CN106483492A - Positioning beam emission equipment, system and alignment system - Google Patents
Positioning beam emission equipment, system and alignment system Download PDFInfo
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- CN106483492A CN106483492A CN201611163164.1A CN201611163164A CN106483492A CN 106483492 A CN106483492 A CN 106483492A CN 201611163164 A CN201611163164 A CN 201611163164A CN 106483492 A CN106483492 A CN 106483492A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Optical Communication System (AREA)
Abstract
The invention discloses a kind of positioning beam emission equipment, system and alignment system.This positioning beam emission equipment includes：Beam sweep device, for strafing positioning light beam in predetermined the strafing in period in the working cycle to located space；Wireless signal transmitting device, launches wireless zero cross signal for the zero cross signal launch time strafed before initial time during strafe, and zero cross signal launch time and strafing during strafing have the first predetermined time interval between initial time.Thus, to solve to be restricted with reference to light source works scope in existing area source scheme, directional thereby increases and it is possible to lead to light tower structure larger, and the problem that many light tower synchronization line is complicated.
Description
Technical field
The present invention relates to positioning field, particularly to a kind of positioning beam emission equipment, system and alignment system.
Background technology
In the last few years, satellite positioning tech was widely applied.But in the range of local space, particularly Interior Space
Between when being positioned, it is real that satellite positioning tech often can not meet some at aspects such as such as positioning precision, the positioning frequency, costs
The needs of border application.Particularly in the case of indoor positioning, also suffer from satellite-signal and can not penetrate building masonry wall well
Impact.
Laser scanning location technology is a kind of common location technology.For example, it is possible to be sent out by building in located space
The positioning beam emission equipment penetrating laser (for example can be so that, in the form of positioning light tower, " light tower " hereinafter be specific bit light
Bundle transmitting equipment.It should be understood that positioning beam emission equipment can also be using other various ways), located space is entered
Row laser fire, is provided with optical signal receiver on the positioning element, by carrying out calculation process to data, can export keeper
Three-dimensional location coordinates information.
During actual use, in order to realize fully strafing to located space, generally may be in located space
Multiple smooth towers are set, thus need multiple smooth towers are scanned respectively with the demarcation of cycle zero point.Existing laser scanning positioning
In scheme, realize the rotation of light beam scanning or pendulous device can trigger with reference to light source (for example, it may be area source) through zero crossing
The optical signal of transmitting coding, demarcates scan period zero point, starts simultaneously at and carry out light beam scanning, that is, with realizing zero point mark with reference to light source
Fixed.
But, with reference to light source transmitting optical signal distance intensity have very big difference it is difficult to meet distance at all can be fine
, there is the restricted problem of working range in ground work.And irradiate with reference to light source directional, be difficult to control all directions to have
Uniform exposure rate.
In order to solve problem above, the present invention proposes a kind of new positioning beam emission equipment, system and alignment system.
Content of the invention
The technical problem to be solved in the present invention is to provide a kind of positioning beam emission equipment, system and alignment system, to solve
Certainly existing with reference to being restricted with reference to light source works scope in light source package, directional thereby increases and it is possible to lead to light tower structure larger,
And the problem that many light tower synchronization line is complicated.
According to an aspect of the invention, it is provided a kind of position beam emission equipment, this equipment can include：Light beam is swept
Injection device, can be used for strafing positioning light beam in predetermined the strafing in period in the working cycle to located space；Wireless signal is sent out
Injection device, can be used for the zero cross signal launch time transmitting wireless zero passage letter strafed before initial time during strafing
Number, zero cross signal launch time and strafing during strafing have the first predetermined time interval between initial time.
Thus, in the wireless zero cross signal of zero cross signal launch time transmitting, strafing of beam sweep device can be predicted
Initial time zero point, to realize the Zero calibration of multiple positioning beam emission equipment.
Preferably, wireless zero cross signal can be coded of, to represent its corresponding beam sweep device.
Thus, know the wireless zero cross signal with coding, on the one hand, can know beam sweep device strafes period zero
Point, reaches zero point during strafing after the very first time interval after zero cross signal launch time；On the other hand, can inform with
This is wireless corresponding beam sweep device of zero cross signal, i.e. zero cross signal launch time and being separated by between first scheduled time with it
Corresponding every the beam sweep device strafing positioning light beam.
Preferably, this beam sweep device can include：Rotation or swing mechanism, for realizing strafing of positioning light beam；
Controller, can in response to rotation or swing mechanism reach preset bearing, adjust rotation or swing mechanism motion so that its
Strafe initial time arrival and strafe original position, thus during starting to strafe.
Thus, it is possible to be adjusted to the motion of rotation or swing mechanism by controller, so that rotation or swing mechanism energy
Enough arrival in time strafes original position, during starting to strafe.
Preferably, this beam sweep device can also include trigger, and trigger can be in response to rotation or swing mechanism
Reach preset bearing, trigger motor adjustment signal, controller is in response to the fortune of the rotation of motor adjustment Signal Regulation or swing mechanism
Dynamic.
Thus, trigger can trigger motor adjustment signal when rotation or swing mechanism reach preset bearing, to accuse
Know that controller can be adjusted to the motion of rotation or swing mechanism, determine the condition allowing to be adjusted.
Preferably, during strafing for one, the time of rotation or swing mechanism arrival preset bearing can be in wireless mistake
Before zero-signal launch time.
Thus, controller just has the time of abundance rotation or swing mechanism can be adjusted, so that it can swept
Penetrate initial time and reach and strafe original position.
