CN106199517A - A kind of location equipment, locating base station, space positioning system and method - Google Patents

A kind of location equipment, locating base station, space positioning system and method Download PDF

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Publication number
CN106199517A
CN106199517A CN201610505566.9A CN201610505566A CN106199517A CN 106199517 A CN106199517 A CN 106199517A CN 201610505566 A CN201610505566 A CN 201610505566A CN 106199517 A CN106199517 A CN 106199517A
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CN
China
Prior art keywords
laser
signal
base station
laser scanner
locating base
Prior art date
Application number
CN201610505566.9A
Other languages
Chinese (zh)
Inventor
冯州
张超
王捷
Original Assignee
成都理想境界科技有限公司
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Publication date
Application filed by 成都理想境界科技有限公司 filed Critical 成都理想境界科技有限公司
Priority to CN201610505566.9A priority Critical patent/CN106199517A/en
Publication of CN106199517A publication Critical patent/CN106199517A/en

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves

Abstract

The invention discloses a kind of location equipment, locating base station, space positioning system and method, described location equipment includes: housing;Light sensor, is arranged on described housing.Technical scheme in the embodiment of the present invention determines the location equipment position relative to locating base station according to three laser scanning signals, owing to the precision of laser measurement is at grade, and locating speed is at Millisecond, so positioning precision and locating speed are all greatly improved compared to prior art, it is achieved that precisely and rapidly realize sterically defined technique effect.

Description

A kind of location equipment, locating base station, space positioning system and method

Technical field

The present invention relates to space orientation field, particularly relate to a kind of location equipment, locating base station, space positioning system and side Method.

Background technology

Space orientation is the specific bit equipment position in space, for example, it is possible to (English: Global by GPS Positioning System;Chinese: global positioning system) technology determines the position of equipment.But, along with people are to location The requirement of precision is more and more higher, and the meter accuracy that GPS technology provides cannot meet the needs of people, and specific at some Space such as indoor, basement etc., owing to the barriers such as wall can block gps signal, so GPS technology also cannot be applied These specific spaces.

At present, in the specific space such as indoor, basement, typically positioned by wireless location technology, specifically Wireless aps known to multiple position is received (English: Access Point according to equipment;Chinese: access point, be otherwise known as heat Point) signal intensity, then utilize signal attenuation model to estimate the mobile device distance apart from each AP, finally utilize triangle Location algorithm determines the position at this equipment place.But, the precision that wireless location technology provides is still at meter level, it is impossible to meet The requirement that people are the highest to spatial positioning accuracy.

Along with becoming increasingly prosperous of field of virtual reality, virtual game starts appearance, and the immersion provided at virtual game is handed over In experiencing mutually, accurate space orientation tracer technique seems particularly critical, the most precisely and rapidly realizes space orientation, Become one of problem demanding prompt solution.

Summary of the invention

It is an object of the invention to provide a kind of location equipment, locating base station, space positioning system and method, with accurate and fast Realize space orientation fastly.

In order to realize foregoing invention purpose, embodiment of the present invention first aspect provides a kind of location equipment, including:

Housing;

Light sensor, is arranged on described housing.

Alternatively, described housing is specially spherical shell.

Alternatively, the orientation range of described location equipment is A;

The beam reception scope of each described light sensor is B, at least provided with M described photosensitive biography on described housing Sensor, M obtains for rounding up A/B.

Alternatively, the receiving plane of M described light sensor is uniformly distributed on the housing.

Alternatively, described light sensor is additionally provided with optical filter.

Alternatively, described light sensor is light sensitive diode, phototriode or silicon cell.

Alternatively, described location equipment also includes that rf signal reception device, described rf signal reception device are arranged at In described housing, described rf signal reception device is used for receiving synchronizing signal.

Alternatively, described location equipment also includes motion sensor.

Embodiment of the present invention second aspect provides a kind of locating base station, including:

Base;

Rotary shaft, is arranged on described base;

First laser scanner, is arranged at the primary importance of described rotary shaft, the of described first laser scanner outgoing Scan line forms first plane of scanning motion;

Second laser scanner, is arranged at the second position of described rotary shaft, the of described second laser scanner outgoing Two scan lines form second plane of scanning motion;

3rd laser scanner, is arranged at the 3rd position of described rotary shaft, the of described 3rd laser scanner outgoing Three scan line forms the 3rd plane of scanning motion;

Wherein, described first plane of scanning motion, described second plane of scanning motion and described 3rd plane of scanning motion do not intersect at described Same point in rotary shaft, and described first scan line, described second scan line and described three scan line be all not orthogonal to institute State rotary shaft.

Alternatively, the wavelength of the laser scanning signal that described first laser scanner sends is first wave length, described second The wavelength of the laser scanning signal that laser scanner sends is second wave length, the laser scanning that described 3rd laser scanner sends The wavelength of signal is the 3rd wavelength, and described first wave length, described second wave length and described 3rd wavelength are different between two.

