CN106324564B

CN106324564B - Positioning method, device, equipment and system

Info

Publication number: CN106324564B
Application number: CN201610638771.2A
Authority: CN
Inventors: 郭成
Original assignee: BEIJING G-WEARABLES INFORMATION SCIENCE & TECHNOLOGY Co Ltd
Current assignee: BEIJING G-WEARABLES INFORMATION SCIENCE & TECHNOLOGY Co Ltd
Priority date: 2016-08-05
Filing date: 2016-08-05
Publication date: 2020-01-14
Anticipated expiration: 2036-08-05
Also published as: CN106324564A

Abstract

The invention discloses a positioning method, a positioning device, positioning equipment and a positioning system. The method comprises the steps that for a plurality of positioning light beams received by a signal receiver from at least two positioning light signal emitting devices, an instant scanning surface formed by the positioning light beams when the signal receiver receives the positioning light beams is respectively determined based on the time when the signal receiver receives the positioning light beams, the time of a reference signal associated with the positioning light beams, the positions of the positioning light signal emitting devices emitting the positioning light beams and the angular speed, and then the position of the signal receiver in a positioning space is determined based on the instant scanning surfaces. By utilizing the invention, the position of the signal receiver can be determined based on the positioning signal received by the signal receiver, so that the object to be positioned can be positioned only by carrying one signal receiver.

Description

Positioning method, device, equipment and system

Technical Field

The present invention relates to the field of positioning, and in particular, to a positioning method, apparatus, device, and system.

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 signal receivers 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 the existing data operation process, the position information of the object to be positioned needs to be calculated by using the positioning signals received by the plurality of signal receivers and the relative position relationship between the plurality of signal receivers. Therefore, a plurality of signal receivers need to be arranged on the object to be positioned, and in the positioning process, in order to avoid overlarge damage to final positioning accuracy caused by installation accuracy and manufacturing accuracy, the distance between the signal receivers needs to be as large as possible, so that the positioning piece formed by the signal receivers is large in size. In addition, under the condition that the locating piece needs to be calculated by oneself in the locating process, the locating piece still needs to include the treater, and this undoubtedly can further make the locating piece volume difficult to accomplish littleer for it is all inconvenient enough to dress, carry etc..

For this reason, there is a need for a simple and efficient positioning solution that allows the position of an object to be positioned to be determined based on fewer signal receivers.

Disclosure of Invention

The invention mainly solves the technical problem of providing a positioning method, a device, equipment and a system which can determine the position of an object to be positioned based on fewer signal receivers.

According to one aspect of the present invention, there is provided a positioning method for positioning an object to be positioned based on a positioning beam received by a signal receiver carried on a surface of the object to be positioned in a positioning space and a reference signal associated with the positioning beam, wherein at least two positioning optical signal emitting devices and a reference signal emitting device associated with the at least two positioning optical signal emitting devices are provided in the positioning space, different positioning optical signal emitting devices are provided at different positions in the positioning space, each positioning optical signal emitting device scans the positioning beam toward the positioning space at a predetermined scanning period and a predetermined angular velocity, the positioning beam has a linear cross section, is stretched into a scanning plane and rotates or swings around a scanning rotation axis, the scanning rotation axis is not perpendicular to the scanning plane, the reference signal emitting device emits the reference signal toward the positioning space, as a start signal during a sweep of a positioning light beam emitted by its associated positioning light signal emitting device, the method comprising:

for a plurality of positioning light beams received by a signal receiver from at least two positioning light signal emitting devices, respectively determining an instant scanning surface formed by the positioning light beams when the signal receiver receives the positioning light beams based on the time when the signal receiver receives the positioning light beams, the time of a reference signal associated with the positioning light beams, the positions and the angular velocities of the positioning light signal emitting devices emitting the positioning light beams; the position of the signal receiver within the localization space is determined based on the plurality of instant sweeps.

According to another aspect of the present invention, there is provided a positioning device for positioning an object to be positioned based on a positioning beam received by a signal receiver carried on a surface of the object to be positioned in a positioning space and a reference signal associated with the positioning beam, wherein at least two positioning optical signal emitting devices and a reference signal emitting device associated with the at least two positioning optical signal emitting devices are provided in the positioning space, different positioning optical signal emitting devices are provided at different positions in the positioning space, each positioning optical signal emitting device scans the positioning beam toward the positioning space at a predetermined scanning period and a predetermined angular velocity, the positioning beam has a linear cross section, is stretched into a scanning plane and rotates or swings around a scanning rotation axis, the scanning rotation axis is not perpendicular to the scanning plane, the reference signal emitting device emits the reference signal toward the positioning space, as a start signal during a sweep of a positioning light beam emitted by its associated positioning light signal emitting device, the positioning device comprising:

the instant scanning surface determining unit is used for respectively determining instant scanning surfaces formed by the positioning light beams when the signal receiver receives the positioning light beams according to the time when the signal receiver receives the positioning light beams, the time of a reference signal associated with the positioning light beams, the positions and the angular velocities of the positioning light signal emitting devices emitting the positioning light beams; and the position determining unit is used for determining the position of the signal receiver in the positioning space based on the plurality of phase instant scanning planes.

According to another aspect of the present invention, there is also provided a positioning apparatus for positioning an object to be positioned in a positioning space, wherein, at least two positioning optical signal emitting devices and reference signal emitting devices associated with the at least two positioning optical signal emitting devices are arranged in the positioning space, different positioning optical signal emitting devices are arranged at different positions in the positioning space, each positioning optical signal emitting device scans a positioning light beam to the positioning space at a preset scanning period and a preset angular speed, the positioning light beam has a linear section, is stretched into a scanning surface and rotates or swings around a scanning rotating shaft, the scanning rotating shaft is not vertical to the scanning surface, the reference signal emitting devices emit reference signals to the positioning space, as a start signal during a sweep of a positioning light beam emitted by its associated positioning light signal emitting device, the positioning apparatus comprising: the signal receiver is suitable for being arranged on the outer surface of an object to be positioned and used for receiving the positioning light beam and the reference signal; the storage is used for storing positioning data, and the positioning data comprises the time when the signal receiver receives the positioning light beam and the time when the signal receiver receives the reference signal respectively; the processor is used for determining the position of an object to be positioned in the positioning space based on the positioning data, and respectively determines the instant scanning surfaces, which are formed by the positioning light beams when the signal receiver receives the positioning light beams, based on the time when the signal receiver receives the positioning light beams, the time of a reference signal associated with the positioning light beams, the positions of the positioning light signal emitting devices emitting the positioning light beams and the angular speed, of the positioning light beams from at least two positioning light signal emitting devices received by the signal receiver, and determines the position of the signal receiver in the positioning space based on the instant scanning surfaces.

According to another aspect of the present invention, there is also provided a positioning system for positioning an object to be positioned in a positioning space, the positioning system comprising: the positioning optical signal emitting device comprises at least two positioning optical signal emitting devices and reference signal emitting devices associated with the at least two positioning optical signal emitting devices, wherein different positioning optical signal emitting devices are arranged at different positions in a positioning space, each positioning optical signal emitting device scans a positioning light beam to the positioning space at a preset scanning period and a preset angular speed, the positioning light beam has a linear section, is stretched into a scanning surface and rotates or swings around a scanning rotating shaft, the scanning rotating shaft is not vertical to the scanning surface, and the reference signal emitting devices emit reference signals to the positioning space to serve as initial signals of the scanning period of the positioning light beams emitted by the associated positioning optical signal emitting devices; and the positioning device mentioned above.

In summary, with the present invention, based on the positioning signal received by one signal receiver, the position of the object to be positioned carrying the signal receiver can be determined, so that the object to be positioned can be positioned by only carrying one signal receiver.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent by describing in greater detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.

Fig. 1 shows a flow of implementing a conventional laser positioning scheme.

Fig. 2 shows a schematic view of a state in which the signal receiver is disposed on a helmet adapted to be worn by a user.

Fig. 3 shows a schematic diagram of a structure of the positioning optical signal transmitting device.

Fig. 4 shows a schematic view of a line-shaped cross section of the positioning beam.

Fig. 5 shows a schematic flow chart of a positioning method according to an embodiment of the invention.

Fig. 6 shows a schematic plan view of a signal receiver and two positioning light signal emitting devices located in a positioning space.

FIG. 7 is a schematic diagram showing another signal receiver and two positioning optical signal transmitters in a planar state

Fig. 8 shows a schematic flow diagram of a position correction scheme according to an embodiment of the invention.

Fig. 9 shows a state diagram of a relative direction correction scheme according to an embodiment of the invention.

Fig. 10 shows a state diagram when three instantaneous sweeps meet at a point.

Fig. 11 shows a state diagram when three instantaneous sweeps intersect three lines.

Fig. 12 shows a schematic view of a state in which the instantaneous scan plane is translated.

Fig. 13 shows a schematic block diagram of the structure of a positioning apparatus according to an embodiment of the present invention.

Fig. 14 shows a schematic block diagram of a specific structure that the relative direction determining unit may have.

Fig. 15 shows a schematic block diagram of one specific structure that the position determination unit may have.

Fig. 16 shows a schematic block diagram of another specific structure that the position determining unit may have.

Fig. 17 shows a schematic block diagram of the structure of a positioning apparatus according to an embodiment of the present invention.

Fig. 18 shows a schematic block diagram of the structure of a positioning system according to an embodiment of the present 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.

