CN106501771A - Positioning optical signal launch system, method and alignment system - Google Patents
Positioning optical signal launch system, method and alignment system Download PDFInfo
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- CN106501771A CN106501771A CN201611150734.3A CN201611150734A CN106501771A CN 106501771 A CN106501771 A CN 106501771A CN 201611150734 A CN201611150734 A CN 201611150734A CN 106501771 A CN106501771 A CN 106501771A
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- 238000009432 framing Methods 0.000 abstract description 12
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
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Abstract
The invention discloses a kind of positioning optical signal launch system, method and alignment system.The system includes n positioning optical signal launcher, the precalculated position being separately positioned in m sub- located space, sub- located space transmitting for being located to which positions optical signal, one or more positioning optical signal launchers are provided with wherein per individual sub- located space, n is greater than or equal to the natural number of m.Wherein, the launch time of n positioning optical signal launcher does not overlap, and the one or more positioning optical signal launchers in same sub- located space are with identical very first time interval successively circulation transmitting positioning optical signal.The system according to the present invention and method so that the framing signal discharger in same individual sub- located space is smoothed and accurate positioning result with identical very first time interval successively circulation transmitting positioning optical signal.
Description
Technical field
The present invention relates to positioning field, more particularly to a kind of positioning optical signal launch system, method 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, satellite positioning tech can not often meet some realities 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 positioning technology is a kind of common local space location technology.For example, it is possible to pass through to take in located space
Build transmitting laser positioning beam emission equipment (for example can adopt position light tower in the form of, " light tower " hereinafter is specified
Position beam emission equipment.It should be understood that positioning beam emission equipment can also adopt other various ways), empty to positioning
Between carry out laser fire, be provided with optical signal receiver on the positioning element, by carrying out calculation process to data, it is fixed to export
The three-dimensional location coordinates information of position part.
When local space location technology being applied in virtual reality technology (VR) or other practical applications, application software
Generally need to fix the positioning result that frame per second or time interval obtain keeper.If the time of the positioning result for calculating
Interval is not fixed, and the positioning result shown by application software may assume certain jumping characteristic, and also is likely to result in determining
The generation of the phenomenon of position interim card so that the accuracy of positioning is poor.
As a example by shown in Figure 1A-C, in figure ia, numbering point is placed in precalculated position respectively in sub- located space A and B
Not Wei 1,2,3,4 and 5,6,7,8 light tower, 4 light towers in sub- located space A according to its number successively time period T1, T2,
T3, T4 transmitting positioning optical signal, 4 light towers in sub- located space B are numbered according to which and are sent out in time period T5, T6, T7, T8 successively
Positioning optical signal is penetrated, as shown in Figure 1B, the light tower in sub- located space A or B is not to work at the same time.
As shown in Figure 1 C, with horizontal axis representing time, the longitudinal axis represents the position coordinateses of keeper, it is assumed that black curve is positioning
The movement locus of part, the point on transverse axis represent that application software reads the time point of positioning result.In the work shown in Figure 1A and Figure 1B
Under operation mode, keeper is corresponding respectively in T1, T2, T3, T4, T9, T10, T11, T12 several time periods in the sub- located spaces of A
Time point carry out location Calculation, in T5, T6, T7, T8, T13, T14, T15, T16 several time periods point in the sub- located spaces of B
Not corresponding time point carries out location Calculation.Fig. 1 C are drawn in case of keeper is in sub- located space A.Fixed in son
Four light towers in bit space A strafe positioning light beam successively within the time period of T1-T4, T9-T12, therefore in Fig. 1 C with T1-
T4, T9-T12 several time periods there is effective location Calculation result in corresponding time point 1,2,3,4,9,10,11,12.Set
Position part actual motion track as shown in Fig. 1 C black curves, location Calculation result (dark vertical line as shown in dark vertical line
Position data is highly represented).Application software can periodically (for example between time point 2,3, between time point 4,5, time point 6,7 it
Between, between time point 8,9, between time point 10,11, between time point 12,13, between time point 14,15, after time point 16
Deng) obtain keeper newest location Calculation result, i.e. dotted line institute indicating value in Fig. 1 C.Connect all dotted line summits, can be with
Lycoperdon polymorphum Vitt track is obtained, the motion track of the keeper that this track is obtained after being considered as calculating.As keeper is in T5-T8
It is not received by positioning light beam between time period, so also without new result of calculation.When application software extract on schedule newest
During location Calculation result, location Calculation result is not changed in time.Therefore, as shown in dotted line in Fig. 1 C, its track was both
Unsmooth and not accurate enough.
For such case, the present invention proposes a kind of positioning optical signal launch system, method and alignment system.
Content of the invention
The technical problem to be solved in the present invention is to provide a kind of positioning optical signal launch system, method and alignment system, its
Keeper is enabled to receive positioning optical signal at the same time, such that it is able to improve the flatness and accurately of positioning
Property.
According to an aspect of the invention, there is provided a kind of positioning optical signal launch system, for launching to located space
Positioning optical signal, located space include that m sub- located space, m are greater than 1 natural number, and the system includes：N positioning light letter
Number discharger, the precalculated position being separately positioned in m sub- located space, the sub- located space transmitting for being located to which are fixed
Position optical signal, wherein per individual sub- located space in be provided with one or more positioning optical signal launchers, n is greater than or equal to
The natural number of m, wherein, the launch time of n positioning optical signal launcher does not overlap, and in same sub- located space
One or more positioning optical signal launchers are with identical very first time interval successively circulation transmitting positioning optical signal.