Alternatively, described first laser scanner, described second laser scanner and the light of described 3rd laser scanner Source is same LASER Light Source, and the laser that described LASER Light Source generates passes through light-dividing device by beam splitting to described first laser scanning Device, described second laser scanner and described 3rd laser scanner.

Alternatively, described locating base station also includes that synchronizer, described synchronizer are arranged on described base, described same Step device is used for sending synchronizing signal.

Alternatively, described synchronizer is specially LED array and/or radio-frequency signal generator.

Alternatively, described locating base station also includes that positioner for rotation shaft, described shaft positioning device set for detecting State the turned position of rotary shaft.

The embodiment of the present invention third aspect provides a kind of space positioning system, including:

Location equipment as described in claim arbitrary in claim 1-8;

Locating base station as described in claim arbitrary in claim 9-14;

Data handling equipment, for three the laser scanning signals sent according to described locating base station, determines described location Equipment is relative to the position of described locating base station.

Embodiment of the present invention fourth aspect provides a kind of space-location method, including:

Locating base station drives the first laser scanner, the second laser scanner and the 3rd laser scanning by a rotary shaft Device rotates, and sends the first laser scanning signal, the second laser scanning signal and the 3rd laser scanning signal, and described first The second scan line and the described 3rd that the first scan line that laser scanning signal is corresponding, described second laser scanning signal are corresponding swashs The three scan line that photoscanning signal is corresponding is all not orthogonal to described rotary shaft, and the first scanning that described first scan line is formed Second plane of scanning motion and the 3rd plane of scanning motion of described three scan line formation that plane, described second scan line are formed are non-intersect Same point in described rotary shaft;

Location equipment passes through light sensor, receives described first laser scanning signal, described second laser scanning signal With described 3rd laser scanning signal;

Data handling equipment swashs according to described first laser scanning signal, described second laser scanning signal and the described 3rd The transmission time point of photoscanning signal and reception time point, determine the described location equipment position relative to described locating base station Put.

Alternatively, the first laser scanner, the second laser scanner are driven in described locating base station by a rotary shaft Rotate with the 3rd laser scanner, and send the first laser scanning signal, the second laser scanning signal and the 3rd laser and sweep Before retouching signal, described method also includes:

Described locating base station sends synchronizable optical signal to described location equipment and synchronizes radiofrequency signal;

Described location equipment is when receiving synchronizable optical signal, if being simultaneously received described synchronization radiofrequency signal, then by institute State the rising edge of synchronizable optical signal as synchronization point.

One or more technical scheme in the embodiment of the present invention, at least has the following technical effect that or advantage:

Technical scheme in the present embodiment make use of the characteristic that light is linearly propagated, and comes really according to three laser scanning signals Location equipment is relative to the position of locating base station, and owing to the precision of laser measurement is at grade, and locating speed is at millisecond Level, so positioning precision and locating speed are all greatly improved compared to prior art, it is achieved that precisely and rapidly realize space The technique effect of location.

Accompanying drawing explanation

In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, also may be used To obtain other accompanying drawing according to these accompanying drawings:

The module map of the space positioning system that Fig. 1 provides for the embodiment of the present invention;

The front view of the location equipment 10 that Fig. 2 provides for the embodiment of the present invention;

The schematic diagram of the orientation range of the location equipment that Fig. 3 provides for the present embodiment;

The internal structure schematic diagram of the location equipment 10 that Fig. 4 provides for the present embodiment;

The circuit diagram of the location equipment 10 that Fig. 5 provides for the embodiment of the present invention;

The structural representation of the locating base station that Fig. 6 provides for the present embodiment;

Fig. 7 sends the schematic diagram of laser scanning signal for the locating base station 20 that the present embodiment provides.

Detailed description of the invention

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise Embodiment, broadly falls into the scope of protection of the invention.

Present embodiments provide a kind of space positioning system, refer to the space that Fig. 1, Fig. 1 provide for the embodiment of the present invention The module map of alignment system, as it is shown in figure 1, this space positioning system includes that location equipment 10, locating base station 20 and data process Equipment 30, data handling equipment 30 can send three laser scanning signals according to locating base station 20, determine location equipment 10 phase Position for locating base station 20.

It can be seen that the technical scheme in the present embodiment make use of the characteristic that light is linearly propagated, sweep according to three laser Retouch signal to determine the location equipment 10 position relative to locating base station 20, owing to the precision of laser measurement is at grade, and Locating speed is at Millisecond, so positioning precision and locating speed are all greatly improved compared to prior art, it is achieved that precisely and Realize sterically defined technique effect rapidly.

In ensuing part, will be described in detail technique scheme.

Refer to the front view of the location equipment 10 that Fig. 2, Fig. 2 provide for the embodiment of the present invention, as in figure 2 it is shown, location sets Standby 10 include:

Housing 101;

Light sensor 102, is arranged on housing 101, and in the present embodiment, light sensor 102 is on housing 101 surface Reception window be hexagon or circle.