Preferably, according to the positioning beam emission equipment of any of the above described, synchronous signal receiver device can also be included,
For receiving synchronizing signal.Wherein, strafe initial time after the synchronous signal receiver time receiving synchronizing signal, and
There is and the synchronous signal receiver time between the second predetermined time interval.
Thus, synchronous signal receiver device receives synchronizing signal and realizes the synchronization to positioning beam emission equipment.Meanwhile, also
Can determine that what a working cycle inner light beam strafed device strafes initial time based on the time receiving synchronizing signal, inform and sweep
Penetrate time zero.
Preferably, synchronizing signal can be wireless signal.
Thus, it is possible to the synchronization to multiple positioning beam emission equipment is realized based on wireless signal.And wireless signal is not
Limited by working range and direction, expanded the range of positioning beam emission equipment.
According to a further aspect in the invention, there is provided a kind of positioning beam delivery system, this system can be included on multiple
The positioning beam emission equipment stated；And synchronizing signal dispensing device, for sending synchronizing signal.
Preferably, synchronizing signal dispensing device can be arranged in a positioning beam emission equipment.
According to another aspect of the invention, additionally provide a kind of alignment system, this system can be included according to any of the above described
The positioning beam emission equipment of one or above-mentioned positioning beam delivery system；And location equipment.Location equipment is suitable to set
Put on positioning object, location equipment can include：One or more positioning beam receivers, can be used for receiving positioning light
Bundle；Wireless signal receiver, can be used for receiving wireless zero cross signal；Processor it may be connected to positioning beam receiver and
Wireless signal receiver, for receiving time and the positioning beam reception of wireless zero cross signal based on wireless signal receiver
Device receives the time of positioning light beam, determines positioning beam receiver with respect to the relative direction positioning beam emission equipment or position
Put.
By the positioning beam emission equipment of the present invention, system and alignment system, can solve the problem that existing reference light source side
Be restricted with reference to light source works scope in case, directional thereby increases and it is possible to lead to light tower structure larger, and many light tower synchronization line is multiple
Miscellaneous problem.
Brief description
By combining accompanying drawing, disclosure illustrative embodiments are described in more detail, the disclosure above-mentioned and its
Its purpose, feature and advantage will be apparent from, wherein, in disclosure illustrative embodiments, identical reference number
Typically represent same parts.
Fig. 1-2 shows the schematic diagram realizing process of existing area source Zero calibration, laser code and synchronization.
Fig. 3 shows the schematic block diagram of positioning beam emission equipment according to an embodiment of the invention.
Fig. 4 shows the reality of positioning beam emission equipment Zero calibration according to an embodiment of the invention and beam code
The schematic diagram of existing process.
Fig. 5 shows the schematic block diagram of positioning beam emission equipment according to another embodiment of the present invention.
Fig. 6 shows the reality of positioning beam emission equipment Zero calibration according to another embodiment of the present invention and beam code
The schematic diagram of existing process.
Fig. 7 shows the schematic block diagram of the positioning beam emission equipment according to further embodiment of this invention.
Fig. 8 shows the schematic block diagram of positioning beam delivery system according to an embodiment of the invention.
Fig. 9 show according to an embodiment of the invention positioning beam delivery system Zero calibration, beam code and with
The schematic diagram realizing process of step.
Figure 10 shows the schematic block diagram of location equipment according to an embodiment of the invention.
Figure 11 shows the schematic block diagram of alignment system according to an embodiment of the invention.
Specific embodiment
The following preferred implementation being more fully described the disclosure with reference to the accompanying drawings.Although showing the disclosure in accompanying drawing
Preferred implementation, however, it is to be appreciated that may be realized in various forms the disclosure and the embodiment party that should not illustrated here
Formula is limited.On the contrary, these embodiments are provided so that the disclosure is more thorough and complete, and can be by the disclosure
Scope intactly conveys to those skilled in the art.
As it was previously stated, realizing using with reference to light source (for example, it may be area source) in existing laser scanning targeting scheme
The Zero calibration of light tower, and the synchronization between multiple smooth towers is realized with the synchronizer of wired connection.With zero point as shown in Figure 1
Demarcate realize process as a example, under light tower working condition, its internal rotation or pendulous device are fixed reaching some
A signal A can be triggered during position, and (time of trigger A is properly termed as tA), the processor in light tower receives right after signal A
Rotate or pendulous device is adjusted so that it can (time delay, t can be according to meter in a fixed delay time t
Obtain, the delay time value of different rotary or pendulous device is different) rotate afterwards or be rocked to dead-center position, touch in dead-center position
Send out corresponding with reference to light source (for example, it may be area source) transmitting zero cross signal B, mark scan cycle zero point t0, laser simultaneously
Start Scan orientation space.
In scan period dead-center position, the zero cross signal B with reference to light source transmitting is to be coded of, and receiving terminal can after receiving
With automatic identification, thus realizing the coding to laser.In some systems, light tower is in scan period zero point t0One can be launched simultaneously
Individual signal C (in figure illustrates the signal of multi-form to distinguish signal B and signal C), is forwarded to other ginsengs specific by synchronizer
Irradiation source.These specific zero cross signal B receiving the also same coding of transmitting band after signal C with reference to light source, thus expand zero passage
The coverage of signal B.