As mentioned above, the present invention mainly proposes a positioning scheme capable of positioning an object to be positioned based on fewer (possibly one) signal receivers. The positioning scheme of the present invention may be implemented as a positioning method, a positioning apparatus, a positioning device, and a positioning apparatus and a positioning system. First, the positioning method of the present invention will be described, and before the positioning method of the present invention is described, a specific positioning scenario to which the positioning method of the present invention can be applied will be described.

The positioning method can position the object to be positioned based on the positioning light beam received by the signal receiver carried on the surface of the object to be positioned in the positioning space and the reference signal associated with the positioning light beam.

When the number of the signal receivers carried by the surface of the object to be positioned is multiple, the multiple signal receivers can have a determined relative spatial position relationship.

The signal receiver may be arranged on the surface of the object to be positioned in various ways. For example, when the object to be determined is a user, one or more signal receivers can be arranged on wearable equipment suitable for being worn by the user, such as a helmet, a backpack and the like, and the user can carry the signal receivers by wearing the relevant equipment; one or more signal receivers may also be disposed on a device (e.g., a gamepad) adapted to be held by a user; it is of course also possible to arrange one or more signal receivers directly on the user. In addition, the object to be located can be adapted to carry one or more signal receivers in various ways, which are not described in detail herein. Fig. 2 shows a schematic view of a state in which a plurality of signal receivers 1 are arranged on a helmet 5 adapted to be worn by a user, as an example.

At least two positioning light signal emitting devices and reference signal emitting devices associated with the at least two positioning light signal emitting devices can be arranged in the positioning space. The positioning space can be expanded into a plurality of sub-positioning spaces, and each sub-positioning space can be provided with a positioning optical signal emitting device and a reference signal emitting device associated with the positioning optical signal emitting device.

Different positioning optical signal emitting devices can be arranged at different positions in the positioning space, each positioning optical signal emitting device scans positioning light beams to the positioning space at a preset scanning period and a preset angular speed, each positioning light beam has a linear section, the positioning light beams are stretched into a scanning surface and rotate or swing around a scanning rotating shaft, and the scanning rotating shaft is not perpendicular to the scanning surface.

The scanning of the positioning light beam by the positioning light signal emitting device to the positioning space can be realized in various ways. For example, the positioning light signal transmitting device can scan the positioning light beam to the positioning space in a plurality of modes such as motor rotation scanning, MEMS scanning mirror swing scanning, single-mode fiber jitter 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 positioning optical signal emitting device makes 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 light signal emitting device only needs to be rotated by less than one turn, for example, about one quarter of a turn, i.e., about 90 °, so that the scanning light beam can completely scan the positioning space. In this way, the rotation speed when the scanning beam scans the positioning space and when the positioning space is not scanned may be different, or the positioning optical signal emitting device may be set so that the scanning beam is reciprocally oscillatingly scanned in the positioning space, in which case T ≠ 2 pi/ω.

The linear section refers to a section taken in a plane parallel to the sweep axis, and is further described below with reference to fig. 3 and 4 for better understanding of the concept of the linear section.

Fig. 3 shows a schematic diagram of a structure of the positioning optical signal transmitting device. As shown in fig. 3, the positioning optical signal 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 scanning rotating shaft 23. 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), an array light source, or other types of light sources.

After the rotating device 22 rotates around the scanning rotating shaft 23 for a certain angle, the positioning light beam emitted by the scanning light source 21 can rotate along with the scanning rotating shaft 23 to cover most or the whole area of the positioning space. The positioning beam emitted by the sweeping light source 21 has a linear section, which is a plane taken parallel to the plane α of the sweeping rotary shaft 23, and the taken plane has a small width and a large length as shown in fig. 4, and thus may be referred to as a linear section.

The linear section can be extended to a scanning plane (shown by the hatched portion in fig. 3), and the scanning plane can rotate around the scanning rotation axis 23 along with the rotating device 22.

Under the condition that the scanning rotating shaft 23 is vertical to the scanning surface, in the process that the scanning surface rotates around the scanning rotating shaft 23, the range which can be reached by the scanning surface is a plane with small thickness, and the range which can be covered by the scanning surface is small. Therefore, it is defined that the sweep axis 23 is not perpendicular to the sweep plane so that the sweep plane covers most or all of the positioning space when the sweep axis rotates. Wherein, preferably, the scanning plane and the scanning rotating shaft are parallel, and further, the scanning rotating shaft can be coplanar with the scanning plane. The sweeping rotating shaft can be a solid rotating shaft or a virtual axis.

The reference signal emitting device emits a reference signal to the positioning space as a start signal during scanning of the positioning light beam emitted by the positioning light signal emitting device associated therewith. Thus, the signal receiver can identify the positioning light signal emitting device emitting the positioning light beam by identifying the reference signal associated with the positioning light beam it receives. Here, in order to facilitate identification of the reference signal, the reference signal emitted by the reference signal emitting device may be encoded such that the reference signals associated with different positioning beams have different codes. Therefore, the signal receiver can identify the positioning light signal emitting device corresponding to the next received positioning light beam associated with the signal receiver according to the code of the received reference signal.

The reference signal may be encoded in a variety of ways, for example, the reference signal transmitted by the reference signal transmitting device may include a plurality of pulses, and the pulse length of the pulses in the reference signal and/or the pulse interval between two adjacent pulses may be encoded such that the reference signals associated with different positioning beams have different codes. Of course, other encoding modes are also possible, and are not described herein.

The term "reference signal" mentioned herein may be various types of signals, such as optical signals, radio signals, and the like. For example, a "reference signal" as used herein may be considered a diffused beam in the form of a pulse having a solid angle, and may be generated in a variety of ways. For example, the reference signal emitting device may be a surface light source, and the surface light source may emit a diffused light beam with a certain opening angle in a pulse form, and of course, when the reference signal is a signal in another form, the reference signal emitting device may have another specific structure, which is not described herein again.

Further, the positioning optical signal emitting device can scan the positioning light beam to the positioning space where the positioning optical signal emitting device is located in two or more scanning modes in each scanning period, and the scanning periods of different scanning modes can be different. The different scanning modes of each positioning optical signal transmitting device can be realized by the scanning mechanisms with different scanning rotating shafts, and can also be realized by one scanning mechanism.

Taking the positioning optical signal transmitting device with two scanning modes, the different scanning modes being realized by the scanning mechanism with different scanning rotating shafts, the scanning rotating shaft of the second positioning light beam in the second scanning mode and the scanning rotating shaft of the first positioning light beam in the first scanning mode may have a predetermined included angle. Here, preferably, the positioning optical signal emitting device may be swept laterally and swept longitudinally in time division to a positioning space in which the positioning optical signal emitting device is located in each sweep period, wherein an extending direction of a linear cross section of the laterally swept positioning beam and a sweep axis are perpendicular to a horizontal plane, and an extending direction of a linear cross section of the longitudinally swept positioning beam and the sweep axis are parallel to the horizontal plane.

In addition, when different scanning modes of the positioning optical signal transmitting device are realized by one scanning mechanism, the included angles between the scanning surfaces formed by the positioning light beams in the different scanning modes and the scanning rotating shaft of the scanning mechanism are different. The scanning rotating shaft described herein may be a physical rotating shaft or a virtual rotating shaft.

When the positioning light signal emitting device scans the positioning light beam to the positioning space where the positioning light signal emitting device is located in two or more scanning modes, the reference signal emitted by the reference signal emitting device associated with the positioning light signal emitting device can also have two or more coding modes, and the two or more coding modes respectively correspond to the different scanning modes.

So far, detailed descriptions are given to specific scenes to which the positioning method of the present invention can be applied. The positioning method of the present invention will be explained below.

Referring to fig. 5, in step S110, for a plurality of positioning beams received by the signal receiver from at least two positioning optical signal emitting devices, based on the time when the signal receiver receives the positioning beam, the time of the reference signal associated with the positioning beam, the position and the angular velocity of the positioning optical signal emitting device emitting the positioning beam, the instantaneous scanning plane spanned by the positioning beam when the signal receiver receives the positioning beam is respectively determined.

As described above, the reference signal emitted by the reference signal emitting device associated with the positioning optical signal emitting device may be used as the start signal during the sweep of the positioning light beam emitted by the positioning optical signal emitting device. Therefore, the time when the signal receiver receives the positioning beam is set to t₁The time when the signal receiver receives the reference signal associated with the positioning beam is t₂Then the time for the positioning light signal emitting device corresponding to the positioning light beam to sweep through the signal receiver is (t)₁-t₂)。

Since the angular velocity of the positioning light signal emitting device sweeping the positioning light beam is known (can be a fixed value or a variable satisfying a certain functional relationship), the angular velocity and the time (t) taken for sweeping the signal receiver are determined according to the angular velocity₁-t₂) And the position of the positioning light signal transmitting device for transmitting the positioning light beam can determine the instant scanning surface formed by the positioning light beam when the signal receiver receives the positioning light beam.

The instant scanning surface is the scanning surface when the positioning light beam is received by the signal receiver and rotates a certain angle relative to the zero angle line. And the signal receiver is on the determined instantaneous scan plane. The instant scanning plane can be regarded as a scanning plane with the positioning optical signal emitting device as an end point, and the position of the positioning optical signal emitting device is fixed and known, so that the determined instant scanning plane has a unique direction in the positioning space.

The zero angle line is a scanning surface formed by the positioning light beam scanned at the starting time of the scanning period of the positioning light beam scanned by the positioning light signal emitting device.

Therefore, the instant scanning surface formed by the positioning light beam when the signal receiver receives the positioning light beam can be respectively determined for the positioning light beams received by the signal receiver from the plurality of (at least two) positioning light signal transmitting devices.