Preferably, m light period constitutes a sub-spaces cycle period, a positioning light letter in the light period
Number discharger transmitting positioning optical signal, divides according to the first predefined procedure per m light period in sub-spaces cycle period
Dispensing m sub- located spaces, for per individual sub- located space, continuously distribute for which in many sub-spaces cycle periods multiple
Photoperiod, the one or more positioning optical signal launch dresses being arranged in the sub- located space are distributed to according to the second predefined procedure
Put.
Preferably, m sub- located space may be constructed a sub- located space group, and located space can be fixed including many height
Bit space group, per individual sub- located space group in can configure in an identical manner n positioning optical signal launcher.
According to a further aspect in the invention, there is provided a kind of positioning optical signal launch method, for launching to located space
Positioning optical signal, located space include that m sub- located space, n positioning optical signal launcher are separately positioned on m son positioning
Precalculated position in space, m are greater than 1 natural number, and n is greater than or equal to the natural number of m, and the method includes：Each positioning
Optical signal launcher is successively to the sub- located space transmitting positioning optical signal which is located, wherein, n positioning optical signal launch dress
Put the one or more positioning light letters in the launch time non-overlapping copies of transmitting positioning optical signal, and same sub- located space
Number discharger is with identical very first time interval successively circulation transmitting positioning optical signal.
Preferably, m light period constitutes a sub-spaces cycle period, a positioning light letter in the light period
Number discharger transmitting positioning optical signal, divides according to the first predefined procedure per m light period in sub-spaces cycle period
Dispensing m sub- located spaces, for per individual sub- located space, continuously distribute for which in many sub-spaces cycle periods multiple
Photoperiod, the one or more positioning optical signal launch dresses being arranged in the sub- located space are distributed to according to the second predefined procedure
Put.
According to another aspect of the invention, there is provided a kind of alignment system, for be positioned in located space to being in
Object is positioned, and located space includes that m sub- located space, the system include：Above-mentioned positioning optical signal launch system；And
Optical signal receiver, is fixed on the outer surface of object to be positioned, for receiving positioning optical signal.
Preferably, the system can also include：Processor, is connected to optical signal receiver, for being received based on optical signal
The positioning optical signal that device is received, determines the position of object to be positioned.
Preferably, processor can be received based on optical signal receiver the last time with the second time interval of identical
Positioning optical signal execute location Calculation, to determine position of the object to be positioned in located space.
Preferably, the second time interval can be equal with very first time interval.
Preferably, processor can be in response to judging that object to be positioned enters a sub- located space, and adjustment executes positioning
The time point of calculating so that execute location Calculation time point and the last time receive positioning optical signal time point between
Interval be less than predetermined time interval.
To sum up, the present invention is by controlling between the working time for positioning optical signal launcher in same sub- located space
Every so that the positioning optical signal launcher in same sub- located space can launch positioning letter at the same time
Number.So, when keeper equally executes location Calculation at regular intervals, it is possible to improve the flatness and standard of positioning
True property.
Description of the drawings
Disclosure illustrative embodiments are described in more detail by combining accompanying drawing, 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.
Figure 1A shows the graduation of the located space of prior art one embodiment and positions dividing for optical signal launcher
Cloth.
Figure 1B shows the light-emitting mode for positioning optical signal launcher in the located space of prior art one embodiment
Schematic diagram.
Fig. 1 C show the movement locus of the object to be positioned of prior art one embodiment and execute the knot of location Calculation
The curve synoptic diagram of fruit.
Fig. 2 shows the schematic block diagram of the structure of positioning optical signal launch system 200 according to an embodiment of the invention.
Fig. 3 shows the graduation of located space according to an embodiment of the invention and positions dividing for optical signal launcher
Cloth.
The light-emitting mode schematic diagram of optical signal launcher is positioned in the located space that Fig. 4 shows according to Fig. 3 embodiments.
Fig. 5 shows the movement locus of the object to be positioned according to Fig. 3-4 embodiments and executes the result of location Calculation
Curve synoptic diagram.
Fig. 6 shows the schematic block diagram of the structure of alignment system according to an embodiment of the invention.
Specific embodiment
The preferred implementation of the disclosure is more fully described below with reference to accompanying drawings.Although the disclosure is shown 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 do not illustrated here
Formula is limited.Conversely, 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.
For the problem that addresses in background technology, inventor has found that the smoothness of positioning result and keeper receive positioning
The time interval of signal and location Calculation is closely connected.Specifically, after framing signal is received, carried out based on framing signal
The time of location Calculation is substantially considered as a fixed value, if keeper is sequentially received the time of multiple framing signals
Interval is substantially also a Fixed Time Interval, then when positioning to keeper, it is possible to obtained with predetermined time interval
Multiple positioning results to keeper.Thus, it is possible to obtain the multiple smooth positioning result of keeper.
Above-mentioned thinking is based on, the present invention proposes a kind of positioning optical signal launch system, method and alignment system.
