CN106501771B - Positioning optical signal transmitting system, method and positioning system - Google Patents
Positioning optical signal transmitting system, method and positioning system Download PDFInfo
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- CN106501771B CN106501771B CN201611150734.3A CN201611150734A CN106501771B CN 106501771 B CN106501771 B CN 106501771B CN 201611150734 A CN201611150734 A CN 201611150734A CN 106501771 B CN106501771 B CN 106501771B
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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
Abstract
The invention discloses a positioning optical signal transmitting system, a positioning optical signal transmitting method and a positioning system. The system comprises n positioning light signal emitting devices which are respectively arranged at preset positions in m sub-positioning spaces and used for emitting positioning light signals to the sub-positioning spaces where the positioning light signal emitting devices are arranged, wherein one or more positioning light signal emitting devices are arranged in each sub-positioning space, and n is a natural number which is greater than or equal to m. The emission time of the n positioning optical signal emission devices is not overlapped, and one or more positioning optical signal emission devices in the same sub-positioning space sequentially and circularly emit positioning optical signals at the same first time interval. According to the system and the method, the positioning signal transmitting devices in the same sub-positioning space sequentially and circularly transmit the positioning optical signals at the same first time interval, so that a smooth and accurate positioning result is obtained.
Description
Technical Field
The present invention relates to the field of positioning, and in particular, to a positioning optical signal transmitting system, a positioning optical signal transmitting method, and a positioning system.
Background
In recent years, satellite positioning technology has been widely used. However, in a local space range, particularly when positioning in an indoor space, the satellite positioning technology often cannot meet the needs of some practical applications in aspects such as positioning accuracy, positioning frequency, cost and the like. Particularly in the case of indoor positioning, it is also affected by the inability of satellite signals to penetrate building walls well.
Laser positioning is a common local spatial positioning technique. For example, the positioning space may be scanned by setting up a positioning beam emitting device that emits laser light (for example, a positioning light tower may be used, hereinafter, "light tower" is a specific beam emitting device, but it should be understood that the positioning beam emitting device may also be used in other various forms), an optical signal receiver is provided on the positioning member, and three-dimensional position coordinate information of the positioning member may be output by performing arithmetic processing on data.
In applying local spatial positioning techniques to Virtual Reality (VR) or other practical applications, application software is typically required to obtain positioning results of a positioning element at a fixed frame rate or time interval. If the time interval of the calculated positioning result is not fixed, the positioning result displayed by the application software may show a certain jump, and the phenomenon of positioning jamming may be caused, so that the positioning accuracy is poor.
Taking fig. 1A-C as an example, in fig. 1A, light towers with numbers of 1, 2, 3, 4 and 5, 6, 7 and 8 are respectively placed at predetermined positions in the sub-positioning space a and the sub-positioning space B, the 4 light towers in the sub-positioning space a sequentially emit positioning light signals in time periods T1, T2, T3 and T4 according to the numbers, and the 4 light towers in the sub-positioning space B sequentially emit positioning light signals in time periods T5, T6, T7 and T8 according to the numbers, as shown in fig. 1B, neither light tower in the sub-positioning space a nor B operates at the same time interval.
As shown in fig. 1C, the horizontal axis represents time, the vertical axis represents position coordinates of the positioning element, and the black curve is assumed to be a motion track of the positioning element, and the point on the horizontal axis represents a time point when the application software reads the positioning result. In the working modes shown in fig. 1A and 1B, the positioning element performs positioning calculation in the a sub-positioning space at time points corresponding to several time periods T1, T2, T3, T4, T9, T10, T11, and T12, and performs positioning calculation in the B sub-positioning space at time points corresponding to several time periods T5, T6, T7, T8, T13, T14, T15, and T16. Fig. 1C is drawn by taking the case where the positioning member is in the sub-positioning space a as an example. The four towers in the sub-positioning space a sweep the positioning beams sequentially in the time periods T1-T4, T9-T12, so there are valid positioning calculation results in fig. 1C at time points 1, 2, 3, 4, 9, 10, 11, 12 corresponding to several time periods T1-T4, T9-T12. The actual motion trace of the positioning member is set as shown in a black curve of fig. 1C, and the positioning calculation result is shown as a black vertical line (the black vertical line height represents position data). The application software will periodically (e.g. between time points 2, 3, between time points 4, 5, between time points 6, 7, between time points 8, 9, between time points 10, 11, between time points 12, 13, between time points 14, 15, after time point 16, etc.) obtain the latest positioning calculation result of the positioning element, i.e. the value indicated by the dashed line in fig. 1C. And connecting all the broken line vertexes to obtain a gray track, wherein the gray track can be regarded as the movement track of the positioning piece obtained after calculation. Since the positioning member does not receive the positioning beam between the time periods T5-T8, there is no new calculation result either. When the application software extracts the latest positioning calculation result on schedule, the positioning calculation result is not changed in time. Thus, as shown by the dashed line in fig. 1C, the trajectory thereof is neither smooth nor accurate enough.
