being peaked at a horizontal position of the second reference light source and having a second effective illumination radius;
wherein the second reference light source emits a reference light pulse simultaneously with the first reference light source,
in a case where the first reference light source and the second reference light source are set such that the horizontal position of the first reference light source is located outside the field angle direction range of the second sector area and the horizontal position of the second reference light source is located inside the first sector area, the combination of the first effective illumination range and the second effective illumination range can cover a space within a predetermined distance range around the second reference light source.
2. The reference light source emission system according to claim 1 above, wherein,
the opening angle of the first sector-shaped area is not less than 90 degrees, and the opening angle of the second sector-shaped area is not less than 270 degrees.
3. The reference light source emission system according to claim 1 above, wherein,
the first effective irradiation range is an area where the illuminance of the first reference light pulse is not less than an effective reception threshold,
the second effective irradiation range is an area where the illuminance of the second reference light pulse is not less than an effective reception threshold.
4. The reference light source emission system according to claim 1 above, wherein,
the first reference light pulse and the second reference light pulse have the same encoding.
5. The reference light source emission system according to claim 1 above, wherein,
one said second reference light source corresponding to M said first reference light sources, each capable of emitting said first reference light pulses at a different time, M being a natural number greater than 1,
the second reference light source has M kinds of light emission patterns corresponding to the M first reference light sources, respectively, the M kinds of light emission patterns corresponding to M second effective illumination ranges having different angular direction ranges, respectively,
the second reference light source emitting a second reference light pulse in a light emission pattern corresponding to one first reference light source while the one first reference light source emits the first reference light pulse,
in a case where the one first reference light source and the second reference light source are set such that the horizontal position of the one first reference light source is located outside the angular direction range of the second sector region and the horizontal position of the second reference light source is located inside the first sector region of the one first reference light source, the combination of the first effective illumination range of the one first reference light source and the second effective illumination range of the second reference light source corresponding to the light emission pattern of the one first reference light source can cover a space within a predetermined distance range around the second reference light source.
6. The reference light source emitting system according to claim 5 above, wherein,
the first reference light pulses emitted by each of the M first reference light sources have respectively different codes, and the second reference light pulses emitted by the second reference light source in a light emission pattern corresponding to the one first reference light source have the same code as the first reference light pulses emitted by the one first reference light source.
7. The reference light source emission system according to claim 1 above, wherein,
one of the second reference light sources corresponds to M of the first reference light sources, M being a natural number greater than 1, the second reference light source having M kinds of light emission patterns corresponding to the M first reference light sources, respectively, the M kinds of light emission patterns corresponding to M of the second effective illumination ranges having different angular directional ranges,
there are at least two associated first reference light sources, and when one of the first reference light sources emits the first reference light pulse,
the other first reference light sources, except the first reference light source associated with said one first reference light source, each emit a first reference light pulse having the same code as the first reference light pulse emitted by said one reference light source, and
the second reference light source emits a second reference light pulse having the same code as the first reference light pulse emitted by the one reference light source in a light emission pattern corresponding to the one first reference light source,
in a case where the one first reference light source and the second reference light source are set such that the horizontal position of the one first reference light source is located outside the angular direction range of the second sector region and the horizontal position of the second reference light source is located inside the first sector region of the one first reference light source, the combination of the first effective illumination range of the one first reference light source and the second effective illumination range of the second reference light source corresponding to the light emission pattern of the one first reference light source can cover a space within a predetermined distance range around the second reference light source.
8. The reference light source emission system according to any one of the above-mentioned items 5 to 7 includes N reference light source groups,
each of the reference light source groups includes the M first reference light sources and the one second reference light source, and N is a natural number greater than 1.
9. A positioning light signal transmitting system for assisting positioning, comprising:
the reference light source emission system according to any one of the above-mentioned items 1 to 8 of the present invention; and
and the positioning light beam emitting device is suitable for being arranged close to one first reference light source and used for scanning the positioning light beam to the positioning space at a preset scanning period and a preset angular speed.
10. The positioning optical signal transmission system according to claim 9 above, wherein,
in each scanning period, the first reference light source and/or the second reference light source emits first and/or second reference light pulses corresponding to the positioning light beam emitting device at the same time as the positioning light beam emitting device starts scanning the positioning light beam or at a time having a predetermined time interval from the time when the positioning light beam emitting device starts scanning the positioning light beam.