The invention provides a kind of positioning optical signal launch method, for located space transmitting positioning optical signal, positioning
Space includes that m sub- located space, n positioning optical signal launcher (can for example be smooth tower mentioned above) are respectively provided with
Precalculated position in m sub- located space, m are greater than 1 natural number, and n is greater than or equal to the natural number of m.The method bag
Include：Each positioning optical signal launcher is successively to the sub- located space transmitting positioning optical signal which is located.Wherein, n positioning
The launch time non-overlapping copies of optical signal launcher transmitting positioning optical signal, and one in same sub- located space or
Multiple positioning optical signal launchers are with identical very first time interval successively circulation transmitting positioning optical signal.
So, the positioning optical signal launcher in located space can be fixed with identical very first time interval time division emission
Position optical signal is avoided interference, and keeper can also be tried one's best and execute location Calculation at regular intervals, be fixed between the time
Every positioning result, improve positioning flatness and accuracy.
Wherein, m light period constitutes a sub-spaces cycle period, a positioning optical signal in the light period
Discharger transmitting positioning optical signal, distributes according to the first predefined procedure per m light period in sub-spaces cycle period
To m sub- located space, for per individual sub- located space, it is continuously the multiple luminous of its distribution in many sub-spaces cycle periods
In the cycle, the one or more positioning optical signal launch dresses being arranged in the sub- located space are distributed to according to the second predefined procedure
Put.
For the ease of description, being experienced with each positioning optical signal launcher transmitting one-time positioning optical signal here
Time cycle is referred to as light period, and the light period of each the positioning optical signal launcher in whole located space can phase
With.One sub-spaces cycle period is constituted with m light period, that is to say, that in a sub-spaces cycle period, m son
Can there is a positioning optical signal launcher transmitting positioning optical signal in located space.
This first predefined procedure can pre-set, and such as will can be numbered per individual sub- located space, one
In sub-spaces cycle period, in each sub- located space, positioning optical signal launcher can be according to the numbering of sub- located space
Order launch framing signal successively.Can with the arrangement position according to m sub- located spaces, according to certain mode, such as with
One sub- located space is radially allocated successively for origin, or is allocated in the way of "the" shape successively.
Specific first predefined procedure is not limited, and can guarantee that positioning optical signal launcher in located space work and not phase in order
Mutually disturb.
This second predefined procedure can also pre-set, and such as will send out per the positioning optical signal in individual sub- located space
Injection device is numbered, and in multiple continuous subspace cycle periods, fills per the positioning optical signal launch in individual sub- located space
Put and transmitting positioning optical signal is circulated successively with the order of its respective numbering respectively.Positioning optical signal in different sub- located spaces
The coding rule of discharger can be the same or different, such as with clock-wise order successively to which in 1 work song located space
In positioning optical signal launcher be numbered, with counterclockwise in 2 work song located spaces, compiled in 3 work song located spaces at random
Number etc..Can also according to sub- located space in the preset installation site of positioning optical signal launcher to give suitable second pre-
Fixed order.Specific second predefined procedure is not particularly limited, can guarantee that the positioning optical signal launcher in located space
Work in order and non-interference.
For the sequence of light not limited to this of positioning optical signal launcher, it is also possible to otherwise realize above-mentioned first
Predefined procedure and the second predefined procedure, here are no longer illustrated one by one.
So, in a sub-spaces cycle period, per individual sub- located space in can have one positioning optical signal send out
Injection device is with the first predefined procedure transmitting positioning optical signal.In multiple continuous subspace cycle periods, per individual sub- located space
In can have one positioning optical signal launcher with the first predefined procedure transmitting positioning optical signal, in sub- located space
Individual or multiple positioning optical signal launchers position optical signal with the transmitting of the second predefined procedure.So, the positioning in located space
Optical signal launcher can just realize that time-sharing work is avoided interference.
Here, per individual sub- located space in can have equal number of positioning optical signal launcher, it is possibility to have different
The positioning optical signal launcher of number.When the number of the positioning optical signal launcher in per individual sub- located space is identical,
All positioning optical signal launchers in per individual sub- located space launch successively the accumulated experience of one-time positioning optical signal when
Between identical.When the number of the positioning optical signal launcher in per individual sub- located space is different, per individual sub- located space in
The time that all positioning optical signal launchers launch the accumulated experience of one-time positioning optical signal successively is variant.But, positioning
The launch time of the positioning optical signal launcher in space does not overlap, it is to avoid interfere.
The positioning optical signal launch method of the present invention can be implemented as a kind of positioning optical signal launch system, with reference to fixed
Position optical signal launch system elaborates to the positioning optical signal launch method of the present invention.Fig. 2 is shown according to the present invention one
The schematic block diagram of the structure of the positioning optical signal launch system 200 of embodiment.
As shown in Fig. 2 the positioning optical signal launch system 200 of the present invention can include n positioning optical signal launcher
(2-1,2-2 ... 2-n in figure, n are the natural number more than or equal to m).
N positioning optical signal launcher is separately positioned on the precalculated position of m sub- located space, so that in every height
Positioning optical signal launcher is provided with located space.Each positioning optical signal launcher is successively to the son positioning which is located
Spatial emission positions optical signal, and wherein, the launch time of n positioning optical signal launcher transmitting positioning optical signal does not mutually weigh
Folded, and the one or more positioning optical signal launchers in same sub- located space with the identical very first time be spaced according to
Secondary circulation transmitting positioning optical signal.
M light period constitutes a sub-spaces cycle period, a positioning optical signal launch in the light period
Device transmitting positioning optical signal, distributes to m per m light period in sub-spaces cycle period according to the first predefined procedure
Sub- located space, for per individual sub- located space, is continuously multiple light periods which distributes in many sub-spaces cycle periods,
The one or more positioning optical signal launchers being arranged in the sub- located space are distributed to according to the second predefined procedure.