In many light Tower System, each smooth tower is to avoid interfering and need timesharing to be scanned, the rotation in each light tower or
Pendulous device has different zero points, needs to synchronize, and synchronous to realize process as shown in Figure 2.Synchronization between many light tower is passed through
One or more synchronizers are realized, and are wired connection between synchronizer and each light tower and synchronizer.To arbitrary smooth tower,
Each rotation or the precalculated position of pendulous device, synchronizer launches synchronizing signal S to this light tower, and light tower receives synchronous letter
Number (the synchronous signal receiver time be tS), the processor in light tower is according to synchronizing signal S and signal A to this rotation or pendulous device
It is adjusted it is ensured that it just rotates through the Fixed Time Interval of itself from fixation mark position or is rocked to dead-center position,
Thus the dead-center position being given in synchronizer triggers light tower and launching zero cross signal and starts laser scanning to should refer to light source.
But, the working range with reference to light source is restricted, and far and near intensity has very big difference it is difficult to meet at distance
To work well.With reference to the high directivity of light source, it is difficult to control all directions to have uniform exposure rate.And, it is synchronous
Wired connection mode between device and its and between light tower installs complexity, and cable routing is difficult to realize, and easily setup error,
Also lead to the structure of light tower larger, increase design difficulty, impact is attractive in appearance.
Therefore, the present invention proposes a kind of positioning light beam using the Zero calibration wirelessly realizing light tower and synchronization
Transmitting equipment and system.
Before the wireless Zero calibration to the present invention and synchronization scenario illustrate, just filled by wireless signal transmission first
Put synchronization and the positioning that the wireless zero cross signal launched carries out demarcating, positioning between beam emission equipment to scan period zero point
Principle do with brief description.
Positioning beam emission equipment (as set forth above, it is possible in the form of positioning light tower) can have one or more and sweep
Emission mode, rotating shaft is different for strafing under different sweep mode, and what positioning beam emission equipment was launched under every kind of sweep mode determines
Position light beam can be around strafing axis of rotation under this sweep mode, to realize strafing positioning light beam to whole located space.
Before positioning beam emission equipment starts the time strafing positioning light beam with a kind of sweep mode between the scheduled time
Every moment, wireless signal transmitting device can launch encoded wireless zero cross signal B so that wireless zero cross signal B sends out
Penetrate after living through the first predetermined time interval, beam sweep device starts to strafe positioning light beam, realize beam sweep device is swept
Penetrate the demarcation of initial time (zero point).Synchronous signal receiver device receive synchronizing signal after the second predetermined time interval when
Carve, positioning beam emission equipment starts to strafe positioning light beam with a kind of sweep mode, realize same to positioning beam emission equipment
Step and Zero calibration.
Through processing after the wireless signal receiver in keeper receives wireless zero cross signal, you can when obtaining zero passage
Between, and determine the coding of this wireless zero cross signal.When position beam sweep to keeper on positioning beam receiver when, positioning
According to the coding determining, beam receiver can judge which positioning beam emission equipment (positioning the positioning light beam receiving is derived from
Processor on part can consider to receive away from wireless signal receiver and positions beam reception in the certain time of wireless zero cross signal
Positioning light beam received by device is corresponding with this wireless zero cross signal, is sent out by the coding and positioning light beam of this wireless zero cross signal
The corresponding relation of jet device, processor be known that receive positioning light beam corresponding to coding), thus according to determined by
The relevant information of positioning beam emission equipment just can calculate to keeper location.
Fig. 3 shows the schematic block diagram of positioning beam emission equipment 100 according to an embodiment of the invention, such as Fig. 3
Shown, positioning beam emission equipment 100 (for example, it may be light tower) can include beam sweep device 110 and wireless signal is sent out
Injection device 120.Wherein, beam sweep device 110 can be used in during predetermined in the working cycle strafes to located space
Strafe positioning light beam.Wireless signal transmitting device 120 can be used for the zero passage letter strafed before initial time during strafing
Number launch time launches wireless zero cross signal B, and zero cross signal launch time and strafing during strafing have between initial time
First predetermined time interval.
Here, the working cycle of beam sweep device 110 can be once to strafe positioning light beam start time before it to rear
Once strafe positioning time of being experienced light beam start time, it is fixed during strafing can be that beam sweep device 110 is strafed once
The time that position light beam is experienced, duty ratio is long during strafing.Beam sweep dress in each positioning beam emission equipment 100
Putting 110 all can have the identical working cycle and/or strafe period, in order to the positioning beam emission equipment in located space
100 unified management.And, the working cycle of beam sweep device 110 all can adjust with strafing period, to adapt to actual making
With during multiple situations.In addition, beam sweep device 110 can strafe polytype light beam, such as laser beam, red
Outer light beam or multiple visible light beam etc., so that in several cases, all can be realized empty to positioning with suitable light beam
Between strafe.
The predetermined initial time of strafing strafing period of positioning light beam is referred to as zero point t0, zero point t0Can be to determine.?
Zero point t0The first predetermined time interval T before1, wireless zero cross signal B (zero passage can be launched by wireless signal transmitting device 120
Signal transmission time is referred to as tB), in order to inform beam sweep device 110 predetermined strafe during strafe initial time so that
Wireless signal transmitting device 120 is launched wireless zero cross signal B and is experienced the first predetermined time interval T1Afterwards, beam sweep device 110
During entrance is strafed, start to strafe positioning light beam in located space.
Here, due to wireless signal transmitting, reception and process time generally than reference light source (for example, it may be face
Light source) transmitting of signal, reception and process time long, therefore need to launch wireless zero cross signal before strafing initial time in advance
B, in order to having time enough transmitting, receiving and processing wireless zero cross signal B.First predetermined time interval T1Can be according to warp
Test or practical situation or user's request etc. are set, specifically do not require.It should be apparent to a person skilled in the art that first is pre-
Fix time interval T1Length be a systematic parameter, with positioning beam emission equipment 100 unrelated.