11. The positioning optical signal transmission system according to claim 10 above, wherein the positioning light beam transmission device further includes a signal transmitter,
at a predetermined moment in time within each said sweep period, said signal transmitter transmits a trigger signal to said first reference light source and/or said second reference light source,
in response to receiving the trigger signal, the first reference light source and/or the second reference light source emits respective pulses of reference light.
12. The positioning optical signal transmission system according to claim 10 above, wherein,
the horizontal position of the second reference light source corresponds to a central position on the horizontal plane of the positioning space, the horizontal positions of the first reference light source and the positioning light beam emitting device correspond to edge or corner positions on the horizontal plane of the positioning space far from the central position,
the first reference light source emits the first reference light pulse towards the central position,
in each scanning period, at the same time as the positioning beam emitting device starts scanning the positioning beam or at a time having a predetermined time interval from the positioning beam emitting device starts scanning the positioning beam, the rest of the first reference light sources except the first reference light source arranged at the diagonal position of the positioning beam emitting device emit a first reference light pulse corresponding to the positioning beam emitting device, and the second reference light source emits a second reference light pulse corresponding to the positioning beam emitting device, the second reference light pulse is not directed to the edge or corner position where the positioning beam emitting device is located.
13. The positioning optical signal transmission system according to claim 12 above, wherein the positioning space corresponds to a square area on a horizontal plane,
the opening angle of the first sector is not less than 90 deg., the opening angle of the second sector is not less than 270 deg., and/or,
the first effective illumination radius and/or the second effective illumination radius is not less than half of a diagonal of the square region.
14. The positioning optical signal transmission system according to claim 12 above, wherein,
one first reference light source is arranged in each of two positions in the localization space that are remote from each other, different first reference light sources emitting the first reference light pulses at different times,
the second reference light source is provided with one or more light emitting surfaces capable of emitting reference light pulses in different directions, the one or more light emitting surfaces are used for emitting the second reference light pulses in different directions respectively, the second reference light source is provided with two light emitting modes which correspond to different first reference light sources respectively, at least one or part of the light emitting surfaces emit light in each light emitting mode, and at least one or part of the light emitting surfaces do not emit light.
15. The positioning optical signal transmission system according to the above-mentioned 12 th technical solution of the present invention comprises N positioning transmission groups,
each positioning emission group comprises M first reference light sources, M positioning light beam emission devices and the second reference light source, N is a natural number larger than 1, and M is a natural number larger than 1.
16. The positioning optical signal transmission system according to claim 15 above, wherein,
one of the positioning beam emitting devices is disposed adjacent to each of the first reference light sources, respectively.
17. According to the above 16 technical solution of the present invention, the positioning optical signal transmission system is configured to position an object to be positioned in N adjacent positioning spaces, each positioning space is provided with one positioning transmission group, wherein in two diagonally adjacent positioning spaces:
positioning beam emitting devices for synchronously emitting positioning beams are respectively arranged near the diagonal positions close to each other;
in the vicinity of diagonal positions distant from each other, positioning beam emitting devices that emit positioning beams simultaneously are provided, respectively.
18. The positioning optical signal transmission system according to the above 17 of the present invention, wherein the positioning space corresponds to a square area on a horizontal plane,
a positioning light beam emitting device and a first reference light source are respectively arranged at four corners in the positioning space,
in each scanning period, at the same time as the time when one positioning beam emitting device starts scanning the positioning beam, or at the time when the one positioning beam emitting device starts scanning the positioning beam with a predetermined time interval, the remaining three first reference light sources, except for one first reference light source disposed at a diagonal position of the one positioning beam emitting device, in the four first reference light sources belonging to the same positioning emission group as the one positioning beam emitting device, each emit a first reference light pulse corresponding to the positioning beam emitting device, and the second reference light source belonging to the same positioning emission group as the one positioning beam emitting device emits a second reference light pulse corresponding to the positioning beam emitting device.