The plurality of instant scanning surfaces may respectively correspond to the positioning beams scanned by the different positioning optical signal emitting devices, and in addition, when the positioning optical signal emitting devices scan the positioning beams in two or more scanning modes in each scanning period, two or more instant scanning surfaces may also exist in the plurality of instant scanning surfaces, which correspond to the positioning beams scanned by the same positioning optical signal emitting device in different scanning modes.

In step S120, the position of the signal receiver in the positioning space is determined based on the plurality of instant scan planes.

The direction of the instantaneous sweep in the localization space determined based on step S110 is fixed, while the signal receiver is on the determined instantaneous sweep. Thus, the position of the signal receiver within the localization space can be determined on the basis of a plurality of instantaneous sweeps, and the determined position can be regarded as the position of the object to be localized carrying the signal receiver.

There are various ways of determining the position of the signal receiver based on multiple instant scan planes. Preferably, the present invention proposes two positioning methods, namely "triangulation positioning" and "three-plane positioning". Wherein, a suitable positioning mode can be selected according to the actual situation. In addition, other positioning modes can be provided, and are not described in detail herein. These two positioning methods will be described separately below.

(1) Triangulation location

As described above, each positioning optical signal emitting device can sweep the positioning light beam toward the positioning space in two or more sweep modes in each sweep period.

Therefore, the relative direction of the optical signal receiver relative to the positioning optical signal transmitting device can be determined aiming at two instant scanning surfaces corresponding to the positioning light beams scanned by one positioning optical signal transmitting device in two scanning modes.

The two instantaneous scanning planes corresponding to the two positioning beams scanned in the two scanning modes are intersected, so that the relative direction determined here is a 'line direction'.

In particular, for two positioning beams received by the signal receiver from the same positioning optical signal transmitter in two different scanning modes, two instantaneous scanning planes can be determined (see the above related description for the process of determining the instantaneous scanning planes), where the signal receiver can be considered to be located on the two instantaneous scanning planes, and therefore, the signal receiver is located on an intersection of the two instantaneous scanning planes, which can be considered to be the relative direction of the signal receiver with respect to the positioning optical signal transmitter.

After determining two opposite directions of the signal receiver relative to two different positioning light signal emitting devices, respectively, the position of the signal receiver in the positioning space can be determined according to the two opposite directions.

The positioning can be performed here using the principle of triangulation. As shown in fig. 6, after determining the relative direction of the signal receiver 1 with respect to the first positioning optical signal transmitter 2-1 and the relative direction of the signal receiver 1 with respect to the second positioning optical signal transmitter 2-2, the signal receiver 1 is located at the intersection of the two relative directions.

Thereby, the signal receiver 1 and the first and second positioning optical signal transmitting devices 2-1 and 2-2 form a triangular relationship. The position information of the first positioning optical signal emitting device 2-1 and the second positioning optical signal emitting device 2-2 is known, which is equivalent to that the positions of two vertexes of the triangle are known, and the directions (i.e. relative directions) of the connecting lines of the two vertexes with the other vertex are known, so that the position of the third vertex, i.e. the position of the signal receiver, i.e. the position of the object to be positioned carrying the signal receiver can be determined according to the information. Thus, the present invention can determine the position of an object to be located using a single receiver.

Here, in order to make the result of the positioning more accurate, it is also possible to determine three, four, or the like more relative directions, and then determine the position of the signal receiver based on the plurality of relative directions.

For example, when the relative direction is three, two relative directions can be selected as one direction group, so that three direction groups can be selected, and then the signal receiver is positioned according to the two relative directions in each direction group, so that three positions of the signal receiver can be obtained, and the average value of the three positions can be taken as the finally determined position of the signal receiver. Of course, when the relative directions are more than two, other calculation methods may be adopted to obtain a more accurate positioning result, which is not described herein again.

A possible calculation process for triangulation is described in detail below. Referring to fig. 6, a is the position of the first positioning optical signal transmitting device 2-1, B is the position of the second positioning optical signal transmitting device 2-2, and M is the position of the signal receiver 1.

The coordinates of the first positioning optical signal emitting device 2-1 and the second positioning optical signal emitting device 2-2 in the world coordinate system are known as (X)_A，Y_A，Z_A)、(X_B，Y_B，Z_B) And a rotation matrix R of the coordinate system of the first positioning optical signal emitting device 2-1 and the coordinate system of the second positioning optical signal emitting device 2-2 relative to the world coordinate system_A、R_BThe positioning calculation process is as follows:

the time t for the known signal receiver 1 to receive the positioning light beams under the transverse and longitudinal scanning modes of the first positioning light signal transmitting device 2-1₁、t₂Thus, two scan angles azi, elv are obtained.

The coordinate of the ray AM (i.e., the relative direction of the signal receiver 1 with respect to the first positioning optical signal transmission device 2-1) under the coordinate table of the first positioning optical signal transmission device 2-1 is (R)_x、R_y、R_z) Then, there are: r_x＝tan(azi)；R_y＝tan(elv)/cos(azi)；R_z＝1。

From this, the equation of the ray AM in the coordinate system of the first positioning optical signal transmitter 2-1 is obtained, which we need to convert to the world coordinate system as follows:

is (R)_xA′、R_yA′、R_zA′) Represents coordinates of the ray AM in a world coordinate system, and a rotation matrix of the coordinate system of the first positioning optical signal transmission device 2-1 with respect to the world coordinate system is known as R_AFrom R_AAnd (R)_x、R_y、R_z) Then (R) can be calculated_xA′、R_yA′、R_zA′) Namely: (R)_xA′、R_yA′、R_zA′)＝R_A(R_x、R_y、R_z)。

Similarly, we can know the coordinates (R) of the ray BM (i.e., the relative orientation of the signal receiver 1 with respect to the second positioning optical signal emitting device 2-2) in the world coordinate system_xB′、R_yB′、R_zB′)。

Next, we can use triangulation to calculate the coordinates of the signal receiver 1 in the world coordinate system, which is set as (X, Y, Z);

because A ═ X_A，Y_A，Z_A) Where M is (X, Y, Z), and the coordinates of the ray AM in the world coordinate system are (R)_xA′、R_yA′、R_zA′) Therefore, the following are:

and

wherein, t_A、t_BIs a constant. By solving, the coordinate value (X, Y, Z) of the M point in the world coordinate system, namely the space position of the signal receiver can be obtained.

Here, a matrix can be constructed to solve, for example, based on the above formula, it can be derived:

we can abbreviate the above formula as P · W ═ Q, where,

then W is equal to P^-1Q, since the matrix P, Q is known, from which the vector W can be calculated,and (X, Y, Z) in the vector W is the coordinate value of the point M in the world coordinate system, i.e. the position of the signal receiver 1 in the positioning space. Therefore, the spatial position of the object to be positioned carrying the signal receiver 1 can be obtained by constructing a matrix and solving. Of course, other solving methods are possible, and are not described herein.

Now, the implementation process of triangulation is described in detail with reference to fig. 5 and 6. The invention uses a signal receiver to receive positioning light beams from different positioning light signal emitting devices for positioning. Generally, the time periods when different positioning optical signal emitting devices scan the positioning light beams are different, so that the time when the signal receiver receives the positioning light beams from different positioning optical signal emitting devices is different, an object to be positioned carrying the signal receiver may be displaced within the time difference, and when the displacement occurs, the intersection of the multiple instant scanning planes determined in step S110 is no longer the position where the signal receiver is located.

For example, as shown in fig. 7, the first positioning optical signal emitting device 2-1 is located at a, the second positioning optical signal emitting device 2-2 is located at B, and the signal receiver 1 is located at M.

The first positioning optical signal emitting device 2-1 scans the positioning light beam in advance, and when the positioning light beam scanned by the first positioning optical signal emitting device 2-1 is received by the signal receiver 1, the relative direction of the signal receiver 1 with respect to the first positioning optical signal emitting device 2-1, that is, the AM direction, can be determined. Then the second positioning optical signal emitting device 2-2 starts to scan the positioning beam, and when the positioning beam scanned by the second positioning optical signal emitting device 2-2 is received by the signal receiver 1, the signal receiver 1 moves to M in the figure₁If the previous positioning method is used, it is then concluded that the signal receiver 1 is in the AM direction and BM₁At the intersection point N of the directions, i.e. the position of the object to be positioned determined according to the above-mentioned positioning method is located at N, while the object to be positioned is actually located at M₁To (3).

In view of the above, the present invention provides a position correction scheme, which can be applied to the triangulation method described above with reference to fig. 5 and 6.

Referring to fig. 8, in step S210, displacement information of the signal receiver is obtained in a time period between two receiving times when the signal receiver receives two positioning light beams from two positioning light signal emitting devices successively.

Here, the position information of the signal receiver occurring in the time period between the two receiving times of receiving the two positioning light beams successively from the different positioning light signal emitting devices can be obtained by using technologies such as inertial navigation, magnetic positioning, and the like.

When the signal receiver receives the positioning light beams from more than two positioning light signal emitting devices successively, a plurality of pieces of displacement information of the signal receiver in a time period between two receiving times when the signal receiver receives the two positioning light beams successively can be acquired. For example, the signal receiver receives the positioning light beams from different positioning light signal emitting devices at times t1, t2, t3, and t4, respectively, and at this time, displacement information of the signal receiver between t1 and t2, between t2 and t3, and between t3 and t4 can be obtained, respectively.