In addition, this wireless zero cross signal B can be coded of, distinguish scanning device and/or scanning light beam to add ID.Compile
Code can have multiple implementations, can be carried out by conventional wireless-modulated method, for example, it may be adjusting wireless zero passage letter
The frequency of number B, amplitude and phase place etc..
Here, can there are two aspects to the coding of wireless zero cross signal B, on the one hand, wireless zero cross signal B's
After launch time determines, experience the first predetermined time interval T1After can reach corresponding beam sweep device 110 strafe fixed
Zero point t of position light beam0Time, play and inform the effect strafing zero point；On the other hand, due to wireless zero cross signal B corresponding thereto
The positioning light beam answered has fixed time interval T1, i.e. wireless zero cross signal B has the corresponding pass of determination with corresponding positioning light beam
System, so, according to the wireless zero cross signal B of reception, and the time difference of certain anchor point reception positioning light beam can determine that this positioning
The angle strafing light beam zero point of point light tower relatively.So, learn that the coding of wireless zero cross signal B can achieve to corresponding to it
Beam sweep device 110 strafe positioning light beam coding.So, by realizing to the coding of wireless zero cross signal B
Being accurately positioned of Zero calibration to beam emission equipment and positioning object.
Further, the wireless zero cross signal B of wireless signal transmitting device 120 transmitting can also be by specific other wireless communication
Number discharger forwards, thus expanding the coverage of zero cross signal.As such, it is possible to should by the extension of this positioning beam emission equipment
For in bigger located space, realizing the unified regulation and control to positioning beam emission equipment in located space.
, the initial time of strafing of beam sweep device 110 is t taking shown in Fig. 4 as a example0(zero point), is strafing initial time t0
The first predetermined time interval T before1, wireless zero cross signal B is launched by wireless signal transmitting device 120, zero cross signal is launched
Time is tB.So, wireless zero cross signal B can inform that beam sweep device 110 and strafes positioning light during entrance is strafed
Bundle, realizes the demarcation of zero point.
Above-mentioned positioning beam emission equipment 100 can realize the demarcation to positioning beam sweep time zero, but this
In the case of kind, strafing of light beam of positioning is difficult to accurately hold, for this reason, can also arranging rotation in beam sweep device 110 or putting
Motivation structure and controller.Fig. 5 shows the schematic block diagram of positioning beam emission equipment according to another embodiment of the present invention.
As shown in figure 5, this positioning beam emission equipment 100 can include beam sweep device 110 and wireless signal transmission
Device 120.Wherein, beam sweep device 110 can include rotation or swinging structure 111 and controller 112.Beam sweep device
110 and the description of wireless signal transmitting device 120 can be found in associated description in Fig. 3-B, will not be described here.Rotation or oscillating machine
Structure 111 can be used for realizing strafing of positioning light beam.Controller 112 can reach predetermined party in response to rotation or swing mechanism
Position, adjust rotation or swing mechanism motion so that its strafe initial time reach strafe original position, start simultaneously at and strafe
Period.
Here, when rotation or swing mechanism reach and strafe original position, beam sweep device 110 can strafe positioning light
Bundle, its mode of strafing can have multiple ways of realization.For example, it may be arranging light source in rotation or swing mechanism, light source is straight
Connect with the rotation of this mechanism or swing, when rotation or swing mechanism reach and strafe original position, light source starts to light, thus realizing
Position strafing of light beam.Again for example, it is possible to the optical system of reflecting mirror etc, optics are installed on rotation or swing mechanism 111
System rotates with rotation or swing mechanism 111 or swings, and when it reaches and strafes original position, beam sweep device 110 is strafed
Positioning light beam be irradiated in optical system, optical system reflection positioning light beam, thus realize positioning the strafing of light beam.
Under positioning beam emission equipment 100 working condition, rotation or swing mechanism 111 would generally be with the weeks of a fixation
Phase rotation or swing, when beam sweep device is after strafing initial time determination, if rotation or swing mechanism maintain former motion
State strafes original position it is possible to can not reach on time, therefore, it can increase controller 112 in beam sweep device.?
When rotation or swing mechanism rotation or swing reach preset bearing, controller 112 can reach in response to rotation or swing mechanism
Preset bearing, adjust the motion of rotation or swing mechanism 111 so as to strafe positioning having strafed of light beam in beam sweep device
Original position is strafed in the arrival of time beginning.
Here it is possible to preset a position so that when rotation or swing mechanism motion 111 reach this position, controlling
Device 112 processed can be learnt and it is moved and be adjusted, and that is, preset bearing is the equal of to allow controller 112 to rotation or to swing
The prompting position that mechanism 111 is adjusted.
Controller 112 can with rotation or swing mechanism be associated (its interrelational form can have multiple, for example, it may be
Wired connection) so that it can know whether rotation or swing mechanism reach preset bearing in time, and this is responded.Example
As set a preset bearing in the former range of movement of rotation or swing mechanism, controller moves to this position in response to it, obtains
Obtain the order that rotation or swing mechanism can be adjusted, and from this position, rotation or swing mechanism are adjusted.Its
In, multiple preset bearings can also be set in the former range of movement of rotation or swing mechanism, whenever rotation or swing mechanism fortune
Move preset bearing, controller all can respond to this.The setting of rotation or swing mechanism preset bearing and controller
Control mode can have multiple implementations, and here does not require.