In view of the situation, the invention provides a positioning optical signal transmitting system, a positioning optical signal transmitting method and a positioning system.
Disclosure of Invention
The invention aims to provide a positioning optical signal transmitting system, a positioning optical signal transmitting method and a positioning system, which enable a positioning piece to receive positioning optical signals at the same time interval, so that the smoothness and the accuracy of positioning can be improved.
According to an aspect of the present invention, there is provided a positioning light signal transmitting system for transmitting a positioning light signal to a positioning space, the positioning space including m sub-positioning spaces, m being a natural number greater than 1, the system comprising: and n positioning optical signal emitting devices are respectively arranged at preset positions in m sub-positioning spaces and are used for emitting positioning optical signals to the sub-positioning space where the positioning optical signal emitting devices are located, wherein one or more positioning optical signal emitting devices are arranged in each sub-positioning space, n is a natural number which is greater than or equal to m, the emitting time of the n positioning optical signal emitting devices is not overlapped, and one or more positioning optical signal emitting devices in the same sub-positioning space sequentially and circularly emit the positioning optical signals at the same first time interval.
Preferably, the m light-emitting periods constitute one subspace cycle period in which one positioning light signal is emitted by one positioning light signal emitting device, the m light-emitting periods in each subspace cycle period being allocated to the m subspaces in a first predetermined order, and for each subspace, the plurality of light-emitting periods allocated thereto in successive pluralities of subspace cycle periods being allocated to one or more positioning light signal emitting devices provided in the subspace in a second predetermined order.
Preferably, the m sub-positioning spaces may constitute one sub-positioning space group, and the positioning space may include a plurality of sub-positioning space groups, and n positioning light signal emitting devices may be configured in each sub-positioning space group in the same manner.
According to another aspect of the present invention, there is provided a positioning light signal transmitting method for transmitting a positioning light signal to a positioning space including m sub-positioning spaces, n positioning light signal transmitting devices being respectively provided at predetermined positions within the m sub-positioning spaces, m being a natural number greater than 1, n being a natural number greater than or equal to m, the method comprising: each positioning optical signal transmitting device sequentially transmits positioning optical signals to the sub-positioning space where the positioning optical signal transmitting devices are located, wherein the transmitting time of the n positioning optical signal transmitting devices for transmitting the positioning optical signals is not overlapped with each other, and one or more positioning optical signal transmitting devices in the same sub-positioning space sequentially and circularly transmit the positioning optical signals at the same first time interval.
Preferably, the m light-emitting periods constitute one subspace cycle period in which one positioning light signal is emitted by one positioning light signal emitting device, the m light-emitting periods in each subspace cycle period being allocated to the m subspaces in a first predetermined order, and for each subspace, the plurality of light-emitting periods allocated thereto in successive pluralities of subspace cycle periods being allocated to one or more positioning light signal emitting devices provided in the subspace in a second predetermined order.
According to still another aspect of the present invention, there is provided a positioning system for positioning an object to be positioned in a positioning space, the positioning space including m sub-positioning spaces, the system comprising: the positioning optical signal transmitting system; and the optical signal receiver is fixed on the outer surface of the object to be positioned and is used for receiving the positioning optical signal.
Preferably, the system may further comprise: and the processor is connected to the optical signal receiver and is used for determining the position of the object to be positioned based on the positioning optical signals received by the optical signal receiver.
Preferably, the processor may perform a positioning calculation based on the last received positioning light signal of the light signal receiver at the same second time interval to determine the position of the object to be positioned in the positioning space.
Preferably, the second time interval may be equal to the first time interval.
Preferably, the processor may adjust the time point at which the positioning calculation is performed such that the interval between the time point at which the positioning calculation is performed and the time point at which the positioning light signal was last received is less than a predetermined time interval in response to determining that the object to be positioned enters one of the sub-positioning spaces.
In summary, the present invention controls the working time interval of the positioning optical signal transmitting devices in the same sub-positioning space, so that the positioning optical signal transmitting devices in the same sub-positioning space can transmit positioning signals at the same time interval. Thus, when the positioning piece also performs positioning calculation at fixed time intervals, smoothness and accuracy of positioning can be improved.
Drawings
The foregoing and other objects, features and advantages of the disclosure will be apparent from the following more particular descriptions of exemplary embodiments of the disclosure as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout exemplary embodiments of the disclosure.
Fig. 1A shows the partitioning of the positioning space and the distribution of the positioning optical signal emitting device according to one embodiment of the prior art.
Fig. 1B shows a schematic view of a light emitting pattern of a positioning light signal emitting device in a positioning space according to an embodiment of the prior art.