Wherein, per individual sub- located space in can have equal number of positioning optical signal launcher, whole located space
In each positioning optical signal launcher can be luminous with the identical cycle, only one of which positioning in the light period
Optical signal launcher launches framing signal, so, it is ensured that in sometime whole located space one and only one
Positioning optical signal launcher is in transmitting framing signal.And all positioning optical signal launchers in per individual sub- located space
One-time positioning optical signal launch can be completed within an identical cycle.Here whole located space is probably to produce to do
The adjacent located space that disturbs.For example, when a lot of sub-spaces are extended to, the light-emitting mode of remote two sub-spaces
Can be with identical.
Illustrated as a example by whole located space to be divided into m sub- located spaces, per individual sub- located space in only preset
One positioning optical signal launcher, each positioning optical signal launcher are worked in a light period respectively, and m luminous
Cycle constitutes a sub-spaces cycle period.Every height positioning in a sub-spaces cycle period, in whole located space
Positioning optical signal launcher in space can be sequentially completed the transmitting of one-time positioning optical signal according to the first predefined procedure.Even
Continue many sub-spaces cycle periods in, in whole located space can per the positioning optical signal launcher in individual sub- located space
So that according to the first predefined procedure, continuously transmitting positions optical signal successively.
When having multiple equal number of positioning optical signal launchers in per individual sub- located space, for every height is determined
Bit space, continuously many sub-spaces cycle periods are according to multiple light periods that the first predefined procedure is its distribution, multiple luminous
Cycle distributes to the multiple positioning optical signal launchers being arranged in the sub- located space according to the second predefined procedure.Whole fixed
Positioning optical signal launcher in bit space can be worked and non-interference in order.
Illustrate as a example by shown in Fig. 3, located space is divided into two sub-spaces A and B (now, in located space
The number m=2 of sub- located space), per individual sub- located space in have 4 positioning optical signal launchers, totally 8 positioning light letter
Number discharger (now, the number n=8 of the positioning optical signal launcher in located space), is preset at every height positioning empty
Between precalculated position, and be sequentially numbered.Positioning optical signal launcher in located space is fully completed
Time needed for one-time positioning optical signal launch is referred to as cycle T, by cycle T be divided into uniform 8 time period T1, T2, T3,
T4, T5, T6, T7, T8, the length of each time period are identical with a light period.Wherein, T1 and T2 constitutes sub-spaces and follows
In the ring cycle, at the T1 time periods, No. 1 positioning optical signal launcher transmitting in the sub- located spaces of A positions optical signal, in T2
Between section, 2 in No. 2 in the sub- located spaces of B positioning optical signal launchers transmitting positioning optical signal, i.e. subspace cycle periods
The order (the first predefined procedure) that individual light period is according to A, B, A, B ... distributes to the sub- located spaces of A and the sub- located spaces of B.
For the sub- located spaces of A, continuous 4 sub-spaces cycle period distributes 4 light periods for which, according to the second predefined procedure (i.e.
Number order according to 1,3,5,7 distributes the light period of T1, T3, T5, T7) distribute to 4 be arranged in the sub- located spaces of A
Positioning optical signal launcher.Similarly, for the sub- located spaces of B, continuous 4 sub-spaces cycle period distributes 4 for which and sends out
Photoperiod, according to the second predefined procedure (distributing the light period of T2, T4, T6, T8 according to 2,4,6,8 number order) distribution
To 4 positioning optical signal launcher (as shown in Figure 4) being arranged in the sub- located spaces of B.All positioning light in located space
It is T that sender unit completes the total time of a light emission operation, and the time span of T can change according to practical situation.
So, the positioning beam launcher in sub- located space A or B can launch positioning at the same time
Optical signal so that the positioning optical signal for receiving also is substantially identical time interval.
As shown in figure 5, with horizontal axis representing time, the longitudinal axis represents the position coordinateses of keeper, it is assumed that black curve is positioning
The movement locus of part, the point on transverse axis represent that application software reads the time point of positioning result.In the work shown in Fig. 3 and Fig. 4
Under pattern, keeper is in the sub- located spaces of A in the several times for corresponding respectively to T1, T3, T5, T7, T9, T11, T13, T15
Point carry out location Calculation, in the sub- located spaces of B in correspond respectively to T2, T4, T6, T8, T10, T12, T14, T16 several when
Between point carry out location Calculation.Fig. 5 is drawn in case of keeper is in sub- located space A.In sub- located space A
Four light towers strafe positioning optical signal in T1, T3, T5, T9, T11, T13, T15 successively, therefore, in Fig. 5 with T1, T3, T5,
There is effective location Calculation result in the corresponding time point 1,3,5,7,9,11,13,15 of T9, T11, T13, T15.If keeper
Actual motion track is as shown in Fig. 5 black curves.Then location Calculation result (dark vertical line altimeter as shown in dark vertical line
Show position data).Application software can periodically (for example between time point 1,3, between time point 3,5, between time point 5,7, the time
Between point 7,9, between time point 9,11, between time point 11,13, between time point 13,15, after time point 15) obtain and determine
The newest location Calculation result of position part, i.e. dotted line institute indicating value in Fig. 5.(dotted line is highly represented and is obtained to connect all dotted line summits
The position data for taking), Lycoperdon polymorphum Vitt track can be obtained, this track is the moving rail of the keeper accessed by application program
Mark.Therefore, as shown in phantom in Figure 5, its track had not only smoothed but also accurate.