In the step S210, it may be determined whether the displacement information of the signal receiver in the time period between two receiving times exceeds a threshold (the threshold may be set in advance), and when it is determined that the displacement information exceeds the threshold, it may be determined that the relative direction corresponding to one of the two receiving times corresponding to the displacement information needs to be corrected; when it is determined that the displacement information does not exceed the threshold, it may be considered that the displacement of the signal receiver occurring in the time period is small and may be ignored, and at this time, the relative direction corresponding to the two receiving times corresponding to the displacement may not be corrected. Therefore, before step S220 is executed, it is also possible to determine whether or not the displacement information exceeds the threshold value, and when it is determined that the displacement information exceeds the threshold value, the correction step (i.e., step S220 in the drawing) may be executed.

In step S220, according to the displacement information, the signal receiver is translated integrally with respect to one of two successive relative directions of the two positioning optical signal transmitters.

Here, the relative direction may be moved in the past or in the following based on the displacement information.

For example, as shown in FIG. 7, based on the displacement information (line segment MM)₁) The previous AM direction can be translated to the left, and the first positioning optical signal emitting device 2-1 is moved to A₁AM direction is shifted to become a₁M₁Direction, then using A after translation₁M₁The direction participates in the calculation.

In addition, the displacement information (line segment MM) may be used₁) BM to be behind₁The direction is translated to the right, and the second positioning optical signal transmission device 2-2 is moved to B1, BM₁After moving in the direction of B₁M direction, then using B after translation₁The M direction participates in the calculation.

In step S230, the position of the signal receiver in the positioning space is determined based on the translated relative direction and the relative direction in which no translation is performed in the two successive relative directions.

In step S220, when the previous relative direction is moved according to the displacement information, the position determined based on the relative direction after the translation and the relative direction in which the translation is not performed corresponds to the previous time. In step 220, when the subsequent relative direction is moved in accordance with the displacement information, the position determined based on the translated relative direction and the relative direction in which no translation is performed corresponds to the subsequent time.

For example, as shown in FIG. 7, in accordance with the displacement information (line segment MM)₁) To translate the previous AM direction to the left, to A₁M₁When the direction is changed, the translated A is used₁M₁Directional, non-translational BM₁The position of the signal receiver 1 determined by the direction corresponds to the position (point M) of the signal receiver 1 when the signal receiver 1 receives the positioning light beam emitted by the second positioning light signal emitting device 2-2₁)。

As another example, inAccording to displacement information (line segment MM)₁) When the subsequent relative direction BM1 is shifted to the right and moved to the B1M direction, the position of the signal receiver 1 determined using the shifted B1M direction and the AM direction in which no shift is performed corresponds to the position (point M) at which the signal receiver 1 is located when the signal receiver 1 receives the positioning light beam emitted from the first positioning light signal emitting device 2-1.

Thus, by moving the preceding or succeeding one of the two relative directions in accordance with the displacement information, the position of the signal receiver 1 in the positioning space at the preceding time or the succeeding time can be obtained. Here, the positions of the signal receiver 1 in the positioning space at the preceding time and the succeeding time can be obtained at the same time, so that the movement locus of the signal receiver in the time period between the preceding time and the succeeding time can be estimated from the determined positions at the preceding time and the succeeding time to obtain the position of the signal receiver 1 at any time between the preceding time and the succeeding time. In other words, based on the above-described correction scheme, the positions of the signal receivers at a plurality of different time instants can be determined, and thus the motion trajectories of the signal receivers can be deduced, i.e. the positions of the signal receivers at any time instant can be deduced.

In addition, as described above, in the case where the positioning optical signal transmitting device scans the positioning light beams in two or more scanning modes, the relative direction of the optical signal receiver with respect to the positioning optical signal transmitting device may be determined for two instant scanning planes corresponding to the positioning light beams scanned by one positioning optical signal transmitting device in the two scanning modes.

Generally, the time periods when the same positioning optical signal transmitter transmits the positioning beams in different scanning modes are different, so the time when the signal receiver receives the positioning beams in different scanning modes from the same positioning optical signal transmitter is different, the signal receiver may be displaced within the time difference, and the relative direction determined by the method does not match the actual direction when the displacement occurs.

Therefore, the displacement information of the signal receiver in the time period between the two receiving times when the signal receiver receives two positioning light beams in two scanning modes from the same positioning light signal transmitting device in sequence can be obtained. The determined relative orientation of the signal receiver is then corrected based on the displacement information.

As described above with reference to fig. 8, it may also be determined whether the obtained displacement information of the signal receiver in the time period between two receiving times exceeds a threshold (the threshold may be set in advance), and when the displacement information exceeds the threshold, it may be determined that an instant scanning plane corresponding to one of the two receiving times corresponding to the displacement information needs to be corrected; when it is determined that the displacement information does not exceed the threshold, it may be considered that the displacement of the signal receiver occurring in the time period is small and may be ignored, and at this time, the instant scanning planes corresponding to the two receiving times corresponding to the displacement may not be corrected. Therefore, after the displacement information of the signal receiver in the time period between the two receiving times is acquired, whether the displacement information exceeds the threshold value or not can be judged, and when the displacement information exceeds the threshold value, one instant scanning plane is corrected.

The following describes a specific correction procedure with reference to fig. 9.

Referring to fig. 9, planes β and γ are two instantaneous scanning planes formed by the positioning beams in two scanning modes emitted by the same positioning optical signal emitting device, where β is an instantaneous scanning plane corresponding to the positioning beam in the first scanning mode, γ is an instantaneous scanning plane corresponding to the positioning beam in the second scanning mode, and O is the position of the positioning optical signal emitting device.

The signal receiver firstly starts at t₁And receiving the positioning light beam in the first scanning mode at the moment, wherein the determined instant scanning plane is beta. Then at t₂And receiving the positioning light beam in the second scanning mode at the moment, wherein the determined instant scanning plane is gamma. At t₁At the moment, the signal receiver is located at point M on the instantaneous scan plane beta, at t₂At the moment, the signal receiver moves to M on the instantaneous scan plane gamma₁Point, if at this time according toThe relative direction of the signal receiver with respect to the positioning optical signal transmitter determined by the determination of the relative direction mentioned above is a line segment OP, whereas in practice t₂The relative direction of the time signal receiver relative to the positioning optical signal transmitting device is OM₁。

Therefore, one instant scanning surface of the two instant scanning surfaces can be integrally translated according to the displacement information, and then the intersection line of the translated instant scanning surface and the other instant scanning surface is determined to be the opposite direction. Here, the preceding instant scan plane may be translated, or the succeeding instant scan plane may be translated.

Taking FIG. 9 as an example, the displacement information (line segment MM) can be used₁) Translating the previous instant scanning plane beta to beta ' in the figure, wherein the position of the positioning optical signal emitting device is changed from point O to point O ', and the intersection line O ' P ' of the translated beta ' and the instant scanning plane gamma which is not translated is the signal receiver at t₂The time of day is relative to the relative direction of the positioning optical signal emitting device at O'.

Wherein the displacement information (line segment MM) can be first of all determined₁) The partial displacement on the normal of the instant scanning plane beta is obtained, and then the instant scanning plane beta can be moved to beta' in the figure according to the partial displacement.

In addition, it is also possible to use the displacement information (line segment MM)₁) The subsequent instant scanning plane γ is translated to γ' in the figure, at which time the position of the positioning optical signal transmission device is changed from point O to point O ". The intersection O ' P ' of the translated gamma ' and the non-translated instant scan plane beta is the signal receiver at t₁The time of day is relative to the relative direction of the positioning optical signal emitting device at O ".

Now, the positioning correction scheme applicable to the triangulation method of the present invention is described in detail with reference to fig. 7 to 9.

(2) Three-side positioning

As described above in conjunction with fig. 5, the signal receiver can be considered to be on multiple determined instantaneous scan planes, so that in the case that there are three instantaneous scan planes in the multiple instantaneous scan planes, which intersect each other two by two and whose intersection lines intersect at an intersection point L, as shown in fig. 10, it can be determined that the intersection point L is the position of the signal receiver in the positioning space.

The three instant scanning planes mentioned herein may be scanning planes that are formed when the signal receiver receives positioning light beams from three different positioning light signal emitting devices.

In addition, as described above, each positioning optical signal emitting device can scan the positioning light beam to the positioning space in two scanning modes in each scanning period. Therefore, the "three instant scanning planes" mentioned herein may also be composed of two instant scanning planes when the signal receiver receives the positioning light beams in two scanning modes from one positioning optical signal emitting device and an instant scanning plane when the signal receiver receives the positioning light beams from another positioning optical signal emitting device.

Generally, different instant scanning planes correspond to different receiving moments, i.e. different moments when the signal receiver receives different positioning beams. Therefore, if the object to be positioned, which carries the signal receiver, moves within the time period between the reception times corresponding to the three instant scanning planes, there is a possibility that an error may occur when the position of the signal receiver is determined using this method.

For example, for three instant scan planes H, J, K, it is assumed that instant scan planes H, J, K correspond to three receiving times t, respectively₁、t₂、t₃(assume t₁、t₂、t₃In chronological order) if the signal receiver is at t₁-t₂And/or t₂-t₃Are displaced from each other, the three instant scan planes H, J, K may not have a common intersection. For example, as shown in FIG. 11, three instant scan planes H, J, K may intersect at three different line segments. Moreover, when the signal receiver is displaced, for three instantaneous scanning planes which intersect each other pairwise and the intersection line of which intersects at an intersection point, the intersection point may not be the position of the signal receiver in the positioning space.

Therefore, in order to more accurately determine the position of the signal receiver, the displacement information of the signal receiver in two time periods between two adjacent receiving times among three receiving times corresponding to three instant scanning planes can be acquired. For the sake of convenience of distinction, the obtained displacement information in the two time periods may be referred to as third displacement information and fourth displacement information.