Fig. 1C is a schematic diagram showing a motion trajectory of an object to be positioned and a result of performing a positioning calculation according to an embodiment of the related art.
Fig. 2 shows a schematic block diagram of the structure of a positioning optical signal transmission system 200 according to an embodiment of the invention.
Fig. 3 shows the distribution of the positioning space division and positioning optical signal emitting devices according to an embodiment of the present invention.
Fig. 4 shows a schematic view of a light emitting pattern of a positioning light signal emitting device in a positioning space according to the embodiment of fig. 3.
Fig. 5 shows a schematic diagram of the motion trajectory of the object to be positioned and the result of performing the positioning calculation according to the embodiment of fig. 3-4.
Fig. 6 shows a schematic block diagram of the structure of a positioning system according to an embodiment of the invention.
Detailed Description
Preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In view of the problems described in the background art, the inventors have found that the smoothness of the positioning result is closely related to the time interval between the reception of the positioning signal by the positioning element and the calculation of the positioning. Specifically, after receiving the positioning signal, the time of performing positioning calculation based on the positioning signal can be basically regarded as a fixed value, and if the time interval at which the positioning element sequentially receives the plurality of positioning signals is also basically a fixed time interval, the plurality of positioning results of the positioning element can be obtained at predetermined time intervals when the positioning element is positioned. Thus, a plurality of smooth positioning results of the positioning member can be obtained.
Based on the above thought, the invention provides a positioning optical signal transmitting system, a positioning optical signal transmitting method and a positioning system.
The invention provides a positioning optical signal transmitting method, which is used for transmitting positioning optical signals to a positioning space, wherein the positioning space comprises m sub-positioning spaces, n positioning optical signal transmitting devices (such as optical towers mentioned above) are respectively arranged at preset positions in the m sub-positioning spaces, m is a natural number larger than 1, and n is a natural number larger than or equal to m. The method comprises the following steps: each positioning optical signal transmitting device transmits positioning optical signals to the sub-positioning space where the positioning optical signal transmitting device is located in sequence. The n positioning optical signal emitting devices emit positioning optical signals at different emission times, and one or more positioning optical signal emitting devices in the same sub-positioning space sequentially emit positioning optical signals in a circulating manner at the same first time interval.
Therefore, the positioning optical signal transmitting device in the positioning space can transmit the positioning optical signal in a time-sharing manner at the same first time interval to avoid interference, and the positioning piece can also execute positioning calculation at a fixed time interval as much as possible to obtain a positioning result at the fixed time interval, so that the smoothness and accuracy of positioning are improved.
Wherein the m light-emitting periods constitute one subspace cycle period in which one positioning light signal emitting device emits positioning light signals, the m light-emitting periods in each subspace cycle period being allocated to the m subspaces in a first predetermined order, and for each subspace, the plurality of light-emitting periods allocated thereto in successive pluralities of subspace cycle periods being allocated to one or more positioning light signal emitting devices provided in the subspace in a second predetermined order.
For convenience of description, a time period elapsed for each positioning light signal transmitting device to transmit a positioning light signal once is referred to herein as a light-emitting period, and the light-emitting period of each positioning light signal transmitting device in the entire positioning space may be the same. One subspace cycle is formed by m luminous cycles, that is, a locating light signal can be emitted by a locating light signal emitting device in m subspace cycles.
The first predetermined sequence may be preset, for example, each sub-positioning space may be numbered, and in one sub-space cycle period, the positioning optical signal emitting devices in each sub-positioning space may sequentially emit positioning signals according to the sequence of the numbers of the sub-positioning spaces. The distribution may be performed sequentially in a radial manner, for example, with one sub-positioning space as the origin, or sequentially in a zigzag manner, according to the arrangement positions of the m sub-positioning spaces. The specific first preset sequence is not limited, and the orderly operation of the positioning optical signal transmitting devices in the positioning space can be ensured without mutual interference.
The second predetermined sequence may be preset, for example, the positioning optical signal emitting devices in each sub-positioning space are numbered, and in a plurality of continuous sub-space cycle periods, the positioning optical signal emitting devices in each sub-positioning space respectively and sequentially cycle to emit positioning optical signals in the order of their respective numbers. The numbering rules of the positioning optical signal emitting devices in different sub-positioning spaces can be the same or different, for example, the positioning optical signal emitting devices in the 1 st sub-positioning space are numbered sequentially in a clockwise order, the 2 nd sub-positioning space is numbered anticlockwise, the 3 rd sub-positioning space is numbered randomly, and the like. The appropriate second predetermined order may also be given in accordance with a preset mounting position of the positioning light signal emitting device in the sub-positioning space. The specific second predetermined sequence is not particularly limited, so that the orderly operation of the positioning optical signal transmitting devices in the positioning space can be ensured without mutual interference.