The preset bearing of rotation or swing mechanism 111 can determine, to give the time according to needed for controller is adjusted
Give the regulating time that controller is enough.For example, if controller is made regulation and needed 1s, then can be existed based on this regulating time
Its preset bearing is determined so that rotation or swing mechanism 111 are former with it on the basis of rotation or the swing mechanism 111 former period of motion
Movement velocity is more than 1s from preset bearing time required for original position of strafing of doing exercises to, in order to give controller foot
Enough response times and regulating time.So, controller 112 reaches preset bearing to it in response to rotation or swing mechanism 111
It is adjusted so as to be moved with identical or different speed with respect to former movement velocity, to ensure rotation or swing mechanism 111
Original position can be strafed strafing initial time arrival.
So, due to preset bearing with strafe the distance between original position it is known that strafing initial time t0It is also known that, control
Device 112 processed can based on this distance with now away from zero point t0Time to rotation or swing mechanism 111 be adjusted so that its
Original position can be strafed strafing initial time arrival.
In addition, controller 112 may not be made in the moment of rotation or swing mechanism 111 arrival preset bearing sentencing
Disconnected, but have delaying of individual short time, therefore, controller 112 currently can also reach in response to rotation or swing mechanism 111 in advance
The time that the time of orientation and last time reach zero point is adjusted 111 to rotation or swing mechanism 111, so that it can be
Strafe initial time arrival and strafe original position.
Move to it during strafing original position in rotation or swing mechanism 111 arrival preset bearing, control
Device 112 can carry out the regulation of one or many to rotation or swing mechanism 111.For example, controller 112 can be in response to rotation
Or swing mechanism 111 reaches preset bearing, based on preset bearing and the distance strafing original position, and reach preset bearing
Time carries out Primary regulation to rotation or swing mechanism 111 so that rotation or swing mechanism can adjust with strafing initial time
Its rotation or the cycle swinging, so that it can strafe original position strafing initial time arrival.Controller 112 can also be many
Secondary or at any time to rotation or swing mechanism 111 be adjusted so that it can be on time in zero point t0Original position is strafed in arrival.
Controller 112 can have multiple implementations to the regulation of rotation or swing mechanism 111, and here is not particularly limited.Controller
After 112 make regulation, rotation or swing mechanism can also be with the speed uniform motion after adjusting.
During strafing for one, the time of rotation or swing mechanism 111 arrival preset bearing can be sent out in zero cross signal
It is also possible to after which before penetrating the time.In one embodiment, rotation or swing mechanism first reach preset bearing, so, control
Device processed can have the time of abundance that rotation or swing mechanism are adjusted.In another embodiment, rotation or swing mechanism
Reach preset bearing afterwards, so, the equipment sufficient time can be given to launch, to receive or to process wireless zero cross signal B.Rotation
Or the time of swing mechanism 111 arrival preset bearing is separate with the time of the wireless zero cross signal B of transmitting, all can be comprehensive
Close actually used situation and empirical data is set, here is not strict with.
Furthermore, it is possible to arrange trigger 113 in beam sweep device 110.This trigger 113 can in response to rotation or
Swing mechanism 111 reaches preset bearing, triggers motor adjustment signal A, and controller 112 is adjusted in response to this motor adjustment signal A
Rotation or the motion of swing mechanism 111.
The moment of triggering motor adjustment signal A is referred to as tA, tAWith zero point t0Between time interval be referred to as the 3rd time between
Every T3, the 3rd time interval T3Can be than the first predetermined time interval T1Long it is also possible to ratio the first predetermined time interval T1Short, that is,
The time of triggering motor adjustment signal A can be before or after triggering wireless zero cross signal B.
For one strafe during, triggering motor adjustment signal A time can wireless zero cross signal B launch time it
Front it is also possible to after which.In one embodiment, trigger motor adjustment signal in advance, so, controller can have abundance
Time is adjusted to rotation or swing mechanism.In another embodiment, trigger wireless zero cross signal B in advance, so, permissible
Give the equipment sufficient time to locate transmission, reception or to process wireless zero cross signal B.The time of triggering motor adjustment signal A
Time with the wireless zero cross signal B of transmitting is separate, all can comprehensively actually used situation and empirical data be set
Fixed, here is not strict with.
This motor adjustment signal A can be pulse signal, for example, can be wireless signal, correspondingly in positioning beam emissions
In equipment 100, wireless signal receiver is installed, in order to receive and identify motor adjustment signal A, being easy to controller 112 can respond
In this signal, the motion of rotation or swing mechanism is adjusted.Additionally, motor adjustment signal A can also be the other such as optical signal
The pulse signal of form, can identify this signal by controller or other related device, can be in response in order to controller 112
This signal is simultaneously adjusted to rotation or the motion of swing mechanism.
, beam sweep device is strafing initial time (zero point t taking shown in Fig. 6 as a example0) strafe positioning light beam, strafing
The first predetermined time interval T before time beginning1Moment, wireless signal transmitting device launch wireless zero cross signal B (zero passage believe
Number launch time tB), so that informs beam sweep device strafes initial time.The 3rd time interval T before zero point3When
Carve, trigger triggers motor adjustment signal A (motor adjustment signal A triggered time tA), so that controller 112 can be in response to this
Signal, the motion to rotation or swing mechanism is adjusted.The positioning beam emission equipment that Fig. 6 is only the present invention carries out zero point mark
Surely a schematic diagram of process, wherein, the first predetermined time interval T are realized1Can according to circumstances change and be adjusted, when the 3rd
Between be spaced T3Can also be than the first predetermined time interval T1Short or equal.
So far, it is described in detail according to the positioning beam emission equipment of the present invention and its realization of Zero calibration
Journey.Additionally, being also provided with synchronous signal receiver device in the positioning beam emission equipment of the present invention, to realize each positioning light
The synchronization of bundle transmitting equipment.Fig. 7 shows the schematic block diagram of the positioning beam emission equipment according to further embodiment of this invention.