So, based on positioning optical signal carry out multiple positioning results that location Calculation obtains be only smooth.Located space
In each light period between can have the interval of a short time, not fixed in whole located space in the time in this gap
Position optical signal launcher work, the interference being likely to occur with avoiding positioning optical signal launcher from continuously working.This interval is not
Do concrete restriction, can be the shorter time can also longer time, but try not to be longer than light period, in order to avoid when long
Between cause location information not enough without positioning optical signal launcher transmitting framing signal, cause positioning inaccurate.
In whole located space per individual sub- located space in the number of set positioning optical signal launcher can be with
Different.For example, it is possible to according to object to be positioned enter per the number of times in individual sub- located space, by object to be positioned enter indegree compared with
Fewer number of framing signal discharger is set in few sub- located space, and enters the more son of indegree in object to be positioned
The framing signal discharger of greater number is set in located space, to meet the different demands of different sub- located spaces.Thus,
Still can press according to the first predefined procedure for distributing many sub-spaces cycle periods per individual sub- located space in located space
It is each the framing signal discharger distribution light period in sub- located space according to the second predefined procedure.So, fixed per height
The cycle that positioning optical signal launcher in bit space is completed required for one-time positioning optical signal launch may differ, but
It is that positioning optical signal launcher in whole located space launches framing signal at the same time, still can be real
The existing purpose of the present invention so that positioning result is smooth and accurate.
In actual applications, the located space of the present invention can be extended so that fit in bigger located space
Use the solution of the present invention.For example, it is possible to constitute a sub- located space group by m sub- located space, located space can include k
Individual sub- located space group, per individual sub- located space group in configure in an identical manner n positioning optical signal launcher (now,
There are m × k sub- located space, the precalculated position in located space that n × k positioning optical signal launch dress is set in located space
Put), and per individual sub- located space group in position optical signal launcher and execute positioning optical signal in the same manner as described above
Transmitting and positioning, the positioning optical signal launcher at the same position of different sub- located space groups can send positioning light simultaneously
Signal.So, many sub- located space groups can be worked simultaneously, per n positioning optical signal launch in individual sub- located space group
The launch time of device does not overlap, and the one or more positioning optical signal launchers in its same sub- located space with
Circulation transmitting positions optical signal successively at identical very first time interval, realizes extendible laser indoor positioning.
Specifically, m light period constitutes a sub-spaces cycle period, a positioning light in the light period
Sender unit transmitting positioning optical signal, per m light period in sub-spaces cycle period according to the first predefined procedure
M sub- located space is distributed to, for per individual sub- located space, is continuously the multiple of its distribution in many sub-spaces cycle periods
Light period, distributes to the one or more positioning optical signal launch being arranged in the sub- located space according to the second predefined procedure
Device.
For example, (a sub- located space group is only shown) in figure in the example given by Fig. 3, located space can include
K sub- located space group, a sub- located space group include m=2 sub- located space, arrange 4 per individual sub- located space and determine
Position optical signal launcher, therefore, (now, located space includes 2 × k sub- located space to n=8, and is provided with 8 × k positioning
Optical signal launcher).So, two light periods constitute a sub-spaces cycle period, in every sub-spaces cycle period,
Respectively there is a positioning optical signal launcher to light in two sub- located spaces successively.Through 4 sub-spaces cycle periods, each
All positioning optical signal launchers in sub- located space complete a light emission operation, i.e., per the institute in individual sub- located space group
There is positioning optical signal launcher to complete a light emission operation.Luminous behaviour is completed per individual sub- located space group in an identical manner
Make, realize expansible positioning.
If the number of the positioning optical signal launcher arranged in two sub- located spaces is different, respectively n1 and n2,
And n1 ≠ n2, then respectively through n1, n2 sub-spaces cycle period, all positioning optical signals in the two sub- located spaces
Discharger completes a light emission operation.
Further, it is also possible to arrange clock in located space, it is the positioning optical signal in the precalculated position in located space
Injection device pre-sets the time of transmitting positioning optical signal so that each positioning optical signal launcher can be sent out in the scheduled time
Penetrate positioning optical signal.For example, after the job order and light period for setting positioning optical signal launcher, set clock can
To start to launch in previous positioning optical signal launcher the rising edge time of positioning optical signal pulses to next positioning light
Sender unit sends ready signal so which is ready, and in previous positioning optical signal launcher transmitting positioning
The trailing edge of optical signal pulses starts transmitting positioning optical signal.Thus, in whole located space precalculated position positioning optical signal
Discharger then circulates transmitting positioning optical signal, 200 energy of positioning optical signal launch system with predefined procedure in the scheduled time successively
Enough unified stably transmitting positioning optical signals.
Specifically, each positioning optical signal launcher can launch positioning optical signal in the way of strafing, and
Positioning optical signal can be strafed according to predetermined strafe cycle and predetermined angular velocity to its sub- located space being located, position
The positioning optical signal strafed by optical signal launcher can have wire section, and around axis of rotation is strafed, strafe rotating shaft
Can be with out of plumb with the bearing of trend in wire section.