The light emission sequence for positioning the optical signal emitting device is not limited thereto, and the above-described first predetermined sequence and second predetermined sequence may be implemented in other manners, and are not exemplified herein.
Thus, in one subspace cycle period, there may be one locating light signal transmitting means in each subspace for transmitting locating light signals in a first predetermined order. In a plurality of consecutive subspace cycle periods, there may be one positioning light signal transmitting device in each subspace transmitting positioning light signals in a first predetermined order, and one or more positioning light signal transmitting devices in the subspace transmitting positioning light signals in a second predetermined order. Thus, the positioning optical signal transmitting device in the positioning space can realize time-sharing work to avoid interference.
Here, there may be the same number of positioning light signal emitting devices in each sub-positioning space, or there may be different numbers of positioning light signal emitting devices. When the number of the positioning light signal transmitting devices in each sub-positioning space is the same, the accumulated time for which all the positioning light signal transmitting devices in each sub-positioning space sequentially transmit one positioning light signal is the same. When the number of positioning light signal transmitting devices in each sub-positioning space is different, the accumulated time elapsed for all positioning light signal transmitting devices in each sub-positioning space to sequentially transmit positioning light signals once varies. However, the emission times of the positioning optical signal emission devices in the positioning space are not overlapped, so that mutual interference is avoided.
The positioning optical signal transmitting method of the present invention may be implemented as a positioning optical signal transmitting system, and the positioning optical signal transmitting method of the present invention is described in detail below in connection with the positioning optical signal transmitting system. Fig. 2 shows a schematic block diagram of the structure of a positioning optical signal transmission system 200 according to an embodiment of the invention.
As shown in fig. 2, the positioning optical signal transmitting system 200 of the present invention may include n positioning optical signal transmitting devices (2-1, 2-2 … 2-n in the figure, n is a natural number greater than or equal to m).
The n positioning optical signal emitting devices are respectively arranged at preset positions of the m sub-positioning spaces, so that the positioning optical signal emitting devices are arranged in each sub-positioning space. Each positioning optical signal transmitting device sequentially transmits positioning optical signals to the sub-positioning space where the positioning optical signal transmitting devices are located, wherein the transmitting time of the n positioning optical signal transmitting devices for transmitting the positioning optical signals is not overlapped with each other, and one or more positioning optical signal transmitting devices in the same sub-positioning space sequentially and circularly transmit the positioning optical signals at the same first time interval.
The m light-emitting periods constitute one subspace cycle period in which one positioning light signal emitting device emits positioning light signals, the m light-emitting periods in each subspace cycle period being allocated to the m subspaces in a first predetermined order, and for each subspace, the plurality of light-emitting periods allocated thereto in successive subspace cycle periods being allocated to one or more positioning light signal emitting devices provided in the subspace in a second predetermined order.
The positioning light signal transmitting devices in the same number can be arranged in each sub-positioning space, each positioning light signal transmitting device in the whole positioning space can emit light in the same period, and only one positioning light signal transmitting device transmits positioning signals in one light emitting period, so that the positioning light signal transmitting device can be ensured to transmit positioning signals in the whole positioning space at a certain moment. And all positioning optical signal transmitting devices in each sub-positioning space can complete one positioning optical signal transmission in one same period. The entire positioning space here may be an adjacent positioning space where interference occurs. For example, when expanding into a large number of subspaces, the light emission patterns of two subspaces that are far apart may be the same.
Taking the example of dividing the whole positioning space into m sub-positioning spaces as an illustration, only one positioning light signal transmitting device is preset in each sub-positioning space, each positioning light signal transmitting device works in one light-emitting period respectively, and m light-emitting periods form a sub-space circulation period. In one subspace cycle period, the positioning light signal transmitting device in each subspace of the whole positioning space can sequentially complete the transmission of the positioning light signals once according to the first preset sequence. The positioning light signal transmitting means in each of the entire positioning space may sequentially transmit the positioning light signals in a first predetermined order in successive plural subspace cycle periods.
When there are a plurality of the same number of positioning light signal emitting devices in each of the sub-positioning spaces, for each of the sub-positioning spaces, a plurality of light emitting periods to which a plurality of consecutive sub-space cycle periods are allocated in a first predetermined order are allocated in a second predetermined order to the plurality of positioning light signal emitting devices provided in the sub-positioning space. The positioning optical signal transmitting devices in the whole positioning space can work orderly without mutual interference.