And then, integrally translating one or two of the three instant scanning planes according to the displacement information (third displacement information and fourth displacement information), and if the translated instant scanning plane and the instant scanning plane which is not moved intersect with each other pairwise and the intersection line intersects with one intersection point, determining the intersection point as the position of the signal receiver in the positioning space.

It is possible to determine whether the acquired third displacement information and the acquired fourth displacement information exceed a threshold (the threshold may be set in advance). When the displacement information is judged to exceed the threshold value, the instant scanning surface corresponding to one of the two receiving times corresponding to the displacement information is considered to need to be corrected; when it is determined that the displacement information does not exceed the threshold, it may be considered that the displacement of the signal receiver occurring in the time period is small and may be ignored, and at this time, the instant scanning planes corresponding to the two receiving times corresponding to the displacement may not be corrected. Therefore, after the displacement information of the signal receiver in the time period between the two receiving times is acquired, whether the displacement information exceeds the threshold value or not can be judged, and when the displacement information exceeds the threshold value, the corresponding instant scanning plane is corrected.

Here, according to the displacement information, the first two instant scanning surfaces may be moved, the second two instant scanning surfaces may be moved, and the first and last two instant scanning surfaces may be moved, as long as the moved instant scanning surfaces correspond to the same time. Preferably, the last instant scan plane can be fixed and the first two instant scan planes can be moved.

For example, for three instant scanning planes H, J, K in chronological order, it is assumed that instant scanning planes H, J, K correspond to three receiving times t, respectively₁、t₂、t₃Can obtain t₁To t₂The displacement information s1 generated by the signal receiver in the time period between the two signals can also be obtained₂To t₃The displacement information s2 of the signal receiver occurring in the time period in between.

Moving the first two instant scan planes H, J. Here, the instantaneous scan H may be moved according to the total displacement information of the displacement information s1 and s2, and the instantaneous scan J may be moved according to the displacement information s2, where if the moved instantaneous scan H, J and the instantaneous scan K that has not been moved intersect each other and the intersection line intersects at an intersection point, the intersection point is t₃The position of the time signal receiver within the positioning space. That is, the instantaneous scanning planes α and β can be moved to t corresponding to the instantaneous scanning plane γ based on the displacement information s1 and s2₃The position of the signal receiver thus determined corresponds to t₃The location of the time of day.

In addition, the instant scan plane H, K can be moved to t corresponding to the instant scan plane J according to the displacement information s1 and s2₂At the moment, or according to the displacement information s1 and s2, the instant scanning plane J, K can be moved to t corresponding to the instant scanning plane H₁The time of day.

For example, as shown in fig. 12, assuming that a plane H is a first instant scanning plane received by the signal receiver, a plane J is a second instant scanning plane received by the signal receiver, and a time difference exists between the two instant scanning planes, a displacement of the signal receiver (i.e., an object to be positioned carrying the signal receiver) within the time difference may be determined by using methods such as inertial navigation and magnetic positioning, and according to the obtained displacement, a partial displacement in a normal vector direction of the plane H may be decomposed from the displacement, and the plane H may be translated according to the partial displacement, as shown in the figure, the plane H may be moved to the plane H' according to the partial displacement indicated by an arrow. By using the same method, the other instant scanning surface can be translated, and the intersection point of the translated two instant scanning surfaces and the other instant scanning surface is the position of the signal receiver.

In addition, when the positioning optical signal emitting device scans the positioning light beams to the positioning space in two scanning modes in each scanning period, the working periods of the two scanning modes in each scanning period of the same positioning optical signal emitting device are relatively close. Therefore, the time difference between the two receiving times corresponding to the two instant scanning surfaces of the two scanning modes corresponding to the same positioning optical signal transmitting device is smaller, the possibility that the object to be positioned is displaced in the time difference is smaller, or the displacement is smaller and can be ignored.

Therefore, when there are different scanning mode instant scanning planes corresponding to the same positioning optical signal transmitting device in the three instant scanning planes, only the displacement information in the time period between the two receiving times corresponding to the two instant scanning planes corresponding to the different positioning optical signal transmitting devices in the three instant scanning planes can be obtained, and then one of the two instant scanning planes can be translated according to the displacement information. Here, the previous instant scan plane may be moved, or the subsequent instant scan plane may be moved, and the specific moving manner may be as described above with reference to fig. 12, and is not described herein again.

Thus, the positioning process of the present invention is explained in detail. In addition, the invention can also be used for acquiring the attitude information of the object to be positioned. Specifically, the positioning method of the present invention may be utilized to determine the position information of each of at least three signal receivers on the object to be positioned, and then determine the attitude information of the object to be positioned according to the determined position information of each of the signal receivers and the relative spatial position relationship between the signal receivers.

Here, in order to make the determined posture information more accurate, the position information of a larger number of signal receivers may be determined, and the signal receivers provided on the object to be positioned should be arranged at positions that can embody different postures of different objects to be positioned as much as possible. For example, when the object to be positioned is a human, the signal receivers may be respectively disposed on the limbs, the trunk, the skull, and the like of the human.

Thus, the positioning method of the present invention is explained in detail. As described above, the positioning scheme of the present invention can also be implemented as a positioning apparatus, a positioning device, and a positioning system. The following respectively describes the positioning device, the positioning apparatus, and the positioning system, wherein the positioning details related to the positioning device, the positioning apparatus, and the positioning system of the present invention have been described in detail above, and only the basic structures of the positioning device, the positioning apparatus, and the positioning system are described below, and the details are described above and are not repeated herein.

Referring to fig. 13, the positioning apparatus 100 of the embodiment of the present invention includes an instant scan plane determining unit 110 and a position determining unit 120. The positioning scenario to which the positioning apparatus 100 is applied may be described above with reference to the positioning scenario to which the positioning method of the present invention is applied.

For a plurality of positioning beams received by the signal receiver from at least two positioning optical signal emitting devices, the instantaneous scan determining unit 110 may respectively determine an instantaneous scan to which the positioning beam is projected when the signal receiver receives the positioning beam, based on a time when the signal receiver receives the positioning beam, a time when a reference signal associated with the positioning beam, a position of the positioning optical signal emitting device emitting the positioning beam, and an angular velocity.

The position determination unit 120 may determine the position of the signal receiver within the localization space based on a plurality of instantaneous scan planes.

For details of the method steps that can be performed by the instant scan plane determining unit 110 and the position determining unit 120, reference may be made to the above description of fig. 5.

Referring to fig. 13, the positioning apparatus 100 according to the embodiment of the present invention may further include a relative direction determining unit 115 shown in a dotted line.

For each of the two or more positioning optical signal emitting devices, the relative direction determining unit 115 may determine the relative direction of the signal receiver with respect to the positioning optical signal emitting device based on two instant scanning planes corresponding to the two positioning light beams scanned by the positioning optical signal emitting device in the two scanning modes, respectively.

The position determination unit 120 may determine the position of the optical signal receiver within the positioning space based on the relative orientation of the signal receiver with respect to the two or more positioning optical signal emitting devices.

Fig. 14 shows a schematic block diagram of a specific structure that the relative direction determining unit 115 may have.

Referring to fig. 14, the relative direction determining unit 115 may include a first displacement information acquiring unit 1151 and a first correcting unit 1153.

The first displacement information acquiring unit 1151 may acquire first displacement information of the signal receiver in a time period between two reception times at which the signal receiver successively receives two positioning light beams in two sweep modes from the same positioning optical signal transmitting device.

The first correction unit 1153 may perform integral translation on one of the two instant scanning surfaces corresponding to the two positioning light beams according to the first displacement information, and determine that an intersection line of the translated instant scanning surface and the other instant scanning surface is a relative direction.

Among them, the detailed portions of the method steps that the first displacement information acquiring unit 1151 and the first correcting unit 1153 can perform may be referred to the above related description in conjunction with fig. 9.

Fig. 15 shows a schematic block diagram of one specific structure that the position determination unit 120 may have.

Referring to fig. 15, the position determining unit 120 of the embodiment of the present invention may further include a second displacement information acquiring unit 121 and a second correcting unit 123.

The second displacement information acquiring unit 121 may acquire second displacement information of the signal receiver in a time period between two receiving times when the signal receiver successively receives two successive positioning light beams from the two positioning light signal emitting devices.

The second correcting unit 123 may perform integral translation on the signal receiver in one of two consecutive relative directions of the two positioning optical signal emitting devices and the relative direction according to the second displacement information, and determine the position of the signal receiver in the positioning space based on the translated relative direction and the relative direction in which translation is not performed in the two consecutive relative directions.

Among them, the details of the method steps that can be executed by the second displacement information obtaining unit 121 and the second correcting unit 123 can be referred to the above related description in conjunction with fig. 8.

In addition, in the case that there are three instantaneous scanning planes which intersect each other two by two and the intersection line intersects at an intersection point among the plurality of instantaneous scanning planes, the position determining unit 120 may further determine the intersection point as the position of the signal receiver in the positioning space.

Fig. 16 shows a schematic block diagram of another specific structure that the position determining unit 120 may have.

Referring to fig. 16, the position determination unit 120 may further include a third displacement information acquisition unit 125 and a third correction unit 127.

The third displacement information obtaining unit 125 may obtain third displacement information and fourth displacement information of the signal receiver in two time periods between two adjacent receiving times between three receiving times corresponding to three instant scanning surfaces in the plurality of instant scanning surfaces;

the third correcting unit 127 may perform integral translation on at least one of the three instant scanning planes according to the third displacement information and the fourth displacement information, and determine the intersection point as the position of the signal receiver in the positioning space when the translated instant scanning plane and the instant scanning plane which is not translated intersect each other pairwise and the intersection line intersects with one intersection point.