In specific implementation process, as in figure 2 it is shown, housing 101 is specially spherical shell.Certainly, in other embodiments, Housing 101, according to practical situation, could be arranged to the housing of cubic shaped, the housing of spheroid shape, the shell of vertebral body shape Body etc., to meet the needs of practical situation, just repeats no more at this.

In specific implementation process, refer to the showing of orientation range of the location equipment that Fig. 3, Fig. 3 provide for the present embodiment Being intended to, as it is shown on figure 3, in the present embodiment, the orientation range of location equipment is that A, such as A can be 300 °;

Setting the beam reception scope of each light sensor 102 as B, such as B can be 25 ° or 30 ° etc., housing At least provided with M light sensor 102 on 101, M obtains for rounding up A/B;

Specifically, the beam reception of light sensor 102 may range from the twice of beam half angle (half angle), It is specially a cone shape, so, in ensureing the orientation range A that light sensor 102 can collect location equipment All of laser scanning signal, it is therefore desirable at least provided with M light sensor on housing 101, M is for carry out upwards A/B Rounding and obtain, such as, in the present embodiment, M is 12, and in another embodiment, if A is 300 °, B is 35 °, then M is right (300 °/35 °=8.5714) carry out rounding up and being 9, just repeat no more at this.

It should be noted that the quantity of light sensor 102 also has with the laser scanning signal that sends in locating base station 20 Close, concrete, if the laser scanning signal sent in locating base station 20 only includes the signal of 1 wavelength, then light sensor 102 Quantity be at least M, if the laser scanning signal sent in locating base station 20 includes the signal of 3 wavelength, then light sensor The quantity of device 102 is at least 3M.

Of course, in actual applications, in order to guarantee accurately to receive the laser scanning letter that locating base station 20 sends Number, can more light sensor be set on the housing 101 of location equipment 10, limit at this.

In the present embodiment, in order to guarantee accurately to receive the laser scanning signal that locating base station 20 sends, such as Fig. 2 Shown in, the receiving plane of M light sensor 102 is evenly distributed on housing 101.

Certainly, in another embodiment, the technical staff belonging to this area can adjust M suitably according to practical situation The position of the receiving plane of individual light sensor 102 so that the receiving plane of M light sensor 102 is non-uniformly distributed at housing On 101, to meet the demand of practical situation, such as more photosensitive biography is set in the range of positioning frequently on location equipment 10 Sensor 102, and less light sensor 102 is set in positioning less scope, etc., do not limit at this.

In specific implementation process, in order to avoid the interference to light sensor 102 of the external environment light, light sensor Being additionally provided with optical filter on 102, optical filter is used for filtering off ambient light so that light sensor is merely able to receive locating base station 20 The laser scanning light sent, just repeats no more at this.Of course, if the light that locating base station 20 is sent by LED array Carry out synchronous signal transmission, then optical filter can not filter off the light that this LED array sends.

Refer to the internal structure schematic diagram of the location equipment 10 that Fig. 4, Fig. 4 provide for the present embodiment, as shown in Figure 4, fixed The cylinder within housing 101 of position equipment 10 is light sensor 102, and certainly, light sensor 102 also needs to by necessarily Circuit be connected to inside process chip, just repeat no more at this.

If as before, the laser scanning signal that locating base station 20 sends includes 3 wavelength, the most each hexagon or circle Receiving plane place hollow cylinder can arrange the light sensor 102 of 3 corresponding wavelength, in order to the laser receiving 3 wavelength is swept Retouch signal, just repeat no more at this.

Refer to the circuit diagram of the location equipment 10 that Fig. 5, Fig. 5 provide for the embodiment of the present invention, as it is shown in figure 5, M photosensitive Sensor 102 is for being arranged in parallel, and so, all light sensors have only to a road signal processing circuit, circuit cost and process Cost is substantially reduced.

In specific implementation process, light sensor 102 is light sensitive diode, phototriode or silicon cell etc., Do not limit at this.

In specific implementation process, location equipment 10 also includes that rf signal reception device, rf signal reception device set Being placed in housing 101, rf signal reception device is used for receiving synchronizing signal.

In specific implementation process, location equipment 10 can also include motion sensor, and motion sensor senses location is eventually The exercise data of end, utilizes exercise data to be modified calculating and making up to the locus of location terminal.Motion sensor can Think that inertial sensor is (English: Inertial measurement unit;It is called for short: IMU), in acceleration transducer, gyroscope One or more.When the location equipment 10 of the present embodiment is installed in and uses on other intelligent terminal, this motion sensor The motion sensor on intelligent terminal can be used, just repeat no more at this.

In actual applications, location equipment 10 can be integrated on handheld device, helmet, does not limits at this.

In ensuing part, concrete structure and the running of locating base station 20 will be introduced.