Wherein it is possible to be accomplished in several ways positioning optical signal launcher and strafe to its sub- located space being located determine
Position optical signal.For example, it is possible to pass through the various ways such as motor rotary scanning, MEMS scanning scarnning mirrors, single-mode fiber shake scanning
Realize that positioning optical signal launcher strafes positioning optical signal to its sub- located space being located.Certainly, to people in the art
For member, there can also be other implementations, here is omitted.
The predetermined cycle of strafing can correspond to predetermined angular velocity (ω), it is also possible to not corresponding.For example, in positioning light letter
Number discharger is around when strafing rotating shaft and being steady circular and rotate, it is believed that strafe the cycle corresponding to predetermined angular velocity, this
When have T=2 π/ω.On the other hand, in some cases, positioning optical signal launcher only needed to rotate less than one week, for example
About a quarter is all, i.e., about 90 °, so that it may so that positioning optical signal scans the sub- located space completely.So, in positioning optical signal
Rotary speed when not scanning when scanning sub- located space and sub- located space can be with difference.Or, positioning optical signal launch dress
Put and can also be provided so as to scan optical signal shuttle-scanning in sub- located space.In these cases, T ≠ 2 π/ω.In advance
The fixed light period for strafing cycle and positioning optical signal launcher can be with identical, it is also possible to longer than light period.
Additionally, the positioning optical signal launch system 200 can also include controller (not shown), controller respectively with
Multiple positioning optical signal launcher connections, for controlling the transmitting of n positioning optical signal launcher transmitting positioning optical signal
Time.So, it is possible to achieve the launch time for positioning optical signal freely control, optical signal launcher is positioned to be directed to
Actually used situation makes corresponding coping strategy in time.For example, in actual use, if in certain sub- located space
Certain positioning optical signal launcher break down, just fixed in the time of the positioning optical signal launcher light period
Position optical signal launcher transmitting positioning optical signal, is likely to result in the disorder of follow-up location data.Now, user can be with timely
By controller realize to located space in positioning optical signal launcher launch time adjustment to solve the above problems,
To avoid resulting in greater loss.
Controller can be also used for the sweep mode for controlling multiple positioning optical signal launchers.For example, controller can be with
Control positioning optical signal launcher is strafed the frequency or amplitude of positioning optical signal and strafes cycle etc., to realize to be positioned
Object institute virgin located space carries out comprehensive, complete scanning, for object to be positioned position provide more accurately position number
It is believed that breath.
The above-mentioned positioning optical signal launch system and positioning optical signal launch method being described in detail according to the present invention.
Based on above-mentioned positioning beam delivery system and method, the invention allows for a kind of alignment system.Fig. 6 shows alignment system
400 schematic block diagram.
As shown in fig. 6, the alignment system 400 of the present invention can include above-mentioned positioning optical signal launch system 200 and light
Signal receiver 420.
Wherein, positioning optical signal launch system 200 can be found in the associated description of figure 2 above -3, will not be described here.
Optical signal receiver 420, is fixed on the outer surface of object to be positioned, for receiving positioning optical signal.Optical signal connects
Receiving device 420 can have one or more, and relative position fixes.Positioning optical signal can be received according to optical signal receiver 420
Time difference or optical signal receiver 420 between relative position relation, determine launch the positioning optical signal positioning optical signal
Position estimated by discharger, then judges to estimate position and the relative position of object to be positioned, simply judges object to be positioned
Position.
Wherein, positioning optical signal launch system 200 is connected with optical signal receiver 420, and its annexation can have multiple
Form, including the mode such as direct or indirect, wired or wireless.Specific connected mode is not required, it is also possible to rule of thumb or
Practical situation makes corresponding connection.
The alignment system 400 can also include processor 430.(for example, processor 430 is connected to optical signal receiver 420
Can directly or indirectly be connected, or the mode such as wired or wireless, processor can also be with positioning optical signal launch system
System is connected, and connected mode is also not particularly limited.), the positioning optical signal that can be received based on optical signal receiver 420, really
The position of fixed object to be positioned.Processor 430 is also based on other location datas to determine the position of object to be positioned, such as base
In time and its source that the positioning optical signal is launched in time presumption that receive of the positioning optical signal, or optical signal receiver
420 relative position etc., determines the position of object to be positioned with this.
Processor 430 can be received based on 420 the last time of optical signal receiver with the second time interval of identical
Positioning optical signal executes location Calculation, to determine position of the object to be positioned in located space.I.e. processor 430 executes positioning
The time point of calculating in the located space after previous positioning optical signal launcher transmitting positioning optical signal, after once
Before the time point of positioning optical signal launcher transmitting positioning optical signal, that is, two continuous positioning optical signal launch dresses
Put between the time point of continuous transmitting positioning optical signal.The time point for executing location Calculation can position light near front primary emission
The time point of signal, it is also possible near the time point that rear primary emission positions optical signal, the concrete time point for executing location Calculation
Do not limit.Thus, the positioning light that processor 430 can be received to optical signal receiver 420 with the second time interval of identical
Signal is settled accounts, and is smoothed and accurate positioning result.
Preferably, the second time interval can be equal with very first time interval.So, processor 430 is determining first
After the secondary time for executing location Calculation, it is possible to will be many as the second time interval which executes location Calculation for very first time interval
Follow-up positioning optical signal carries out location Calculation, and without being set again, processor 430 circulation can carry out determining successively
Position calculates, and obtains smoother positioning result, and the positioning result for being easy to follow-up application software to use is more accurate.