As shown in fig. 7, this positioning beam emission equipment includes, outside the above-mentioned device referring to, to include synchronous signal receiver device
160, for receiving synchronizing signal S, realize the synchronization to multiple positioning beam emission equipment.
Multiple positioning beam emission equipment in positioning beam delivery system can be divided into multiple groups, with the positioning light beam of group
Transmitting equipment is set to work simultaneously, and the positioning beam emission equipment of different groups is set to work during difference, i.e. one group fixed
When position beam emission equipment lights, the positioning beam emission equipment of other groups does not light.The effect of synchronizing signal S is exactly to control respectively
The lighting timings of group positioning beam emission equipment.Time interval between synchronizing signal S and other signal, sends out with group positioning light beam
Jet device is identical, and different group positioning beam emission equipment differ.More specifically, for the positioning beam emissions in same group
Equipment, synchronizing signal S with strafe between initial time between be spaced identical, and the positioning beam emissions in different groups are set
Standby, synchronizing signal S from strafe between initial time between be spaced different.In the case of wireless synchronization, position beam emission equipment
Need to do different disposal according to respective numbering to the synchronizing signal receiving, with ensure position permissible between beam emission equipment
Synchronous and time-sharing works.Synchronous signal receiver device 160 can be preset inside each positioning beam emission equipment, and all can
Receive synchronizing signal S, realize the synchronization to multiple positioning beam emission equipment.Synchronous signal receiver device is received synchronous letter
The synchronous signal receiver time of number S is referred to as tS, time between synchronous signal receiver time and motor adjustment signal triggered time
Interval is referred to as the 4th time interval T4.Synchronous signal receiver time tSThe second predetermined time interval T afterwards2Afterwards, reach and strafed
Time beginning (strafes cycle zero point t0), wherein, the second predetermined time interval T2Than the first predetermined time interval T1Long.Controller can
To be adjusted to rotation or swing mechanism based on synchronizing signal S and motor adjustment signal A it is ensured that rotating or swing mechanism is from it
Preset bearing experiences the 3rd time interval T3Afterwards, reach exactly to dead-center position, realize the synchronization of multiple positioning beam emission equipment.
Wherein, the synchronous signal receiver time can be within beam sweep device a working cycle.Work for one
In the cycle, strafe initial time after the synchronous signal receiver time receiving synchronizing signal S, and during with synchronous signal receiver
Between between there is the second predetermined time interval T2.
So far, positioning beam emission equipment and its Zero calibration and the synchronization of the present invention are described in detail.Additionally, this
Invention additionally provides a kind of positioning beam delivery system, to realize positioning Zero calibration and the synchronization of beam emission equipment.Fig. 8 shows
Go out the schematic block diagram of positioning beam delivery system according to an embodiment of the invention.As shown in figure 8, this positioning light beam is sent out
The system of penetrating can include multiple above-mentioned positioning beam emission equipment (in figure only illustrates), and synchronizing signal dispensing device
510, wherein, synchronizing signal dispensing device 510 is used for sending synchronizing signal S.
Here, in positioning beam delivery system, a synchronizing signal dispensing device 510 and multiple positioning light beam can be set
Transmitting equipment 100, is respectively provided with a synchronous signal receiver device, synchronizing signal dispensing device in each positioning beam emission equipment
510 independent of positioning beam emission equipment, and is connected that (its connected mode is permissible with each positioning beam emission equipment 100
It is wired connection or wireless connection, concrete connected mode does not limit).Synchronizing signal in positioning beam emission equipment
Reception device can receive synchronizing signal S of synchronizing signal dispensing device 510 transmission, and controller 112 can be synchronous in response to this
Signal S, is adjusted to rotation or swing mechanism 111, to ensure that it can reach exactly to zero after the second predetermined time interval
Point position.
Synchronizing signal dispensing device 510 and positioning beam emission equipment (or with this equipment in synchronous signal receiver dress
Put) between can be wireless connection or wired connection.Preferably, can be connected using wireless.So, synchronizing signal
Dispensing device 510 can send wireless synchronization signal S, and by the synchronous signal receiver in each positioning beam emission equipment 100
Device receives, to realize synchronization.As such, it is possible to simplify between synchronizing signal dispensing device 510 and positioning beam emission equipment
The installation process of wired connection, reduces the structure of positioning beam delivery system simultaneously.
Additionally, synchronizing signal dispensing device 510 can also be arranged in a positioning beam emission equipment, and to other
Each positioning beam emission equipment being provided with synchronous signal receiver device sends synchronizing signal S.This is provided with synchronizing signal and sends out
The positioning beam emission equipment (for example, it may be light tower) sending device 510 is properly termed as key light tower, and other is provided with synchronizing signal
The positioning beam emission equipment of reception device is properly termed as from Guang Ta, can send synchronizing signal S by key light tower, receive from light tower
Synchronizing signal S, that is, the control of key light tower is from the synchronization of light tower.
Key light tower with can be wirelessly to be connected or wired connection between Guang Ta.In a preferred embodiment,
Key light tower with can be wirelessly to be connected between Guang Ta, synchronization that the synchronizing signal dispensing device 510 in key light tower is launched letter
Number S can be wireless signal, and from light tower, synchronous signal receiver device receives synchronizing signal S and sent out with realizing multiple positioning light beams
The synchronization of jet device.As such, it is possible to reduce the wired connection between each device, simplify installation steps and device structure.Meanwhile,
The working range of wireless signal is limited less by environment and is not had directivity, so that the synchronizing signal of each position connects
Receiving apparatus all can receive uniform synchronizing signal S, can realize in time positioning the synchronization of beam emission equipment.