Refer to Fig. 6 A and Fig. 6 B, the front view of the locating base station that Fig. 6 A provides for the present embodiment, Fig. 6 B is the present embodiment The axonometric chart of the locating base station provided, as shown in Figure 6 A and 6 B, locating base station 20 includes:

Base 201;

Rotary shaft 202, is arranged on base 201;In specific implementation process, can be come by one or more motor Axle 202 is rotated rotate, does not limits at this;

First laser scanner 203, is arranged at the primary importance of rotary shaft 202, the of the first laser scanner 203 outgoing Scan line forms first plane of scanning motion;

Second laser scanner 204, is arranged at the second position of rotary shaft 202, the second of the second laser scanner outgoing Scan line forms second plane of scanning motion;

3rd laser scanner 205, is arranged at the 3rd position of rotary shaft 202, the of the 3rd laser scanner 205 outgoing Three scan line forms the 3rd plane of scanning motion;

Wherein, first plane of scanning motion, second plane of scanning motion and the 3rd plane of scanning motion do not intersect at the same point in rotary shaft, And first scan line, the second scan line and three scan line are all not orthogonal to rotary shaft.

In the present embodiment, the first laser scanner 203 can send a laser by a laser generator, then passes through A laser shaping is a wordline laser by one wordline lens such as post lens, Bao Weier prism or a wordline wave prism etc., so, The first laser scanning plane is i.e. defined by a wordline laser of the first laser scanner 203 outgoing, then by rotary shaft 202 Rotate, it is achieved thereby that the scanning to space.In another embodiment, the first laser scanner 203 can also be directly by one Word line laser device sends a wordline laser, just repeats no more at this.

Second laser scanner 204 and the scan mode of the 3rd laser scanner 205 and the first laser scanner 203 1 Cause, just repeat no more at this.

Certainly, in another embodiment, it is also possible to improve by arranging more laser scanner in rotary shaft 202 Accuracy when location equipment 10 is positioned, but its positioning principle will not change, and just repeats no more at this.

It should be noted that in the present embodiment, the first laser scanner 203 and the second laser scanner 204 are vertically Height on direction is identical, and in other embodiments, the first laser scanner 203 and the second laser scanner 204 are at Vertical Square Height upwards can also differ, namely the first laser scanner 203 and the second laser scanner 204 are in rotary shaft 202 In relative position one on the other, do not limit at this.

Refer to Fig. 7, Fig. 7 and send the schematic diagram of laser scanning signal for the locating base station 20 that the present embodiment provides, such as Fig. 7 Shown in, in the present embodiment, first plane of scanning motion 701 of the first laser scanner 203 correspondence is the plane of vertical direction, second Second plane of scanning motion 702 of laser scanner 204 correspondence is to be the plane of 135 ° with vertical direction, the 3rd laser scanner 205 The 3rd corresponding plane of scanning motion 703 is to be the plane of 45 ° with vertical direction.

In specific implementation process, in order to distinguish laser scanning signal, the second laser that the first laser scanner 203 sends The laser scanning signal that scanning device 204 and the 3rd laser scanner 205 send, the laser that the first laser scanner 203 sends is swept The wavelength retouching signal is first wave length, and the wavelength of the laser scanning signal that the second laser scanner 204 sends is second wave length, the The wavelength of the laser scanning signal that three laser scanners 205 send is the 3rd wavelength, first wave length, second wave length and the 3rd wavelength Different between two.

In actual applications, such as can pass through three laser generators, the laser of the different wave length generated respectively, and pass It is delivered in first laser scanner the 203, second laser scanner 204 and the 3rd laser scanner 205.

Certainly, in another embodiment, the light source of the first laser scanner and the second laser scanner can be same LASER Light Source, the laser that this LASER Light Source generates can be by light-dividing device such as beam splitter etc., and beam splitting is to the first laser scanner 203, in the second laser scanner 204 and the 3rd laser scanner 205, then by the way of sequential, the first laser scanning is distinguished Laser scanning signal that laser scanning signal that device 203 sends, the second laser scanner 204 send and the 3rd laser scanner The laser scanning signal that 205 send, such as, locating base station 20 can also include synchronizer, is first sent synchronization by synchronizer Signal, further according to the first laser scanner the 203, second laser scanner 204 and scanning sequency of the 3rd laser scanner 205, Thus distinguish first laser scanner the 203, second laser scanner 204 and laser scanning that the 3rd laser scanner 205 sends Signal.

In specific implementation process, synchronizer is specifically as follows LED array and/or radio-frequency signal generator, such as, logical Crossing LED array and send synchronizable optical signal, synchronizable optical signal can be such as infrared signal etc., and location equipment 10 is by photosensitive After sensor 102 receives synchronizable optical signal, i.e. can be using current point in time as synchronizing time point;In like manner, radiofrequency signal is sent out Generating apparatus generates after synchronizing radiofrequency signal and sending, and location equipment 10 receives synchronization radio frequency by rf signal reception device to be believed After number, it is also possible to using current point in time as synchronizing time point, just repeat no more at this.

It should be noted that when synchronizer is LED array, location equipment 10 can be by light sensor 102 Receive the synchronizable optical signal that LED array sends, it is also possible to extra light sensor is set specially to receive what LED array sent Synchronizable optical signal, does not limits at this.