Taking the example shown in fig. 3 as an illustration, the positioning space is divided into two subspaces a and B (in this case, the number of the subspaces m=2 in the positioning space), each of the subspaces has 4 positioning light signal emitting devices, and the total of 8 positioning light signal emitting devices (in this case, the number of the positioning light signal emitting devices n=8 in the positioning space) are preset at predetermined positions of each of the subspaces and numbered in a certain order. The time required for the positioning optical signal transmitting device in the positioning space to complete one-time positioning optical signal transmission is called a period T, and the period T is equally divided into 8 uniform time periods T1, T2, T3, T4, T5, T6, T7 and T8, wherein the length of each time period is the same as one light-emitting period. Wherein, T1 and T2 form a subspace cycle period, and in the T1 time period, the No. 1 positioning light signal transmitting device in the a subspace transmits positioning light signals, and in the T2 time period, the No. 2 positioning light signal transmitting device in the B subspace transmits positioning light signals, i.e. 2 light emitting periods in the subspace cycle period are allocated to the a subspace and the B subspace in the order of A, B, A, B … … (first predetermined order). For the a-subspace, 4 consecutive subspace cycle periods are allocated for 4 light-emitting periods thereof, and 4 positioning light signal transmitting devices disposed in the a-subspace are allocated in a second predetermined order (i.e., the light-emitting periods of T1, T3, T5, T7 are allocated in the numbered order of 1, 3, 5, 7). Likewise, for the B subspace, 4 consecutive subspace cycle periods are allocated 4 light emission periods therefor, and 4 positioning light signal emission devices (as shown in fig. 4) disposed in the B subspace are allocated in a second predetermined order (i.e., the light emission periods of T2, T4, T6, T8 are allocated in the numbered order of 2, 4, 6, 8). The total time for all the positioning light signal emitting devices in the positioning space to complete one-time light emitting operation is T, and the time length of T can be changed according to actual conditions.
In this way, the positioning light beam emitting devices in the sub-positioning spaces a or B can emit the positioning light signals at the same time interval, so that the received positioning light signals are also substantially the same time interval.
As shown in fig. 5, the horizontal axis represents time, the vertical axis represents position coordinates of the positioning element, and the black curve is assumed to be a motion track of the positioning element, and the point on the horizontal axis represents a time point when the application software reads the positioning result. In the operation mode shown in fig. 3 and 4, the positioning element performs positioning calculation in the a sub-positioning space at several time points corresponding to T1, T3, T5, T7, T9, T11, T13, T15, respectively, and performs positioning calculation in the B sub-positioning space at several time points corresponding to T2, T4, T6, T8, T10, T12, T14, T16, respectively. Fig. 5 is a drawing taking as an example the case of the positioning member in the sub-positioning space a. The four towers in the sub-positioning space a sweep the positioning light signals at T1, T3, T5, T9, T11, T13, T15 in turn, so there are valid positioning calculation results at time points 1, 3, 5, 7, 9, 11, 13, 15 corresponding to T1, T3, T5, T9, T11, T13, T15 in fig. 5. The actual motion trace of the positioning piece is shown in a black curve in fig. 5. The positioning calculation result is shown as a black vertical line (the black vertical line height represents the position data). The application software will periodically (e.g., between time points 1, 3, between time points 3, 5, between time points 5, 7, between time points 7, 9, between time points 9, 11, between time points 11, 13, between time points 13, 15, after time point 15) the latest positioning calculation result of the positioning element, i.e. the value indicated by the broken line in fig. 5. And connecting all the broken line vertexes (the broken line height represents the acquired position data), so that a gray track can be obtained, wherein the gray track is the moving track of the positioning piece acquired by the application program. Thus, as shown by the dashed lines in fig. 5, the trajectory thereof is both smooth and accurate.
Thus, the plurality of positioning results obtained by performing positioning calculation based on the positioning light signals are smooth. There may be a short interval between each lighting cycle in the positioning space, during which time no positioning light signal emitting device is operating in the entire positioning space, so as to avoid possible interference of continuous operation of the positioning light signal emitting device. The interval is not particularly limited, and can be shorter or longer, but is not longer than the light-emitting period as much as possible, so that the positioning inaccuracy caused by insufficient positioning information due to the fact that no positioning light signal emitting device emits positioning signals for a long time is avoided.
The number of positioning light signal emitting devices provided in each sub-positioning space in the entire positioning space may be different. For example, according to the number of times that the object to be positioned enters each sub-positioning space, a smaller number of positioning signal transmitting devices are arranged in the sub-positioning space with a smaller number of times that the object to be positioned enters, and a larger number of positioning signal transmitting devices are arranged in the sub-positioning space with a larger number of times that the object to be positioned enters, so as to meet different requirements of different sub-positioning spaces. Thus, a plurality of subspace cycle periods may still be allocated for each of the subspaces in the positioning space in a first predetermined order, and a lighting period may be allocated for each of the positioning signal emitting devices in the subspaces in a second predetermined order. In this way, the period required by the positioning optical signal transmitting device in each sub-positioning space to complete one-time positioning optical signal transmission may be different, but the positioning optical signal transmitting devices in the whole positioning space transmit positioning signals at the same time interval, so that the purpose of the invention can be still realized, and the positioning result is smooth and accurate.