Among them, the details of the method steps that can be performed by the third displacement information obtaining unit 125 and the third correcting unit 127 can be found in the above description in connection with fig. 10-12.

Returning to fig. 13, the positioning apparatus 100 of the embodiment of the present invention may further include a posture determining unit 130 shown in a dotted line portion. The attitude determination unit 130 may determine the attitude information of the object to be positioned based on the positions of the at least three signal receivers within the positioning space and the relative spatial position relationship between the at least three signal receivers.

Referring to fig. 17, a positioning apparatus 10 of an embodiment of the present invention includes a signal receiver 1, a memory 3, and a processor 4. The positioning scenario to which the positioning apparatus 10 is applied may be referred to the above related description of the positioning scenario to which the positioning method of the present invention is applied.

The signal receiver 1 is adapted to be arranged on an outer surface of an object to be positioned for receiving the positioning beam and the reference signal. Therein, the signal receiver 1 may preferably be designed as a polyhedron structure or a sphere structure in order to receive the positioning light beam and the reference signal from a plurality of directions. In addition, a positioning piece with a polyhedral structure can be designed, and a plurality of signal receivers can be respectively arranged on different surfaces of the positioning piece. For example, the positioning element can be designed as a hexahedral structure, and then a signal receiver can be respectively arranged on five faces of the positioning element (except for the bottom face, which can be used for fixing to the object to be positioned), so that at least one signal receiver can receive the positioning beam and the reference signal from multiple directions.

The memory 3 is used for storing positioning data, which includes the time when the positioning light beam is received by the signal receiver and the time when the reference signal is received by the signal receiver. The signal receiver 1 is connected to the processor 4 through the memory 3, and it should be understood that the positioning data received by the signal receiver 1 can also be directly sent to the processor 4, the processor 4 performs the processing of the positioning data, and/or the positioning data is stored in the memory 3, that is, the signal receiver 1 can also be directly connected to the processor 4.

The processor 4 is used to determine the position of the object to be located in the positioning space based on the positioning data. In brief, the processor 4 may determine, for a plurality of positioning beams received by the signal receiver from at least two positioning optical signal transmitters, an instant scanning plane that the positioning beam is projected to when the signal receiver receives the positioning beam, based on a time when the signal receiver receives the positioning beam, a time when a reference signal associated with the positioning beam, a position of the positioning optical signal transmitter that transmits the positioning beam, and an angular velocity, respectively, and determine a position of the signal receiver in the positioning space based on the instant scanning planes. Details of the method steps that the processor 4 may perform may be found above in connection with the description of fig. 5.

The memory 3 and/or the processor 4 may be disposed in the object to be positioned, or may be disposed separately from the object to be positioned.

In addition, the positioning apparatus 10 of the embodiment of the present invention may include a plurality of signal receivers, and the plurality of signal receivers have a determined relative spatial position relationship therebetween, and the processor 4 may further determine positions of at least three signal receivers in the plurality of signal receivers in the positioning space, and determine the posture information of the object to be positioned based on the relative spatial position relationship between the at least three signal receivers. At least three signal receivers described herein may be connected together as a rigid body to be placed on the surface of the object to be positioned.

Referring to fig. 17, the positioning apparatus 10 of the present embodiment may further include a first displacement sensing device 6.

The first displacement sensing device 6 may be connected to the processor 4 (either by a wired or wireless connection). The first displacement sensing means 6 can acquire first displacement information of the signal receiver 1 in a time period between two reception times when the signal receiver 1 receives two successive positioning beams in two sweep modes from the same positioning optical signal transmission device in advance.

The processor 4 may correct the determined relative orientation of the signal receiver 1 based on the first displacement information.

Here, the processor 4 may perform integral translation on one of the two instant scanning surfaces corresponding to the two positioning beams according to the first displacement information, and determine that an intersection line of the translated instant scanning surface and the other instant scanning surface is a relative direction.

Details of the method steps that the processor 4 may perform to correct the relative orientation of the signal receiver 1 may be found above in connection with the description of fig. 9.

Referring to fig. 16, the positioning apparatus 10 of the embodiment of the present invention may further include a second displacement sensing device 7.

The second displacement sensing device 7 may be connected to the processor 4 (either in a wired connection or in a wireless connection) and is configured to obtain second displacement information of the signal receiver 1 in a time period between two receiving times when the signal receiver 1 receives two positioning light beams from two positioning light signal emitting devices.

The processor 4 may correct the determined position of the signal receiver 1 within the localization space based on the second displacement information.

The processor 4 may perform integral translation on the signal receiver in one of two successive relative directions of the two positioning optical signal emitting devices according to the second displacement information, and determine the position of the signal receiver in the positioning space based on the translated relative direction and the relative direction in which no translation is performed in the two successive relative directions.

In addition, in the case where there are three instantaneous sweeps of the plurality of instantaneous sweeps that intersect each other two by two and the intersection line intersects at an intersection point, the processor 4 may determine the intersection point as the position of the signal receiver in the localization space.

At this time, the positioning apparatus 10 of the embodiment of the present invention may further include a third displacement sensing device 8. The third displacement sensing device 8 can acquire third displacement information and fourth displacement information of the signal receiver 1 in two time periods between two adjacent receiving times between three receiving times corresponding to three instant scanning surfaces in the plurality of instant scanning surfaces, the processor 4 can integrally translate at least one instant scanning surface in the three instant scanning surfaces according to the third displacement information and the fourth displacement information, and when the translated instant scanning surface and the instant scanning surface which is not translated intersect with each other pairwise and the intersection line intersects with one intersection point, the intersection point is determined as the position of the signal receiver 1 in the positioning space.

Fig. 18 shows a block diagram of a positioning system according to an embodiment of the invention.

Referring to fig. 18, the positioning system 20 of the embodiment of the present invention includes a plurality of positioning optical signal emitting devices (see the first positioning optical signal emitting device 2-1, the second positioning optical signal emitting device 2-2 … …, the nth positioning optical signal emitting device 2-N, N is greater than 1 in the figure), a plurality of reference signal emitting devices (see the first reference signal emitting device 9-1, the second reference signal emitting device 9-2 … …, the kth reference signal emitting device 9-K, K is greater than 1 in the figure), and a positioning apparatus 10.

The structure of the positioning device 10 can be referred to the related description of fig. 17 above, and is not described here again.

The different positioning light signal emitting devices are suitable for being arranged at different positions in the positioning space, each positioning light signal emitting device scans a positioning light beam to the positioning space at a preset scanning period and a preset angular speed, the positioning light beam has a linear section, is stretched into a scanning plane and rotates or swings around a scanning rotating shaft, the scanning rotating shaft is not vertical to the scanning plane, and the reference signal emitting device emits a reference signal to the positioning space to serve as a starting signal of the scanning period of the positioning light beam emitted by the positioning light signal emitting device which is related to the reference signal emitting device. Wherein, the detailed parts can refer to the description in conjunction with fig. 3 and 4.

According to the invention, the following technical schemes are disclosed:

1. a positioning method for positioning an object to be positioned based on a positioning beam received by a signal receiver carried on a surface of the object to be positioned in a positioning space and a reference signal associated with the positioning beam,

wherein, there are at least two positioning optical signal emitting devices and reference signal emitting devices associated with the at least two positioning optical signal emitting devices in the positioning space, different positioning optical signal emitting devices are arranged at different positions in the positioning space, each positioning optical signal emitting device scans the positioning light beam to the positioning space with a predetermined scanning period and a predetermined angular speed, the positioning light beam has a linear cross section, is stretched into a scanning plane and rotates or swings around a scanning rotating shaft, the scanning rotating shaft is not perpendicular to the scanning plane, the reference signal emitting device emits a reference signal to the positioning space as a start signal during the scanning period of the positioning light beam emitted by its associated positioning optical signal emitting device, the method includes:

for a plurality of positioning light beams received by the signal receiver from at least two positioning light signal emitting devices, respectively determining an instant scanning plane spanned by the positioning light beams when the signal receiver receives the positioning light beams based on the time when the signal receiver receives the positioning light beams, the time of a reference signal associated with the positioning light beams, the positions of the positioning light signal emitting devices emitting the positioning light beams and the angular velocity;

determining a position of the signal receiver within the localization space based on a plurality of the instant sweeps.

2. According to the invention of claim 1, in the positioning method, each positioning optical signal emitting device scans a positioning light beam to the positioning space in two scanning modes in each scanning period, two instant scanning planes corresponding to the two positioning light beams scanned in the two scanning modes intersect, and the step of determining the position of the signal receiver in the positioning space based on the instant scanning planes includes:

for each of two or more positioning optical signal emitting devices, determining the relative direction of the signal receiver relative to the positioning optical signal emitting device based on two instant scanning planes corresponding to two positioning beams scanned by the positioning optical signal emitting device in two scanning modes respectively;

determining a position of the optical signal receiver within the positioning space based on a relative orientation of the signal receiver with respect to two or more of the positioning optical signal emitting devices.

3. The positioning method according to claim 2, wherein the step of determining the relative direction of the signal receiver with respect to the positioning optical signal transmitter comprises:

acquiring first displacement information of the signal receiver in a time period between two receiving times when the signal receiver successively receives two positioning light beams in two scanning modes from the same positioning light signal transmitting device;

according to the first displacement information, integrally translating one instant scanning surface of two instant scanning surfaces corresponding to the two positioning light beams;

and determining the intersection line of the translated instant scanning surface and the other instant scanning surface as the relative direction.