Please continue to refer to Fig. 6 A and Fig. 6 B, as shown in Figure 6 A and 6 B, in the present embodiment, LED array 2061 includes many Individual subarray, radio-frequency signal generator can arrange the optional position in locating base station 20, not shown in figure.

It should be noted that Fig. 6 A and Fig. 6 B is schematic diagram, in another embodiment, base 201 can be according to reality Situation, is set to other suitable shapes, and LED array 2061 is it can also be provided that suitable quantity, to meet practical situation Need, just repeat no more at this.

Being used alone LED array transmission synchronizable optical signal when, can be because of the light on LED array and location equipment 10 Distance, angle problem between dependent sensor 102 and cause the pulsewidth of light sensor 102 to change, and also meeting Produce clutter because of ambient, individually judge that the rising edge of synchronizable optical signal is easily made mistakes, so cannot obtain accurately Synchronization point, so being used alone LED array transmission synchronizing signal to be likely to result in error.

Be used alone radiofrequency signal generating means send synchronization radiofrequency signal when because circuit characteristic can cause The time that synchronization radiofrequency signal arrives the radio frequency signal receiver on the equipment of location is uncertain, there is certain time delay, such nothing Method obtains synchronization point accurately, thus be used alone radiofrequency signal generating means send synchronization radiofrequency signal be also possible to lead Cause error.

Therefore, in order to avoid be used alone LED array when reality is applied and/or radiofrequency signal generating means send with Step signal is likely to result in the defect of error, and the present embodiment uses the mode both being combined, specific as follows:

When synchronization point arrives, namely when needing the moment sending synchronizing signal to arrive, locating base station 20 is led to simultaneously Cross LED array to send synchronizable optical signal and radiofrequency signal generating means and send and synchronize radiofrequency signal, photosensitive in the equipment 10 of location When sensor 102 receives synchronizable optical signal, it may be judged whether have received synchronization radiofrequency signal, if having received synchronization radio frequency letter simultaneously Number, specifically, such as, detect whether that receiving duration exceedes the synchronization radiofrequency signal of preset value, then show that this signal is Synchronizing signal effectively, can be using the rising edge of synchronizable optical signal as synchronization point.

Synchronizable optical signal can be accurately determined it can be seen that have by the way of LED array sends synchronizable optical signal The advantage of the time of reception, but jitter can be caused because of practical situations or external interference, and pass through radiofrequency signal Generating means sends and synchronizes the mode of radiofrequency signal and have and send the advantage that the reliability of signal is high, but because of reasons such as circuit characteristics And certain time delay can be caused, after both are combined by the scheme in the present embodiment, it is possible to retain and send synchronizable optical by LED array The advantage accurately determining the time of reception that the mode of signal has and sent by radiofrequency signal generating means and synchronize radio frequency and believe Number the high advantage of the reliability of signal that has of mode, avoid by the way of LED array sends synchronizable optical signal simultaneously The shortcoming of the jitter having, the mode that it also avoid radiofrequency signal generating means transmission synchronization radiofrequency signal has necessarily The shortcoming of time delay.

Synchronizing signal is sent, after location equipment 10 receives synchronizing signal, according to the rotation of rotary shaft 202 in synchronizer Direction, arranges and is first sent laser scanning signal by the first laser scanner 203, then sent laser by the second laser scanner 204 Scanning signal, is finally sent laser scanning signal by the 3rd laser scanner 205, such that can determine location equipment 10 the The laser scanning signal once received is that the first laser scanner 203 sends, and determines that location equipment 10 second time receives To laser scanning signal be that the second laser scanner 204 sends, and determine location equipment 10 laser that receives of third time Scanning signal is that the second laser scanner 205 sends, and just repeats no more at this.

In specific implementation process, locating base station 20 also includes positioner for rotation shaft, positioner for rotation shaft set for The turned position of detection rotary shaft.In actual applications, positioner for rotation shaft can be made up of Hall element and magnet, or Person can be made up of laser generator and light sensor, or can be made up of code-disc.

First, the situation that positioner for rotation shaft is made up of is introduced Hall element and magnet: magnet can be arranged on rotation Fixed position in rotating shaft 202, Hall element is arranged near the motion path of base 201 upper magnet, so, in rotary shaft The when of 202 rotation, magnet, through the position at Hall element place, causes the changes of magnetic field near Hall element, therefore Hall element can export a pulse signal, control device such as single-chip microcomputer in locating base station 20, processes chip etc. and receives After this pulse signal, i.e. can control synchronizer and send synchronizing signal, and rotary shaft 202 can drive the first laser scanner 203 Being scanned with the second laser scanner 204, magnet again passes by Hall element place after rotary shaft 202 rotates a circle During position, i.e. can again trigger Hall element output pulse signal, just repeat no more at this.

Certainly, in actual applications, it is also possible to after being set in the pulse signal of Hall element output preset times, such as Can set after Hall element exports twice pulse signal, namely rotary shaft 202 often rotates twice, the control in locating base station 20 Device processed just exports synchronizing signal, and the concrete numerical value of preset times can determine according to practical situation, to meet practical situation Need, just repeat no more at this.