19. A positioning system, comprising:
the positioning optical signal transmission system according to any one of the above-mentioned 9 to 18 aspects of the present invention; and
the receiver comprises a plurality of receivers, a plurality of positioning light beams and a plurality of positioning light beam receivers, wherein the receivers are suitable for being fixed at a plurality of different positions of the outer surface of an object to be positioned and used for receiving the positioning light beams, and the relative spatial position relation among the light beam receivers is fixed.
20. The positioning system according to claim 19 of the present invention, further comprising;
and the processor is respectively connected with the plurality of receivers, and determines the positioning light beam emitting device corresponding to the positioning light beam received by the receiver according to the plane light pulse received by the receiver which receives the reference light pulse and the positioning light beam in one scanning period.
21. The positioning system according to claim 20 above, wherein,
and the processor determines the position of the object to be positioned according to the time when the receivers respectively receive the positioning light beams in a scanning period, the angular velocity, the relative spatial position relation and the determined preset position of the positioning light beam emitting device.
22. A reference light source emission method for assisted positioning, comprising:
emitting a first reference light pulse at an edge or corner position of the localization space that is offset from the central position to a first effective illumination area, the first effective illumination area substantially corresponding to a first sector area on a horizontal plane, the first sector area being peaked at a horizontal position of the first reference light source and having a first effective illumination radius;
emitting a second reference light pulse at a central position in the localization space to a second effective illumination range, the second effective illumination range substantially corresponding to a second sector area on the horizontal plane, the second sector area being centered on the horizontal position of the second reference light source and having a second effective illumination radius,
wherein a combination of the first effective illumination range and the second effective illumination range is capable of covering the positioning space.
23. The reference light source emission method according to claim 22, wherein the positioning space corresponds to a square area on a horizontal plane,
the opening angle of the first sector is not less than 90 deg., the opening angle of the second sector is not less than 270 deg., and/or,
the first effective illumination radius and/or the second effective illumination radius is not less than half of a diagonal of the square region.
The reference light source emitting system, the method and the positioning system for assisted positioning according to the present invention have been described above in detail with reference to the accompanying drawings.
In summary, the reference light source emitting system of the present invention can be used not only for calibrating the positioning light beam of the positioning light beam emitting device, but also for calibrating the starting point of the scanning period, and does not affect the normal positioning during the calibration process.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (23)

1. A reference light source emitting system for aiding positioning, the system for calibrating a positioning beam swept by a positioning beam emitting device so that positioning beams swept by different positioning beam emitting devices can be distinguished, comprising:
a first reference light source for emitting a first reference light pulse to a first effective illumination range, the first effective illumination range substantially corresponding to a first sector-shaped area on a horizontal plane, the first sector-shaped area being peaked at a horizontal position of the first reference light source and having a first effective illumination radius;
a second reference light source, separate from the first reference light source, for emitting a second reference light pulse to a second effective illumination range, the second effective illumination range substantially corresponding to a second sector area on the horizontal plane, the second sector area being peaked at a horizontal position of the second reference light source and having a second effective illumination radius;
wherein the second reference light source emits a reference light pulse simultaneously with the first reference light source,
in a case where the first reference light source and the second reference light source are set such that the horizontal position of the first reference light source is located outside the field angle direction range of the second sector area and the horizontal position of the second reference light source is located inside the first sector area, the combination of the first effective illumination range and the second effective illumination range can cover a space within a predetermined distance range around the second reference light source.
2. The reference light source emission system of claim 1,
the opening angle of the first sector-shaped area is not less than 90 degrees, and the opening angle of the second sector-shaped area is not less than 270 degrees.
3. The reference light source emission system of claim 1,
the first effective irradiation range is an area where the illuminance of the first reference light pulse is not less than an effective reception threshold,
the second effective irradiation range is an area where the illuminance of the second reference light pulse is not less than an effective reception threshold.
4. The reference light source emission system of claim 1,
the first reference light pulse and the second reference light pulse have the same encoding.
5. The reference light source emission system of claim 1,
one said second reference light source corresponding to M said first reference light sources, each capable of emitting said first reference light pulses at a different time, M being a natural number greater than 1,
the second reference light source has M kinds of light emission patterns corresponding to the M first reference light sources, respectively, the M kinds of light emission patterns corresponding to M second effective illumination ranges having different angular direction ranges, respectively,
the second reference light source emitting a second reference light pulse in a light emission pattern corresponding to one first reference light source while the one first reference light source emits the first reference light pulse,
in a case where the one first reference light source and the second reference light source are set such that the horizontal position of the one first reference light source is located outside the angular direction range of the second sector region and the horizontal position of the second reference light source is located inside the first sector region of the one first reference light source, the combination of the first effective illumination range of the one first reference light source and the second effective illumination range of the second reference light source corresponding to the light emission pattern of the one first reference light source can cover a space within a predetermined distance range around the second reference light source.