Synchronizing signal S can be band coding.There is the second predetermined time interval between synchronous signal receiver time and zero point
T2, and there is the first predetermined time interval T wireless zero cross signal launch time with zero point1, so, the synchronous signal receiver time with no
Time interval between the line zero cross signal B transmission time can be fixing.In the same working cycle, synchronizing signal S and wireless
Zero cross signal B is corresponding.For example, both codings can be the time of its signal transmitting respectively, and the difference of two times
Value is fixed time interval.So, synchronizing signal S, the wireless zero cross signal B with coding and both receptions being encoded by band
Or the data such as the Fixed Time Interval between launch time, it is possible to achieve synchronizing signal S, wireless zero cross signal B and positioning light
That restraints mutually corresponds to so that the synchronizations between multiple positioning beam emission equipment and its Zero calibration can be carried out in order.
, synchronous signal receiver device is in t taking shown in Fig. 9 as a exampleS(synchronous signal receiver time) reception synchronizing signal
S, thus can be by away from tSSecond predetermined time interval T afterwards2What the moment afterwards was considered as beam sweep device strafes initial time
(zero point t0), strafe initial time with inform beam sweep device.Initial time (zero point t will be strafed0) before first make a reservation for
Time interval T1Moment, wireless signal transmitting device launch wireless zero cross signal B (zero cross signal launch time tB), so that light
Bundle is strafed device and can be strafed positioning light beam in zero point in time.In synchronous signal receiver time tS4th time interval T afterwards4Can
So that motor adjustment signal A (motor adjustment signal triggered time t is triggered by triggerA), can be in response to same in order to controller
Step signal S and motor adjustment signal A to rotation or swing mechanism be adjusted, realize to positioning beam emission equipment synchronization and
Zero calibration.The positioning beam emission equipment of Fig. 9 only present invention synchronizes a schematic diagram with Zero calibration, wherein,
Second time interval T2Than the first predetermined time interval T1Long, the first predetermined time interval T1With the second time interval T2Can root
It is adjusted according to situation change, motor adjustment signal triggered time tACan be in zero cross signal launch time tBBefore or after or
Simultaneously.
So far, describe in detail already in connection with Fig. 2-5 and send out with regard to the positioning beam emission equipment of the present invention and positioning light beam
Penetrate system, to realize the Zero calibration to positioning beam emission equipment and synchronization.In addition, a kind of present invention also offers positioning system
System, can also include location equipment, Figure 10 shows location equipment according to an embodiment of the invention in this alignment system
Schematic block diagram, Figure 11 shows the schematic block diagram of alignment system according to an embodiment of the invention.
As shown in Figure 10, this location equipment 600 is suitable to be arranged on positioning object, and it can include one or more positioning
Beam receiver 610, wireless signal receiver 620 and processor 630.Wherein positioning beam receiver 610 can be used for receiving
Positioning light beam, wireless signal receiver 620 can be used for receiving wireless zero cross signal B, and processor 630 may be coupled to position light
Bundle receptor 610 and wireless signal receiver 620, for the wireless zero cross signal B being received based on wireless signal receiver 620
And the time positioning light beam that positioning beam receiver 610 receives, determine positioning beam receiver 610 with respect to positioning light
The relative direction of bundle transmitting equipment 100 or position.
Because wireless zero cross signal is band coding, simultaneously between wireless zero cross signal B positioning light beam corresponding thereto
There is fixing very first time interval T1, so, processor can receive wireless zero passage letter based on wireless signal receiver 620
The time of number B and its coding, and multiple (for example, it is possible at least including two) positioning beam receiver receives positioning light beam
Time, judge positioning beam receiver 610 with respect to the positioning relative direction of beam emission equipment 100 or position, thus entering
One step determines the positional information of positioning object, realizes being accurately positioned.
Wherein, the positions of multiple positioning beam receivers 610 can be relatively fixed, in order to can be according to determining of receiving
Position light beam judges to launch the positioning beam delivery system of this positioning light beam, for processor, the positioning of positioning object is provided more rich
Location data.
As shown in figure 11, this alignment system 700 can include above-mentioned positioning beam emission equipment 100 or positioning light beam
Emission system 500, and location equipment 600.
Because the wireless zero cross signal B that wireless signal transmitting device 120 is launched has coding, and wireless zero cross signal B
Launch time and zero point there is the first predetermined time interval T1, therefore believed by the wireless zero passage that wireless signal receiver is received
Number B and positioning beam receiver receive positioning light beam time it may be determined that with the positioning light corresponding to this wireless zero cross signal B
The source of the beam sweep device of bundle.Again because the wireless zero cross signal B of wireless signal transmitting device 120 transmitting associates as it
Beam sweep device strafed initial signal during positioning the strafing of light beam, so processor is according to the wireless zero passage receiving
The time difference of signal B and positioning light beam, the angular velocity of beam sweep device are it may be determined that this beam receiver is swept with respect to light beam
The offset direction of the zero degree line of injection device, may thereby determine that the positioning light that this positioning beam receiver is received with respect to it
That restraints corresponding positioning beam launcher estimates direction.
Wherein, zero degree line is that the positioning light beam that initial time during each is strafed for the beam sweep device is strafed exists
Plane on the direction of propagation.Estimate direction and for example, direction can be estimated permissible with coordinate representation it is also possible to be represented with solid angle
Be off-beams strafe device zero degree line certain solid angle when direction or the side with respect to beam sweep device
To.