Then, the situation that positioner for rotation shaft is made up of is introduced laser generator and light sensor: light sensor Can be arranged in rotary shaft 202, laser generator can be arranged on base 201, and so, light sensor is in rotary shaft Under the drive of 202, light sensor through the position at laser generator place, the laser that will send at laser generator Trigger lower and generate the signal of telecommunication, after the control device that this signal of telecommunication is positioned in base station 20 receives, i.e. can control synchronizer and send out Go out synchronizing signal, and rotary shaft 202 can drive the first laser scanner 203 and the second laser scanner 204 to be scanned, photosensitive When sensor again passes by the position at laser generator place after rotary shaft 202 rotates a circle, i.e. can again trigger photosensitive biography The sensor output signal of telecommunication, just repeats no more at this.

Certainly, in actual applications, the position of laser generator and light sensor is not limited to aforesaid way, the most permissible Laser generator is arranged in rotary shaft 202, and light sensor is arranged on base 201, or laser is occurred Device and light sensor are simultaneously located on rotary shaft 202 or base 201, and position corresponding on base 201 or rotary shaft 202 Put and stick reflecting strips or illuminator, or infrared integrated transceiver is arranged on rotary shaft 202 or base 201, and the end of at Reflecting strips or illuminator are sticked in position corresponding on seat 201 or rotary shaft 202, etc., just repeat no more at this.

It should be noted that light sensor and laser generator in positioner for rotation shaft need and position equipment 10 In light sensor and photoscanner in locating base station 20 make a distinction, to avoid location equipment 10 and location base Laser positioning data in 20 of standing interfere, such as, can make a distinction etc. by the way of arranging different wave length.

Finally, the situation that positioner for rotation shaft is made up of is introduced code-disc: code-disc is (English: to be encoding disk) to survey The digital encoder of angulation displacement, including contact encoder and optical encoder two class, contact encoder or optical encoder can To be arranged in rotary shaft 202 such that it is able to accurately measure the position of rotary shaft 202 during rotary shaft 202 rotates, And generating corresponding signal, the control device in locating base station 20 i.e. can control synchronizer generation and send same according to this signal Step signal, just repeats no more at this.

Certainly, at one ideally, if location equipment 10 the most identical with the time in locating base station 20, then without Locating base station 20 generates synchronizing signal, sends the transmission time point of three laser scanning signals, Yi Jiding according to locating base station 20 Position equipment receives the reception time point of laser scanning signal, i.e. can determine the location equipment 10 position relative to locating base station 20 Put, just repeat no more at this.

After having introduced location equipment 10 and locating base station 20, in ensuing part, carry introducing the present embodiment The most how the space positioning system of confession positions, and the data handling equipment 30 in the present embodiment is entered by laser scanning principle Row location:

Laser Measuring orientation principle: assume that laser scanning signal, by θ/second angular velocity scanning, starts timing from starting position, from It is the t second that laser scanning signal enabling is positioned, to laser scanning signal, the time that equipment 10 receives, then believe from this laser scanning The original position of number corresponding plane of scanning motion touches the deflection angle δ=θ * t of location equipment 10 to this plane of scanning motion.By two Individual direction laser is strafed, and can accurately determine the location terminal direction vector relative to base station;

Specifically, as a example by positioning No. 01 infrared light dependent sensor on equipment 10, if this point is p0, it is assumed that location base The rotary shaft 202 on 20 of standing is constant to be carried out rotation with θ angular velocity and strafes, and determines the p0 calculating relative to the position of locating base station 20 Method is as follows:

First laser scanner 203 sends the first laser scanning signal after receiving synchronizing signal, when recording transmission Between point, until location equipment 10 on No. 01 light sensor swept by first plane of scanning motion of the first laser scanner 203 correspondence Retouch, namely location equipment 10 receives this first laser scanning signal, records reception time point, sets the first laser scanning The difference sent between time point and reception time point of signal is t1, then the deflection angle α obtained=θ * t1 is for sweep from first The original position retouching plane touches the deflection angle of p0 point to first plane of scanning motion;

In like manner, by recording the transmission time point of the second scanning signal that the second laser scanner 204 sends and receiving time Between point, set the second laser scanning signal sends time point and the difference that receives between time point as t2, it is thus achieved that deflection angle Degree β=θ * t2 is the deflection angle touching p0 point from the original position of second plane of scanning motion to second plane of scanning motion;

In like manner, when the transmission time point of the 3rd scanning signal sent by record the 3rd laser scanner 205 and reception Between point, set the 3rd laser scanning signal sends time point and the difference that receives between time point as t3, it is thus achieved that deflection angle Degree γ=θ * t3 is the deflection angle touching p0 point from the original position of the 3rd plane of scanning motion to the 3rd plane of scanning motion.

So, it is known that p0 point is relative to three azimuths of the original position of three laser scanning planes, and three are swashed simultaneously Photoscanning plane does not intersects at the same point in rotary shaft, using three azimuths as constraint, can in the hope of p0 point relative to The position of locating base station 20, concrete mathematic calculation has multiple, just repeats no more at this.