6. The reference light source emission system of claim 5,
the first reference light pulses emitted by each of the M first reference light sources have respectively different codes, and the second reference light pulses emitted by the second reference light source in a light emission pattern corresponding to the one first reference light source have the same code as the first reference light pulses emitted by the one first reference light source.
7. The reference light source emission system of claim 1,
one of the second reference light sources corresponds to M of the first reference light sources, M being a natural number greater than 1, the second reference light source having M kinds of light emission patterns corresponding to the M first reference light sources, respectively, the M kinds of light emission patterns corresponding to M of the second effective illumination ranges having different angular directional ranges,
there are at least two associated first reference light sources, and when one of the first reference light sources emits the first reference light pulse,
the other first reference light sources, except the first reference light source associated with said one first reference light source, each emit a first reference light pulse having the same code as the first reference light pulse emitted by said one reference light source, and
the second reference light source emits a second reference light pulse having the same code as the first reference light pulse emitted by the one first reference light source in a light emission pattern corresponding to the one first reference light source,
in a case where the one first reference light source and the second reference light source are set such that the horizontal position of the one first reference light source is located outside the angular direction range of the second sector region and the horizontal position of the second reference light source is located inside the first sector region of the one first reference light source, the combination of the first effective illumination range of the one first reference light source and the second effective illumination range of the second reference light source corresponding to the light emission pattern of the one first reference light source can cover a space within a predetermined distance range around the second reference light source.
8. The reference light source emission system of any one of claims 5 to 7, comprising N reference light source groups,
each of the reference light source groups includes the M first reference light sources and the one second reference light source, and N is a natural number greater than 1.
9. A positioning light signal transmitting system for assisting positioning, comprising:
the reference light source emission system of any one of claims 1-8; and
and the positioning light beam emitting device is suitable for being arranged close to one first reference light source and used for scanning the positioning light beam to the positioning space at a preset scanning period and a preset angular speed.
10. The positional light signal emission system of claim 9,
in each scanning period, the first reference light source and/or the second reference light source emits first and/or second reference light pulses corresponding to the positioning light beam emitting device at the same time as the positioning light beam emitting device starts scanning the positioning light beam or at a time having a predetermined time interval from the time when the positioning light beam emitting device starts scanning the positioning light beam.
11. The positioning light signal emitting system of claim 10 wherein the positioning light beam emitting device further comprises a signal emitter,
at a predetermined moment in time within each said sweep period, said signal transmitter transmits a trigger signal to said first reference light source and/or said second reference light source,
in response to receiving the trigger signal, the first reference light source and/or the second reference light source emits respective pulses of reference light.
12. The positional light signal emission system of claim 10,
the horizontal position of the second reference light source corresponds to a central position on the horizontal plane of the positioning space, the horizontal positions of the first reference light source and the positioning light beam emitting device correspond to edge or corner positions on the horizontal plane of the positioning space far from the central position,
the first reference light source emits the first reference light pulse towards the central position,
in each scanning period, at the same time as the positioning beam emitting device starts scanning the positioning beam or at a time having a predetermined time interval from the positioning beam emitting device starts scanning the positioning beam, the rest of the first reference light sources except the first reference light source arranged at the diagonal position of the positioning beam emitting device emit a first reference light pulse corresponding to the positioning beam emitting device, and the second reference light source emits a second reference light pulse corresponding to the positioning beam emitting device, the second reference light pulse is not directed to the edge or corner position where the positioning beam emitting device is located.
13. The positional light signal emission system of claim 12, wherein the positional space corresponds to a square area on a horizontal plane,
the opening angle of the first sector is not less than 90 deg., the opening angle of the second sector is not less than 270 deg., and/or,
the first effective illumination radius and/or the second effective illumination radius is not less than half of a diagonal of the square region.