Illustrate as a example by shown in Fig. 3, located space is divided into two sub-spaces A and B (now, in located space
The number m=2 of sub- located space), per individual sub- located space in have 4 positioning optical signal launchers, totally 8 positioning light letter
Number discharger (now, the number n=8 of the positioning optical signal launcher in located space), is preset at every height positioning empty
Between precalculated position, and be sequentially numbered.Positioning optical signal launcher in located space is fully completed
Time needed for one-time positioning optical signal launch is referred to as cycle T, by cycle T be divided into uniform 8 time period T1, T2, T3,
T4, T5, T6, T7, T8, the length of each time period are identical with a light period.Wherein, T1 and T2 constitutes sub-spaces and follows
In the ring cycle, at the T1 time periods, No. 1 positioning optical signal launcher transmitting in the sub- located spaces of A positions optical signal, in T2
Between section, 2 in No. 2 in the sub- located spaces of B positioning optical signal launchers transmitting positioning optical signal, i.e. subspace cycle periods
The order (the first predefined procedure) that individual light period is according to A, B, A, B ... distributes to the sub- located spaces of A and the sub- located spaces of B.
For the sub- located spaces of A, continuous 4 sub-spaces cycle period distributes 4 light periods for which, according to the second predefined procedure (i.e.
Number order according to 1,3,5,7 distributes the light period of T1, T3, T5, T7) distribute to 4 be arranged in the sub- located spaces of A
Positioning optical signal launcher.Similarly, for the sub- located spaces of B, continuous 4 sub-spaces cycle period distributes 4 for which and sends out
Photoperiod, according to the second predefined procedure (distributing the light period of T2, T4, T6, T8 according to 2,4,6,8 number order) distribution
To 4 positioning optical signal launcher (as shown in Figure 4) being arranged in the sub- located spaces of B.So, in sub- located space A or B
Positioning beam launcher can launch positioning optical signal at the same time so that the positioning optical signal for receiving
Also it is substantially identical time interval.
As shown in figure 5, with horizontal axis representing time, the longitudinal axis represents the position coordinateses of keeper, it is assumed that black curve is positioning
The movement locus of part, the point on transverse axis represent that application software reads the time point of positioning result.In the work shown in Fig. 3 and Fig. 4
Under pattern, keeper is in the sub- located spaces of A in the several times for corresponding respectively to T1, T3, T5, T7, T9, T11, T13, T15
The time point of section carries out location Calculation, in corresponding respectively to T2, T4, T6, T8, T10, T12, T14, T16 in the sub- located spaces of B
The time point of several time periods carry out location Calculation.Fig. 5 is drawn in case of keeper is in sub- located space A.
Four light towers in sub- located space A strafe positioning optical signal, therefore, Fig. 5 in T1, T3, T5, T9, T11, T13, T15 successively
In there is effective location Calculation in time point corresponding with T1, T3, T5, T9, T11, T13, T15 1,3,5,7,9,11,13,15
As a result.If the actual motion track of keeper is as shown in Fig. 5 black curves.Then location Calculation result is as shown in dark vertical line
(dark vertical line highly represents position data).Application software can periodically (for example between time point 1,3, between time point 3,5,
Between time point 5,7, between time point 7,9, between time point 9,11, between time point 11,13, between time point 13,15, when
Between after point 15) obtain the newest location Calculation result of keeper, i.e. dotted line institute indicating value in Fig. 5.Connect all dotted line summits
(dotted line highly represents acquired position data), can obtain Lycoperdon polymorphum Vitt track, and this track is accessed by application program
Keeper motion track.Therefore, as shown in phantom in Figure 5, its track had not only smoothed but also accurate.
Certainly, the second time interval can also be unequal with very first time interval.For example, in certain time period, if treating
Stop in the positioning object only sub- located space of one of which, then the positioning optical signal of other sub- located spaces can not be sent out
The positioning optical signal of injection device transmitting is calculated, then can suitably adjust the second time interval in real time so that processor 430
Can be with suitable second time interval to the positioning light in 420 the last sub- located space for receiving of optical signal receiver
Signal executes location Calculation.Second time interval is not particularly limited, as long as the function of the processor 430 of the present invention can be realized
?.
Preferably, processor 430 enters a sub- located space in response to judging object to be positioned, and adjustment executes positioning meter
The time point of calculation so that execute location Calculation time point and the last time receive positioning optical signal time point between
Interval is less than predetermined time interval.
Wherein, processor 430 can be used for judging whether object to be positioned enters a sub- located space, for example, process
Device 430 can be determined that object to be positioned enters sub- located space A from extraneous, or judge object to be positioned from sub- located space B
Enter sub- located space A etc..So, processor 430 just can be based on the positioning light in object institute to be positioned virgin's located space
The information such as the preset position or number of sender unit adjust the time point which executes location Calculation, such as only calculate the sub- positioning
In space, each positioning optical signal launcher is launched and optical signal that received by optical receiver.Thus, not calculating which
Optical signal in its sub- located space without this object to be positioned, reduces unnecessary calculation procedure, process is also alleviated or avoided
The unnecessary use of device 430, extends the service life of processor 430.
Predetermined time interval can be identical with the length of light period, or shorter than the length of light period.Processor is held
The interval that the time point of row location Calculation and the last time are received between the time point of positioning optical signal was less than between the scheduled time
Every being newest positioning optical signal with ensure to calculate during computing device location Calculation, obtain newest positioning result.