It can be seen that owing to the precision of laser measurement is at grade, and locating speed is at Millisecond, so positioning precision All it is greatly improved compared to prior art with locating speed, it is achieved that precisely and rapidly realize sterically defined technique effect.

In actual applications, data handling equipment 30 can be integrated in location equipment 10 or locating base station 20 physically On, or be individually present, do not limit at this.

Introduction based on preceding sections understands, and by a locating base station 20 in the present embodiment, is i.e. capable of omnidirectional The effect of location, namely in a space, by single locating base station 20, it becomes possible to realize to location equipment 10 within this space Location.

The present embodiment also provides for a kind of space-location method, and the method includes:

First, locating base station drives the first laser scanner, the second laser scanner and the 3rd to swash by a rotary shaft Photoscanner rotates, and sends the first laser scanning signal, the second laser scanning signal and the 3rd laser scanning signal, the The second scan line that the first scan line that one laser scanning signal is corresponding, the second laser scanning signal are corresponding and the 3rd laser scanning The three scan line that signal is corresponding is all not orthogonal to rotary shaft, and first plane of scanning motion of the first scan line formation, the second scanning Second plane of scanning motion and the 3rd plane of scanning motion of three scan line formation that line is formed do not intersect at the same point in rotary shaft;

Location equipment passes through light sensor, receives the first laser scanning signal, the second laser scanning signal and the 3rd and swashs Photoscanning signal;

Data handling equipment is according to the first laser scanning signal, the second laser scanning signal and the 3rd laser scanning signal Send time point and receive time point, determining the location equipment position relative to locating base station.

In specific implementation process, drive the first laser scanner, the second laser in locating base station by a rotary shaft Scanning device and the 3rd laser scanner rotate, and send the first laser scanning signal, the second laser scanning signal and the 3rd Before laser scanning signal, method also includes:

Locating base station sends synchronizable optical signal to location equipment and synchronizes radiofrequency signal;

Location equipment is when receiving synchronizable optical signal, if being simultaneously received synchronization radiofrequency signal, then by synchronizable optical signal Rising edge as synchronization point.

The carrying out practically process of the space-location method that the present embodiment provides has been carried out detailed in preceding sections Introduce, succinct for description at this, just repeat no more.

One or more technical scheme in the embodiment of the present invention, at least has the following technical effect that or advantage:

Technical scheme in the present embodiment make use of the characteristic that light is linearly propagated, and comes really according to three laser scanning signals Location equipment 10 is relative to the position of locating base station 20, and owing to the precision of laser measurement is at grade, and locating speed exists Millisecond, so positioning precision and locating speed are all greatly improved compared to prior art, it is achieved that precisely and rapidly realize Sterically defined technique effect.

All features disclosed in this specification, or disclosed all methods or during step, except mutually exclusive Feature and/or step beyond, all can combine by any way.

Any feature disclosed in this specification (including any accessory claim, summary and accompanying drawing), unless chatted especially State, all can be by other equivalences or there is the alternative features of similar purpose replaced.I.e., unless specifically stated otherwise, each feature is only It it is an example in a series of equivalence or similar characteristics.

The invention is not limited in aforesaid detailed description of the invention.The present invention expands to any disclose in this manual New feature or any new combination, and the arbitrary new method that discloses or the step of process or any new combination.

Claims (17)