14. The positional light signal emission system of claim 12,
one first reference light source is arranged in each of two positions in the localization space that are remote from each other, different first reference light sources emitting the first reference light pulses at different times,
the second reference light source is provided with one or more light emitting surfaces capable of emitting reference light pulses in different directions, the one or more light emitting surfaces are used for emitting the second reference light pulses in different directions respectively, the second reference light source is provided with two light emitting modes which correspond to different first reference light sources respectively, at least one or part of the light emitting surfaces emit light in each light emitting mode, and at least one or part of the light emitting surfaces do not emit light.
15. The positioning optical signal transmission system of claim 12, comprising N positioning transmission groups,
each positioning emission group comprises M first reference light sources, M positioning light beam emission devices and the second reference light source, N is a natural number larger than 1, and M is a natural number larger than 1.
16. The positional light signal emission system of claim 15,
one of the positioning beam emitting devices is disposed adjacent to each of the first reference light sources, respectively.
17. The positioning optical signal transmission system according to claim 16, for positioning an object to be positioned in N adjacent positioning spaces, one positioning transmission group being provided in each of the positioning spaces, wherein, in two diagonally adjacent positioning spaces:
positioning beam emitting devices for synchronously emitting positioning beams are respectively arranged near the diagonal positions close to each other;
in the vicinity of diagonal positions distant from each other, positioning beam emitting devices that emit positioning beams simultaneously are provided, respectively.
18. The positional light signal emission system of claim 17, wherein the positional space corresponds to a square area on a horizontal plane,
a positioning light beam emitting device and a first reference light source are respectively arranged at four corners in the positioning space,
in each scanning period, at the same time as the time when one positioning beam emitting device starts scanning the positioning beam, or at the time when the one positioning beam emitting device starts scanning the positioning beam with a predetermined time interval, the remaining three first reference light sources, except for one first reference light source disposed at a diagonal position of the one positioning beam emitting device, in the four first reference light sources belonging to the same positioning emission group as the one positioning beam emitting device, each emit a first reference light pulse corresponding to the positioning beam emitting device, and the second reference light source belonging to the same positioning emission group as the one positioning beam emitting device emits a second reference light pulse corresponding to the positioning beam emitting device.
19. A positioning system, comprising:
the positioning optical signal emitting system of any one of claims 9-18; and
the receiver comprises a plurality of receivers, a plurality of positioning light beams and a plurality of positioning light beam receivers, wherein the receivers are suitable for being fixed at a plurality of different positions of the outer surface of an object to be positioned and used for receiving the positioning light beams, and the relative spatial position relation among the light beam receivers is fixed.
20. The positioning system of claim 19, further comprising;
and the processor is respectively connected with the plurality of receivers, and determines the positioning light beam emitting device corresponding to the positioning light beam received by the receiver according to the plane light pulse received by the receiver which receives the reference light pulse and the positioning light beam in one scanning period.
21. The positioning system of claim 20,
and the processor determines the position of the object to be positioned according to the time when the receivers respectively receive the positioning light beams in a scanning period, the angular velocity, the relative spatial position relation and the determined preset position of the positioning light beam emitting device.
22. A reference light source emission method for auxiliary positioning, the reference light source is used for calibrating positioning beams swept by positioning beam emission devices so as to enable the positioning beams swept by different positioning beam emission devices to be distinguished, and the method comprises the following steps:
emitting a first reference light pulse at an edge or corner position of the localization space that is offset from the central position to a first effective illumination area, the first effective illumination area substantially corresponding to a first sector area on a horizontal plane, the first sector area being peaked at the horizontal position of the first reference light source and having a first effective illumination radius;
emitting a second reference light pulse at a central position in the localization space to a second effective illumination range, the second effective illumination range substantially corresponding to a second sector area on the horizontal plane, the second sector area being centered on the horizontal position of the second reference light source and having a second effective illumination radius,
wherein a combination of the first effective illumination range and the second effective illumination range is capable of covering the positioning space.
23. The reference light source emission method of claim 22, wherein the positioning space corresponds to a square area on a horizontal plane,
the opening angle of the first sector is not less than 90 deg., the opening angle of the second sector is not less than 270 deg., and/or,
the first effective illumination radius and/or the second effective illumination radius is not less than half of a diagonal of the square region.
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