Processor 430 can be fixed on object to be positioned, it is also possible to be fixed on other positions independently of object to be positioned
Put.Processor 430 can receive the positioning optical signal received by optical signal receiver 420.Object to be positioned is in many height
When moving in located space, processor 430 just can be based on the positioning received by the optical signal receiver on object to be positioned
Optical signal, identifies corresponding positioning optical signal launcher, so as to strafe the cycle according to multiple optical signal receivers at one
Inside be respectively received positioning time of optical signal, angular velocity, relative tertiary location relation and determined by position optical signal and send out
The precalculated position of injection device, it is possible to determine the position of object to be positioned.Wherein, beam receiver receives positioning optical signal
Time can be recorded by optical signal receiver, it is also possible to recorded (i.e. in 430 real-time reception optical signal of processor by processor 430
During positioning optical signal received by receptor, can be recorded from optical signal receiver by processor 430 and get positioning light letter
Number moment as the optical signal receiver receive positioning optical signal moment)
Alignment system can also include memorizer (not shown), and for storing located in connection data, location data can
To include optical signal receiver 420 the positioning optical signal for receiving and the time for positioning optical signal etc..
So far, the alignment system according to the present invention is described in detail, and wherein, processor can also carry out the present invention not
Other functions of addressing.
Above describe in detail according to positioning optical signal launch system of the invention, method and positioning by reference to accompanying drawing
System.Understood based on foregoing description, the positioning optical signal launch system of the present invention, method and alignment system are swashed compared to existing
Light projection technology, the positioning precision that maintains laser positioning is high, under many advantages such as time delay is little, additionally provides more smooth smart
True positioning is passed through, but there is provided can infinite expanding located space possibility.
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 explain the principle of each embodiment, practical application or to market in technology improvement, or make the art
Other those of ordinary skill are understood that each embodiment disclosed herein.
Claims (10)
1. a kind of positioning optical signal launch system, positions optical signal for launching to located space, and the located space includes m
Sub- located space, m are greater than 1 natural number, and the system includes：
N positioning optical signal launcher, the precalculated position being separately positioned in the m sub- located space, for its institute
Sub- located space transmitting positioning optical signal, be wherein provided with one or more positioning light letters in each described sub- located space
Number discharger, n are greater than or equal to the natural number of m,
Wherein, the launch time of the n positioning optical signal launcher does not overlap, and in the same sub- located space
One or more of positioning optical signal launchers with the identical very first time interval successively circulation transmitting positioning optical signal.
2. according to claim 1 positioning optical signal launch system, wherein,
M light period constitutes a sub-spaces cycle period, a positioning optical signal launch in the light period
Device transmitting positioning optical signal,
The m sub- located space is distributed to per m light period in sub-spaces cycle period according to the first predefined procedure,
For per individual sub- located space, it is continuously multiple light periods which distributes in many sub-spaces cycle periods, according to the
Two predefined procedures distribute to the one or more positioning optical signal launchers being arranged in the sub- located space.
3. according to claim 1 and 2 positioning optical signal launch system, wherein,
The m sub- located space constitutes a sub- located space group, and the located space includes multiple sub- located spaces
Group, per individual sub- located space group in configure in an identical manner described n positioning optical signal launcher.
4. a kind of positioning optical signal launch method, positions optical signal for launching to located space, and the located space includes m
Sub- located space, n positioning optical signal launcher are separately positioned on the precalculated position in the m sub- located space, and m is big
In 1 natural number, n is greater than or equal to the natural number of m, and the method includes：
Each positioning optical signal launcher positions optical signal to its sub- located space transmitting being located successively,
Wherein, the launch time non-overlapping copies of the n positioning optical signal launcher transmitting positioning optical signal, and same
One or more of positioning optical signal launchers in the sub- located space are followed successively with identical very first time interval
Ring transmitting positioning optical signal.
5. according to claim 4 positioning optical signal launch method, wherein,
M light period constitutes a sub-spaces cycle period, a positioning optical signal launch in the light period
Device transmitting positioning optical signal,
The m sub- located space is distributed to per m light period in sub-spaces cycle period according to the first predefined procedure,
For per individual sub- located space, it is continuously multiple light periods which distributes in many sub-spaces cycle periods, according to the
Two predefined procedures distribute to the one or more positioning optical signal launchers being arranged in the sub- located space.
6. a kind of alignment system, positions for the object to be positioned to being in located space, and the located space includes m
Individual sub- located space, the system include：
Positioning optical signal launch system any one of claim 1-3；And
Optical signal receiver, is fixed on the outer surface of the object to be positioned, for receiving the positioning optical signal.
7. alignment system according to claim 6, also includes：
Processor, is connected to the optical signal receiver, for the positioning light received based on the optical signal receiver
Signal, determines the position of the object to be positioned.
8. alignment system according to claim 7, wherein,
The processor with the second time interval of identical, based on described optical signal receiver the last time receive described fixed
Position optical signal executes location Calculation, to determine position of the object to be positioned in the located space.
9. alignment system according to claim 8, wherein,
Second time interval is equal with very first time interval.
10. the alignment system according to any one of claim 6-9, wherein,
The processor response enters a sub- located space in judging the object to be positioned, adjustment execute location Calculation when
Between point so that execute location Calculation time point and the last time receive described positioning optical signal time point between
Every less than predetermined time interval.
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