In practical application, the positioning space of the invention can be expanded, so that the scheme of the invention is applicable to a larger positioning space. For example, one sub-positioning space group may be constituted by m sub-positioning spaces, the positioning space may include k sub-positioning space groups, n positioning light signal transmitting devices may be arranged in each sub-positioning space group in the same manner (in this case, there are m×k sub-positioning spaces in the positioning space, n×k positioning light signal transmitting devices are provided at predetermined positions in the positioning space), and the positioning light signal transmitting devices in each sub-positioning space group perform the transmission and positioning of the positioning light signal in the same manner as described above, and the positioning light signal transmitting devices at the same positions of different sub-positioning space groups may transmit the positioning light signal at the same time. In this way, the plurality of sub-positioning space groups can work simultaneously, the emission time of the n positioning light signal emission devices in each sub-positioning space group is not overlapped, and one or more positioning light signal emission devices in the same sub-positioning space sequentially and circularly emit positioning light signals at the same first time interval, so that the expandable laser indoor positioning is realized.
Specifically, m light-emitting periods constitute one subspace cycle period in which one positioning light signal is emitted by one positioning light signal emitting device, the m light-emitting periods in each subspace cycle period being allocated to m subspace spaces in a first predetermined order, and for each subspace space, a plurality of light-emitting periods allocated thereto in a plurality of subspace cycle periods in succession being allocated to one or more positioning light signal emitting devices provided in the subspace space in a second predetermined order.
For example, in the example given in fig. 3 (only one group of sub-positioning spaces is shown in the figure), the positioning space may include k groups of sub-positioning spaces, one group of sub-positioning spaces includes m=2 sub-positioning spaces, and 4 positioning light signal emitting devices are provided per sub-positioning space, so that n=8 (in this case, the positioning space includes 2×k sub-positioning spaces and 8×k positioning light signal emitting devices are provided). Thus, two light-emitting periods form a subspace cycle period, and each subspace cycle period, one positioning light signal emitting device in each of the two subspace positioning spaces sequentially emits light. After 4 subspace cycle periods, all positioning light signal emitting devices in each subspace complete one-time light emitting operation, namely all positioning light signal emitting devices in each subspace group complete one-time light emitting operation. Each sub-positioning space group completes the lighting operation in the same way, and the extensible positioning is realized.
If the numbers of the positioning optical signal emitting devices in the two sub-positioning spaces are different, namely n1 and n2, and n1 is not equal to n2, then the two sub-positioning spaces respectively pass through n1 and n2 sub-space cycle periods, and all the positioning optical signal emitting devices in the two sub-positioning spaces finish one-time light emitting operation.
In addition, a clock may be provided in the positioning space, and a time for transmitting the positioning light signal may be preset for the positioning light signal transmitting device at a predetermined position in the positioning space, so that each positioning light signal transmitting device may transmit the positioning light signal at a predetermined time. For example, after setting the operation sequence and the light emission period of the positioning light signal emitting device, the set clock may send a preparation signal to the next positioning light signal emitting device at the timing of the rising edge of the previous positioning light signal emitting device starting to emit the positioning light signal pulse so that it is ready, and start to emit the positioning light signal at the falling edge of the previous positioning light signal emitting device emitting the positioning light signal pulse. In this way, the positioning light signal transmitting devices at predetermined positions in the entire positioning space sequentially and circularly transmit the positioning light signals at predetermined times in a predetermined order, and the positioning light signal transmitting system 200 can uniformly and stably transmit the positioning light signals.
Specifically, each positioning light signal emitting device may emit a positioning light signal in a scanning manner, and may scan the positioning light signal to a sub-positioning space where the positioning light signal emitting device is located according to a predetermined scanning period and a predetermined angular velocity, the positioning light signal scanned by the positioning light signal emitting device may have a linear cross section and rotate around a scanning rotation axis, and the scanning rotation axis may not be perpendicular to an extending direction of the linear cross section.
The positioning optical signal transmitting device can scan the positioning optical signal to the sub-positioning space where the positioning optical signal transmitting device is located in various modes. For example, the positioning optical signal transmitting device can scan the positioning optical signal to the sub-positioning space where the positioning optical signal transmitting device is located in a plurality of modes such as motor rotation scanning, MEMS scanning mirror scanning and single-mode optical fiber shaking scanning. Of course, other implementations are possible for those skilled in the art, and will not be described here.