4. The positioning method according to claim 2 of the present invention, wherein the step of determining the position of the optical signal receiver in the positioning space based on the relative directions of the signal receiver with respect to the two positioning optical signal transmitters comprises:

acquiring second displacement information of the signal receiver in a time period between two receiving times when the signal receiver successively receives two successive positioning light beams from two positioning light signal emitting devices;

according to the second displacement information, integrally translating the signal receiver relative to one of two successive relative directions of the two positioning optical signal transmitting devices;

and determining the position of the signal receiver in the positioning space based on the translated relative direction and the relative direction without translation in the two successive relative directions.

5. According to the positioning method of claim 1, the step of determining the position of the signal receiver in the positioning space based on a plurality of instant scanning planes includes:

and under the condition that three instant scanning planes which are intersected pairwise and have intersecting lines intersected at an intersection point exist in the instant scanning planes, determining the intersection point as the position of the signal receiver in the positioning space.

6. The positioning method according to claim 5 of the present invention, wherein the step of determining the intersection point as the position of the signal receiver in the positioning space includes:

acquiring third displacement information and fourth displacement information of the signal receiver in two time periods between two adjacent receiving times between three receiving times corresponding to three instant scanning surfaces in the plurality of instant scanning surfaces;

integrally translating at least one instant scanning surface in the three instant scanning surfaces according to the third displacement information and the fourth displacement information;

and when the translated instant scanning plane and the instant scanning plane which does not move intersect in pairs and the intersection line intersects at an intersection point, determining the intersection point as the position of the signal receiver in the positioning space.

7. According to the positioning method in claim 1, wherein the surface of the object to be positioned carries a plurality of signal receivers, and the plurality of signal receivers have a determined relative spatial position relationship therebetween, the method further includes:

determining a location of each of at least three of the plurality of signal receivers within the localization space;

determining the attitude information of the object to be positioned based on the positions of the at least three signal receivers in the positioning space and the relative spatial position relationship among the at least three signal receivers.

8. A positioning device for positioning an object to be positioned based on a positioning beam received by a signal receiver carried on a surface of the object to be positioned in a positioning space and a reference signal associated with the positioning beam,

wherein, at least two positioning optical signal emitting devices and reference signal emitting devices associated with the at least two positioning optical signal emitting devices are arranged in the positioning space, different positioning optical signal emitting devices are arranged at different positions in the positioning space, each positioning optical signal emitting device scans the positioning light beam to the positioning space at a preset scanning period and a preset angular speed, the positioning light beam has a linear section, is stretched into a scanning plane and rotates or swings around a scanning rotating shaft, the scanning rotating shaft is not vertical to the scanning plane, the reference signal emitting device emits a reference signal to the positioning space as an initial signal during the scanning period of the positioning light beam emitted by the associated positioning optical signal emitting device,

the positioning device includes:

an instant scanning surface determining unit, configured to determine, for a plurality of positioning light beams received by the signal receiver from at least two positioning light signal emitting devices, instant scanning surfaces to which the positioning light beams are projected when the signal receiver receives the positioning light beams, based on a time when the signal receiver receives the positioning light beams, a time when a reference signal associated with the positioning light beams is received, a position of the positioning light signal emitting device that emits the positioning light beams, and the angular velocity, respectively;

a position determining unit for determining the position of the signal receiver in the positioning space based on the instant scan planes.

9. According to the positioning device in claim 8, in each of the scanning periods, each of the positioning optical signal emitting devices scans a positioning light beam to the positioning space in two scanning modes, where two instant scanning planes corresponding to the two positioning light beams scanned in the two scanning modes intersect with each other, the positioning device further includes:

a relative direction determination unit that determines, for each of the two or more positioning light signal emitting devices, a relative direction of the signal receiver with respect to the positioning light signal emitting device based on two instant scanning planes corresponding to two positioning light beams scanned by the positioning light signal emitting device in two scanning modes, respectively,

the position determination unit determines the position of the optical signal receiver within the positioning space based on the relative orientation of the signal receiver with respect to two or more of the positioning optical signal emitting devices.

10. The positioning device according to claim 9 of the present invention, wherein the relative direction determining unit includes:

the first displacement information acquisition unit is used for acquiring first displacement information of the signal receiver in a time period between two receiving times when the signal receiver successively receives two positioning light beams in two scanning modes from the same positioning light signal transmitting device;

and the first correction unit is used for integrally translating one instant scanning surface of the two instant scanning surfaces corresponding to the two positioning light beams according to the first displacement information and determining the intersection line of the translated instant scanning surface and the other instant scanning surface as the relative direction.

11. The positioning device according to claim 9 of the present invention, wherein the position determining unit further includes:

the second displacement information acquisition unit is used for acquiring second displacement information of the signal receiver in a time period between two receiving times when the signal receiver successively receives two successive positioning light beams from two successive positioning light signal emitting devices; and

and the second correction unit is used for integrally translating the signal receiver relative to one of two successive relative directions of the two positioning optical signal emitting devices and the relative direction according to the second displacement information, and determining the position of the signal receiver in the positioning space based on the translated relative direction and the relative direction in which translation is not performed in the two successive relative directions.

12. The positioning device according to claim 8 above, wherein,

and under the condition that three instant scanning planes which are intersected in pairs and have intersecting lines intersected at an intersection point exist in the instant scanning planes, the position determining unit determines the intersection point as the position of the signal receiver in the positioning space.

13. The positioning apparatus according to claim 12 of the present invention, wherein the position determining unit further includes:

a third displacement information obtaining unit, configured to obtain third displacement information and fourth displacement information of the signal receiver in two time periods between two adjacent receiving times between three receiving times corresponding to three instant scanning surfaces in the multiple instant scanning surfaces;

and the third correction unit is used for integrally translating at least one instant scanning plane in the three instant scanning planes according to the third displacement information and the fourth displacement information, and determining the intersection point as the position of the signal receiver in the positioning space when the translated instant scanning plane and the instant scanning plane which is not translated intersect with each other pairwise and the intersection line intersects with one intersection point.

14. According to the positioning device in claim 8, wherein the surface of the object to be positioned carries a plurality of signal receivers, the plurality of signal receivers have a determined relative spatial position relationship therebetween, the position determining unit determines the positions of at least three signal receivers in the plurality of signal receivers in the positioning space, and the positioning device further includes:

and the attitude determination unit is used for determining the attitude information of the object to be positioned based on the positions of the at least three signal receivers in the positioning space and the relative spatial position relationship among the at least three signal receivers.

15. A positioning device is used for positioning an object to be positioned in a positioning space, wherein at least two positioning light signal emitting devices and reference signal emitting devices associated with the at least two positioning light signal emitting devices are arranged in the positioning space, different positioning light signal emitting devices are arranged at different positions in the positioning space, each positioning light signal emitting device scans a positioning light beam to the positioning space with a preset scanning period and a preset angular speed, the positioning light beam has a linear section, is stretched into a scanning plane and rotates or swings around a scanning rotating shaft, the scanning rotating shaft is not vertical to the scanning plane, the reference signal emitting devices emit reference signals to the positioning space to serve as starting signals of the scanning period of the positioning light beams emitted by the associated positioning light signal emitting devices, the positioning apparatus includes:

the signal receiver is suitable for being arranged on the outer surface of the object to be positioned and used for receiving the positioning light beam and the reference signal;

a memory for storing positioning data, the positioning data including a time when the positioning light beam is received by the signal receiver and a time when the reference signal is received by the signal receiver;

a processor for determining a position of the object to be located in the positioning space based on the positioning data,

the processor respectively determines an instant scanning surface, which is formed by the positioning light beams when the signal receiver receives the positioning light beams, for a plurality of positioning light beams from at least two positioning light signal emitting devices received by the signal receiver based on the time when the signal receiver receives the positioning light beams, the time of a reference signal associated with the positioning light beams, the positions of the positioning light signal emitting devices emitting the positioning light beams and the angular speed, and determines the position of the signal receiver in the positioning space based on the instant scanning surfaces.

16. According to the positioning apparatus in claim 15, each of the positioning optical signal emitting devices scans a positioning beam to the positioning space in two scanning modes in each scanning period, two instant scanning planes corresponding to the two positioning beams scanned in the two scanning modes intersect with each other,

the processor determines, for each of the two or more positioning optical signal emitting devices, a relative direction of the signal receiver with respect to the positioning optical signal emitting device based on two instant scanning planes corresponding to two positioning beams scanned by the positioning optical signal emitting device in two scanning modes, respectively, and determines a position of the optical signal receiver within the positioning space based on the relative direction of the signal receiver with respect to the two or more positioning optical signal emitting devices.

17. The positioning apparatus according to claim 16 of the present invention further includes:

a first displacement sensing device for acquiring first displacement information of the signal receiver in a time period between two receiving times when the signal receiver successively receives two successive positioning beams in two scanning modes from the same positioning optical signal emitting device,

and the processor integrally translates one instant scanning surface of the two instant scanning surfaces corresponding to the two positioning light beams according to the first displacement information, and determines the intersection line of the translated instant scanning surface and the other instant scanning surface as the relative direction.

18. The positioning apparatus according to claim 16 of the present invention further includes:

a second displacement sensing device for acquiring second displacement information of the signal receiver in a time period between two receiving times when the signal receiver successively receives two successive positioning light beams from two successive positioning light signal emitting devices,

and the processor integrally translates the signal receiver relative to one of two successive relative directions of the two positioning optical signal transmitting devices according to the second displacement information, and determines the position of the signal receiver in the positioning space based on the translated relative direction and the relative direction in which translation is not performed in the two successive relative directions.