For the same multiple positioning strafing the same positioning light beam receiving in period being fixed on positioning object
For beam receiver, can determine that multiple positioning beam receivers are respectively relative to this same positioning light beam using said method
Corresponding beam sweep device estimate direction.
Again for example, it is also possible to determine that positioning object is relative based on wireless zero cross signal B with the reception time difference of positioning light beam
Corresponding in wireless zero cross signal B strafe device estimate relative direction and/or position.In one embodiment, according to same
One strafe during in, multiple positioning light corresponding with the wireless signal receiver receiving same wireless zero cross signal B
Positioning light beam that bundle receptor is respectively received and the reception time difference of same wireless zero cross signal B are it may be determined that multiple fixed
Position beam receiver is respectively relative to the direction of the beam sweep device corresponding to same wireless zero cross signal B, then basis
Relative tertiary location relation between multiple positioning beam receivers is assured that multiple positioning beam receivers with respect to same
The relative position information of one beam sweep device, may thereby determine that positioning object residing for estimate position.
Additionally, processor can also possess above-mentioned NM function, more precisely to realize positioning object is determined
Position.
Above describe positioning beam emission equipment according to the present invention, system and positioning system in detail by reference to accompanying drawing
System.
It is described above various embodiments of the present invention, described above is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.In the case of the scope and spirit without departing from illustrated each embodiment, for this skill
For the those of ordinary skill in art field, many modifications and changes will be apparent from.The selection of term used herein, purport
Best explaining principle, practical application or the improvement to the technology in market of each embodiment, or make the art
Other those of ordinary skill are understood that each embodiment disclosed herein.
Claims (10)
1. a kind of positioning beam emission equipment, including：
Beam sweep device, for strafing positioning light beam in predetermined the strafing in period in the working cycle to located space；
Wireless signal transmitting device, sent out for the zero cross signal launch time strafed before initial time during described strafing
Penetrate wireless zero cross signal, described zero cross signal launch time and described strafe during strafe that to have first between initial time pre-
Fix time interval.
2. positioning beam emission equipment according to claim 1, wherein,
Described wireless zero cross signal is encoded, to represent its corresponding beam sweep device.
3. positioning beam emission equipment according to claim 1, wherein, described beam sweep device includes：
Rotation or swing mechanism, for realizing strafing of described positioning light beam；
Controller, reaches preset bearing in response to described rotation or swing mechanism, adjusts described rotation or the motion of swing mechanism,
So that its described strafe initial time reach strafe original position, thus start described in strafe during.
4. positioning beam emission equipment according to claim 3, wherein, described beam sweep device also includes：
Trigger, reaches preset bearing in response to described rotation or swing mechanism, triggers motor adjustment signal, and described controller rings
The motion of rotation or swing mechanism described in motor adjustment Signal Regulation described in Ying Yu.
5. positioning beam emission equipment according to claim 3, wherein,
During strafing for one, the time of described rotation or swing mechanism arrival preset bearing is sent out in described wireless zero cross signal
Before penetrating the time.
6. the positioning beam emission equipment according to any one of claim 1-5, also includes：
Synchronous signal receiver device, for receiving synchronizing signal,
Described initial time of strafing after the synchronous signal receiver time receiving described synchronizing signal, and with described synchronization
There is between signal reception time the second predetermined time interval.
7. positioning beam emission equipment according to claim 6, wherein,
Described synchronizing signal is wireless signal.
8. a kind of positioning beam delivery system, including：
Multiple positioning beam emission equipment according to claim 6 or 7；And
Synchronizing signal dispensing device, for sending described synchronizing signal.
9. positioning beam delivery system according to claim 8, wherein,
Described synchronizing signal dispensing device is arranged in a described positioning beam emission equipment.
10. a kind of alignment system, including：
Positioning beam emission equipment according to any one of claim 1-7 or according to claim 8 or claim 9
Positioning beam delivery system；And
Location equipment, is suitable to be arranged on positioning object, described location equipment includes：
One or more positioning beam receivers, for receiving described positioning light beam；
Wireless signal receiver, for receiving described wireless zero cross signal；
Processor, is connected to described positioning beam receiver and described wireless signal receiver, for based on reception of wireless signals
Device receives the time of described wireless zero cross signal and described positioning beam receiver receives the time of described positioning light beam,
Determine described positioning beam receiver with respect to the described relative direction positioning beam emission equipment or position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611163164.1A CN106483492A (en) | 2016-12-15 | 2016-12-15 | Positioning beam emission equipment, system and alignment system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611163164.1A CN106483492A (en) | 2016-12-15 | 2016-12-15 | Positioning beam emission equipment, system and alignment system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113687302A (en) * | 2021-08-19 | 2021-11-23 | 浙江可胜技术股份有限公司 | Heliostat address configuration method and system |
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| CN105807258A (en) * | 2016-05-25 | 2016-07-27 | 赵锦秋 | Method and system for three-dimensional positioning |
| CN105842660A (en) * | 2016-03-16 | 2016-08-10 | 北京国承万通信息科技有限公司 | Light beam emission/receiving system, receiving method, indoor positioning system and method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105842660A (en) * | 2016-03-16 | 2016-08-10 | 北京国承万通信息科技有限公司 | Light beam emission/receiving system, receiving method, indoor positioning system and method thereof |
| CN105807258A (en) * | 2016-05-25 | 2016-07-27 | 赵锦秋 | Method and system for three-dimensional positioning |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113687302A (en) * | 2021-08-19 | 2021-11-23 | 浙江可胜技术股份有限公司 | Heliostat address configuration method and system |
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