1. a location equipment, it is characterised in that including:
Housing;
Light sensor, is arranged on described housing.
Position equipment the most as claimed in claim 1, it is characterised in that described housing is specially spherical shell.
Position equipment the most as claimed in claim 1, it is characterised in that the orientation range of described location equipment is A;
The beam reception scope of each described light sensor is B, at least provided with M described light sensor on described housing Device, M obtains for rounding up A/B.
Position equipment the most as claimed in claim 3, it is characterised in that the receiving plane of M described light sensor is evenly distributed on On described housing.
Position equipment the most as claimed in claim 1, it is characterised in that on described light sensor, be additionally provided with optical filter.
Position equipment the most as claimed in claim 1, it is characterised in that described light sensor is light sensitive diode, photosensitive three poles Pipe or silicon cell.
Position equipment the most as claimed in claim 1, it is characterised in that described location equipment also includes rf signal reception device, Described rf signal reception device is arranged in described housing, and described rf signal reception device is used for receiving synchronizing signal.
Position equipment the most as claimed in claim 1, it is characterised in that described location equipment also includes motion sensor.
9. a locating base station, it is characterised in that including:
Base;
Rotary shaft, is arranged on described base;
First laser scanner, is arranged at the primary importance of described rotary shaft, and the first of described first laser scanner outgoing is swept Retouch line and form first plane of scanning motion;
Second laser scanner, is arranged at the second position of described rotary shaft, and the second of described second laser scanner outgoing is swept Retouch line and form second plane of scanning motion;
3rd laser scanner, is arranged at the 3rd position of described rotary shaft, and the 3rd of described 3rd laser scanner outgoing sweeps Retouch line and form the 3rd plane of scanning motion;
Wherein, described first plane of scanning motion, described second plane of scanning motion and described 3rd plane of scanning motion do not intersect at described rotation Same point on axle, and described first scan line, described second scan line and described three scan line be all not orthogonal to described rotation Rotating shaft.
10. locating base station as claimed in claim 9, it is characterised in that the laser scanning that described first laser scanner sends The wavelength of signal is first wave length, and the wavelength of the laser scanning signal that described second laser scanner sends is second wave length, institute The wavelength stating the laser scanning signal that the 3rd laser scanner sends is the 3rd wavelength, described first wave length, described second wave length Different between two with described 3rd wavelength.
11. locating base station as claimed in claim 9, it is characterised in that described first laser scanner, described second laser are swept The light source retouching device and described 3rd laser scanner is same LASER Light Source, and the laser that described LASER Light Source generates passes through light splitting Device is by beam splitting to described first laser scanner, described second laser scanner and described 3rd laser scanner.
12. locating base station as claimed in claim 9, it is characterised in that described locating base station also includes synchronizer, described same Step device is arranged on described base, and described synchronizer is used for sending synchronizing signal.
13. locating base station as claimed in claim 12, it is characterised in that described synchronizer specially LED array and/or penetrate Frequently signal generator.
14. locating base station as claimed in claim 9, it is characterised in that described locating base station also includes positioner for rotation shaft, Described shaft positioning device sets the turned position for detecting described rotary shaft.
15. 1 kinds of space positioning systems, it is characterised in that including:
Location equipment as described in claim arbitrary in claim 1-8;
Locating base station as described in claim arbitrary in claim 9-14;
Data handling equipment, for three the laser scanning signals sent according to described locating base station, determines described location equipment Position relative to described locating base station.
16. 1 kinds of space-location methods, it is characterised in that including:
Locating base station drives the first laser scanner, the second laser scanner and the 3rd laser scanner to enter by a rotary shaft Row rotates, and sends the first laser scanning signal, the second laser scanning signal and the 3rd laser scanning signal, described first laser The second scan line and described 3rd laser that the first scan line that scanning signal is corresponding, described second laser scanning signal are corresponding are swept Retouch three scan line corresponding to signal and be all not orthogonal to described rotary shaft, and the first scanning that described first scan line is formed is flat Second plane of scanning motion and the 3rd plane of scanning motion of described three scan line formation that face, described second scan line are formed do not intersect at Same point in described rotary shaft;
Location equipment passes through light sensor, receives described first laser scanning signal, described second laser scanning signal and institute State the 3rd laser scanning signal;
Data handling equipment is swept according to described first laser scanning signal, described second laser scanning signal and described 3rd laser Retouch the transmission time point of signal and receive time point, determining the described location equipment position relative to described locating base station.
17. space-location methods as claimed in claim 16, it is characterised in that in described locating base station by a rotary shaft Drive the first laser scanner, the second laser scanner and the 3rd laser scanner to rotate, and send the first laser scanning Before signal, the second laser scanning signal and the 3rd laser scanning signal, described method also includes:
Described locating base station sends synchronizable optical signal to described location equipment and synchronizes radiofrequency signal;
Described location equipment is when receiving synchronizable optical signal, if being simultaneously received described synchronization radiofrequency signal, then by described same The rising edge of step optical signal is as synchronization point.
CN201610505566.9A 2016-06-30 2016-06-30 A kind of location equipment, locating base station, space positioning system and method CN106199517A (en)

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CN106878944A (en) * 2017-01-22 2017-06-20 上海乐相科技有限公司 A kind of method and locating calibration device for calibrating locating base station coordinate system
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CN108882156A (en) * 2018-07-26 2018-11-23 上海乐相科技有限公司 A kind of method and device for calibrating locating base station coordinate system
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CN105629200A (en) * 2016-03-16 2016-06-01 北京国承万通信息科技有限公司 Positioning light beam emission system and method and indoor positioning system
CN105652279A (en) * 2016-03-11 2016-06-08 北京维阿时代科技有限公司 Real-time spatial positioning system and method and virtual reality device comprising system
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US20140361956A1 (en) * 2013-06-09 2014-12-11 Sony Computer Entertainment Inc. Head Mounted Display
CN105607034A (en) * 2015-12-23 2016-05-25 北京凌宇智控科技有限公司 Three-dimensional space detection system, positioning method and system
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CN106680772A (en) * 2016-12-08 2017-05-17 成都理想境界科技有限公司 Signal identification system and method, positioning system and positioning base station
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CN106851575A (en) * 2017-01-22 2017-06-13 上海乐相科技有限公司 The method and locating calibration device of a kind of unified locating base station coordinate system
CN106878944A (en) * 2017-01-22 2017-06-20 上海乐相科技有限公司 A kind of method and locating calibration device for calibrating locating base station coordinate system
CN106878944B (en) * 2017-01-22 2020-04-24 上海乐相科技有限公司 Method for calibrating coordinate system of positioning base station and positioning calibration device
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