The predetermined sweep period may or may not correspond to the predetermined angular velocity (ω). For example, when the positioning light signal emitting device makes a uniform circumferential rotation about the sweep axis, the sweep period can be considered to correspond to a predetermined angular velocity, where there is t=2pi/ω. On the other hand, in some cases, the positioning light signal emitting device only needs to rotate less than one revolution, for example, about one quarter revolution, i.e., about 90 °, so that the positioning light signal can completely scan the sub-positioning space. In this way, the rotational speed may be different when the positioning light signal scans the sub-positioning space and when it does not. Alternatively, the positioning light signal emitting device may be arranged such that the scanning light signal is reciprocally scanned in the sub-positioning space. In these cases, T+.2pi/. Omega. The predetermined sweep period may be the same as or longer than the light emission period of the positioning light signal emitting device.
In addition, the positioning optical signal transmitting system 200 may further include a controller (not shown in the drawings), which is connected to the plurality of positioning optical signal transmitting devices, respectively, for controlling the transmission times of the n positioning optical signal transmitting devices for transmitting the positioning optical signals. Therefore, the free control of the emission time of the positioning optical signal can be realized, so that corresponding coping strategies can be made in time according to the actual use condition of the positioning optical signal emitting device. For example, if a positioning light signal transmitting device in a certain sub-positioning space fails during actual use, no positioning light signal is transmitted by the positioning light signal transmitting device at the time of the lighting period of the positioning light signal transmitting device, which may cause disturbance of subsequent positioning data. At this time, the user can adjust the emission time of the positioning optical signal emitting device in the positioning space through the controller in time so as to solve the problems, and larger loss is avoided.
The controller may also be used to control the sweep pattern of a plurality of localized light signal emitting devices. For example, the controller can control the frequency or amplitude of the positioning light signal emitted by the positioning light signal emitting device, the scanning period and the like, so as to realize comprehensive and complete scanning of the sub-positioning space where the object to be positioned is located, and provide more accurate positioning data information for the position of the object to be positioned.
The positioning optical signal transmitting system and the positioning optical signal transmitting method according to the present invention have been described in detail above. Based on the positioning light beam emission system and the positioning light beam emission method, the invention further provides a positioning system. Fig. 6 shows a schematic block diagram of a positioning system 400.
As shown in fig. 6, the positioning system 400 of the present invention may include the positioning optical signal transmission system 200 and the optical signal receiver 420 described above.
The positioning optical signal transmitting system 200 may be referred to in the related description of fig. 2-3, and will not be described herein.
The optical signal receiver 420 is fixed on the outer surface of the object to be positioned, and is used for receiving the positioning optical signal. The optical signal receiver 420 may have one or more and is fixed in relative position. The estimated position of the positioning optical signal transmitting device transmitting the positioning optical signal can be determined according to the time difference of receiving the positioning optical signal by the optical signal receiver 420 or the relative position relationship between the optical signal receivers 420, and then the relative position of the estimated position and the object to be positioned is judged, so that the position of the object to be positioned is simply judged.
The positioning optical signal transmitting system 200 is connected to the optical signal receiver 420 in various manners, including direct or indirect, wired or wireless manners. The specific connection mode does not need to be required, and corresponding connection can be made according to experience or actual conditions.
The positioning system 400 may also include a processor 430. The processor 430 is connected to the optical signal receiver 420 (for example, may be directly or indirectly connected, may be wired or wireless, etc., and may also be connected to a positioning optical signal transmitting system, the connection mode is not particularly limited), and the position of the object to be positioned may be determined based on the positioning optical signal received by the optical signal receiver 420. The processor 430 may also determine the location of the object to be located based on other location data, such as estimating the time of emission of the locating light signal and its source based on the time of receipt of the locating light signal, or the relative position of the light signal receiver 420, etc.
The processor 430 may perform a positioning calculation based on the last received positioning light signal of the light signal receiver 420 at the same second time interval to determine the position of the object to be positioned in the positioning space. That is, the time point when the processor 430 performs the positioning calculation is before the time point when the positioning light signal is transmitted by the positioning light signal transmitting device of the previous time in the positioning space, that is, before the time point when the positioning light signal is transmitted by the positioning light signal transmitting device of the next time, that is, between the time points when the positioning light signal transmitting devices continuously transmit the positioning light signals. The time point at which the positioning calculation is performed may be close to the time point at which the positioning light signal was previously transmitted, or may be close to the time point at which the positioning light signal was previously transmitted, and the time point at which the positioning calculation is specifically performed is not limited. In this way, the processor 430 can settle the positioning optical signals received by the optical signal receiver 420 at the same second time interval, so as to obtain a smooth and accurate positioning result.
Preferably, the second time interval may be equal to the first time interval. In this way, after determining the time of performing the positioning calculation for the first time, the processor 430 can perform the positioning calculation with the first time interval as the second time interval for performing the positioning calculation for the subsequent positioning optical signals, without setting again, and the processor 430 can sequentially and circularly perform the positioning calculation, and obtain a smoother positioning result, so that the positioning result used by the subsequent application software is more accurate.