19. The positioning apparatus according to claim 15 above, wherein,

and under the condition that three instantaneous scanning planes which are intersected in pairs and have intersecting lines intersected at an intersection point exist in the plurality of instantaneous scanning planes, the processor determines the intersection point as the position of the signal receiver in the positioning space.

20. The positioning apparatus according to claim 19 of the present invention further includes:

a third displacement sensing device for acquiring third displacement information and fourth displacement information of the signal receiver in two time periods between two adjacent receiving times between three receiving times corresponding to three instant scanning surfaces in the plurality of instant scanning surfaces,

and the processor performs integral translation on at least one instant scanning plane in the three instant scanning planes according to the third displacement information and the fourth displacement information, and determines the intersection point as the position of the signal receiver in the positioning space when the translated instant scanning plane and the instant scanning plane which is not translated intersect with each other pairwise and the intersection line intersects with one intersection point.

21. The positioning apparatus according to the above-mentioned 15 th aspect of the present invention comprises a plurality of signal receivers having a determined relative spatial positional relationship therebetween,

the processor determines the position of each of at least three signal receivers in the plurality of signal receivers within the positioning space and determines the pose information of the object to be positioned based on the position of each of the at least three signal receivers within the positioning space and the relative spatial position relationship between the at least three signal receivers.

22. The positioning apparatus according to claim 15 above, wherein,

the signal receiver is designed as a polyhedron structure or a sphere structure in order to receive the positioning beam and the reference signal from a plurality of directions.

23. A positioning system for positioning an object to be positioned in a positioning space, the positioning system comprising:

at least two positioning light signal emitting devices and reference signal emitting devices associated with the at least two positioning light signal emitting devices, wherein different positioning light signal emitting devices are arranged at different positions in the positioning space, each positioning light signal emitting device scans the positioning light beam towards the positioning space at a preset scanning period and a preset angular speed, the positioning light beam has a linear section, is stretched into a scanning surface and rotates or swings around a scanning rotating shaft, the scanning rotating shaft is not vertical to the scanning surface, and the reference signal emitting devices emit reference signals to the positioning space to serve as initial signals during scanning of the positioning light beams emitted by the associated positioning light signal emitting devices; and

the positioning apparatus according to any one of the above-mentioned 15 to 22 aspects of the present invention.

The positioning method, apparatus, device and system according to the present invention have been described in detail above with reference to the accompanying drawings.

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

wherein, at least two positioning optical signal emitting devices and a reference signal emitting device associated with the at least two positioning optical signal emitting devices are arranged in the positioning space, different positioning optical signal emitting devices are arranged at different positions in the positioning space, each positioning optical signal emitting device scans the positioning light beam to the positioning space in a preset scanning period and a preset angular speed, each positioning optical signal emitting device scans the positioning light beam to the positioning space in two scanning modes in each scanning period, two instant scanning planes corresponding to the two positioning light beams scanned in the two scanning modes are intersected, the positioning light beam has a linear cross section, is stretched into a scanning plane and rotates or swings around a scanning rotating shaft, the scanning rotating shaft is not vertical to the scanning plane, and the reference signal emitting device emits a reference signal to the positioning space, as a start signal during a sweep of a positioning light beam emitted by its associated positioning light signal emitting device, the method comprising:

for each of two or more positioning light signal emitting devices, determining the relative direction of the signal receiver relative to the positioning light signal emitting device based on two instant scanning planes corresponding to two positioning light beams scanned by the positioning light signal emitting device in two scanning modes respectively, and determining the position of the light signal receiver in the positioning space based on the relative direction of the signal receiver relative to two or more positioning light signal emitting devices.

2. The positioning method according to claim 1, wherein the step of determining the relative direction of the signal receiver with respect to the positioning light signal emitting device comprises:

3. The positioning method according to claim 1, wherein the step of determining the position of the signal receiver within the positioning space based on the relative orientation of the signal receiver with respect to the two positioning light signal emitting devices comprises:

4. The positioning method according to claim 1, further comprising:

5. The positioning method according to claim 4, wherein the step of determining the intersection point as the position of the signal receiver within the positioning space comprises:

6. The positioning method according to claim 1, wherein a plurality of signal receivers are carried on the surface of the object to be positioned, and the plurality of signal receivers have a determined relative spatial position relationship therebetween, the method further comprising:

7. A positioning device for positioning an object to be positioned based on a positioning beam received by a signal receiver carried on a surface of the object to be positioned in a positioning space and a reference signal associated with the positioning beam,

wherein, at least two positioning optical signal emitting devices and a reference signal emitting device associated with the at least two positioning optical signal emitting devices are arranged in the positioning space, different positioning optical signal emitting devices are arranged at different positions in the positioning space, each positioning optical signal emitting device scans the positioning light beam to the positioning space in a preset scanning period and a preset angular speed, each positioning optical signal emitting device scans the positioning light beam to the positioning space in two scanning modes in each scanning period, two instant scanning planes corresponding to the two positioning light beams scanned in the two scanning modes are intersected, the positioning light beam has a linear cross section, is stretched into a scanning plane and rotates or swings around a scanning rotating shaft, the scanning rotating shaft is not vertical to the scanning plane, and the reference signal emitting device emits a reference signal to the positioning space, as a start signal during the sweep of the positioning light beam emitted by its associated positioning light signal emitting device,

the positioning device includes:

a relative direction determining unit, configured to determine, for each of the two or more positioning optical signal emitting devices, a relative direction of the signal receiver with respect to the positioning optical signal emitting device based on two instant scanning planes corresponding to two positioning beams scanned by the positioning optical signal emitting device in two scanning modes, respectively;

a position determination unit for determining the position of the optical signal receiver within the positioning space based on the relative orientation of the signal receiver with respect to two or more of the positioning optical signal emitting devices.

8. The positioning device according to claim 7, wherein the relative direction determining unit includes:

9. The positioning device of claim 7, wherein the position determination unit further comprises:

10. The positioning device of claim 7,

11. The positioning device of claim 7, wherein the position determination unit further comprises:

12. The positioning device according to claim 7, wherein a plurality of signal receivers are carried on the surface of the object to be positioned, the plurality of signal receivers having a determined relative spatial position relationship therebetween, the position determination unit determining the positions of at least three of the plurality of signal receivers within the positioning space, respectively, the positioning device further comprising:

13. A positioning device is used for positioning an object to be positioned in a positioning space, wherein at least two positioning optical signal emitting devices and reference signal emitting devices associated with the at least two positioning optical signal emitting devices are arranged in the positioning space, different positioning optical signal emitting devices are arranged at different positions in the positioning space, each positioning optical signal emitting device scans a positioning light beam to the positioning space in a preset scanning period and a preset angular speed, each positioning optical signal emitting device scans the positioning light beam to the positioning space in two scanning modes in each scanning period, two instant scanning surfaces corresponding to the two scanning light beams scanned in the two scanning modes are intersected, the positioning light beam has a linear cross section, is stretched into one scanning surface and rotates or swings around a scanning rotating shaft, the scanning rotating shaft is not perpendicular to the scanning plane, the reference signal emitting device emits a reference signal to the positioning space as a starting signal during scanning of a positioning light beam emitted by the positioning light signal emitting device associated with the reference signal emitting device, and the positioning device comprises:

wherein the processor determines, for a plurality of positioning beams received by the signal receiver from at least two positioning optical signal emitting devices, instant scanning planes to which the positioning beams are projected when the signal receiver receives the positioning beams, based on a time at which the positioning beams are received by the signal receiver, a time of a reference signal associated with the positioning beams, a position of the positioning optical signal emitting device emitting the positioning beams, and the angular velocity, respectively, and determines, for each of two or more of the positioning optical signal emitting devices, a relative direction of the signal receiver with respect to the positioning optical signal emitting devices, based on two instant scanning planes corresponding to two positioning beams scanned by the positioning optical signal emitting device in two scanning modes, and based on a relative direction of the signal receiver with respect to the two or more positioning optical signal emitting devices, determining a position of the optical signal receiver within the localization space.

14. The positioning apparatus of claim 13, further comprising:

15. The positioning apparatus of claim 13, further comprising:

16. The positioning apparatus of claim 13,

17. The positioning apparatus of claim 16, further comprising:

18. The positioning apparatus according to claim 13, comprising a plurality of signal receivers having a determined relative spatial positional relationship therebetween,

19. The positioning apparatus of claim 13,

20. A positioning system for positioning an object to be positioned in a positioning space, the positioning system comprising:

at least two positioning optical signal emitting devices and a reference signal emitting device associated with the at least two positioning optical signal emitting devices, wherein different positioning optical signal emitting devices are arranged at different positions in the positioning space, each positioning optical signal emitting device scans the positioning light beam to the positioning space in a preset scanning period and a preset angular speed, each positioning optical signal emitting device scans the positioning light beam to the positioning space in two scanning modes in each scanning period, two instant scanning planes corresponding to the two positioning light beams scanned in the two scanning modes are intersected, the positioning light beam has a linear cross section, is stretched into one scanning plane and rotates or swings around a scanning rotating shaft, the scanning rotating shaft is not perpendicular to the scanning plane, and the reference signal emitting device emits a reference signal to the positioning space, as the starting signal of the scanning period of the positioning light beam emitted by the positioning light signal emitting device associated with the positioning light signal emitting device; and

positioning device according to any of the claims 13-19.