Taking the example shown in fig. 3 as an illustration, the positioning space is divided into two subspaces a and B (in this case, the number of the subspaces m=2 in the positioning space), each of the subspaces has 4 positioning light signal emitting devices, and the total of 8 positioning light signal emitting devices (in this case, the number of the positioning light signal emitting devices n=8 in the positioning space) are preset at predetermined positions of each of the subspaces and numbered in a certain order. The time required for the positioning optical signal transmitting device in the positioning space to complete one-time positioning optical signal transmission is called a period T, and the period T is equally divided into 8 uniform time periods T1, T2, T3, T4, T5, T6, T7 and T8, wherein the length of each time period is the same as one light-emitting period. Wherein, T1 and T2 form a subspace cycle period, and in the T1 time period, the No. 1 positioning light signal transmitting device in the a subspace transmits positioning light signals, and in the T2 time period, the No. 2 positioning light signal transmitting device in the B subspace transmits positioning light signals, i.e. 2 light emitting periods in the subspace cycle period are allocated to the a subspace and the B subspace in the order of A, B, A, B … … (first predetermined order). For the a-subspace, 4 consecutive subspace cycle periods are allocated for 4 light-emitting periods thereof, and 4 positioning light signal transmitting devices disposed in the a-subspace are allocated in a second predetermined order (i.e., the light-emitting periods of T1, T3, T5, T7 are allocated in the numbered order of 1, 3, 5, 7). Likewise, for the B subspace, 4 consecutive subspace cycle periods are allocated 4 light emission periods therefor, and 4 positioning light signal emission devices (as shown in fig. 4) disposed in the B subspace are allocated in a second predetermined order (i.e., the light emission periods of T2, T4, T6, T8 are allocated in the numbered order of 2, 4, 6, 8). In this way, the positioning light beam emitting devices in the sub-positioning spaces a or B can emit the positioning light signals at the same time interval, so that the received positioning light signals are also substantially the same time interval.
As shown in fig. 5, the horizontal axis represents time, the vertical axis represents position coordinates of the positioning element, and the black curve is assumed to be a motion track of the positioning element, and the point on the horizontal axis represents a time point when the application software reads the positioning result. In the operation mode shown in fig. 3 and 4, the positioning element performs positioning calculation in the a-sub positioning space at time points corresponding to the time periods T1, T3, T5, T7, T9, T11, T13, T15, respectively, and performs positioning calculation in the B-sub positioning space at time points corresponding to the time periods T2, T4, T6, T8, T10, T12, T14, T16, respectively. Fig. 5 is a drawing taking as an example the case of the positioning member in the sub-positioning space a. The four towers in the sub-positioning space a sweep the positioning light signals at T1, T3, T5, T9, T11, T13, T15 in turn, so there are valid positioning calculation results at time points 1, 3, 5, 7, 9, 11, 13, 15 corresponding to T1, T3, T5, T9, T11, T13, T15 in fig. 5. The actual motion trace of the positioning piece is shown in a black curve in fig. 5. The positioning calculation result is shown as a black vertical line (the black vertical line height represents the position data). The application software will periodically (e.g., between time points 1, 3, between time points 3, 5, between time points 5, 7, between time points 7, 9, between time points 9, 11, between time points 11, 13, between time points 13, 15, after time point 15) the latest positioning calculation result of the positioning element, i.e. the value indicated by the broken line in fig. 5. And connecting all the broken line vertexes (the broken line height represents the acquired position data), so that a gray track can be obtained, wherein the gray track is the moving track of the positioning piece acquired by the application program. Thus, as shown by the dashed lines in fig. 5, the trajectory thereof is both smooth and accurate.
Of course, the second time interval and the first time interval may not be equal. For example, if the object to be positioned is only in one of the sub-positioning spaces within a certain period of time, the positioning light signals emitted by the positioning light signal emitting devices of the other sub-positioning spaces may not be calculated, and then the second time interval may be appropriately adjusted in real time, so that the processor 430 can perform the positioning calculation on the positioning light signal in the sub-positioning space received by the light signal receiver 420 last time at the appropriate second time interval. The second time interval is not particularly limited as long as the function of the processor 430 of the present invention can be implemented.
Preferably, the processor 430 adjusts the time point at which the positioning calculation is performed such that the interval between the time point at which the positioning calculation is performed and the time point at which the positioning light signal was last received is less than a predetermined time interval in response to determining that the object to be positioned enters one of the sub-positioning spaces.
The processor 430 may be configured to determine whether the object to be positioned enters a sub-positioning space, for example, the processor 430 may determine that the object to be positioned enters the sub-positioning space a from the outside, or determine that the object to be positioned enters the sub-positioning space a from the sub-positioning space B, or the like. Thus, the processor 430 can adjust the time point of performing the positioning calculation based on the preset position or number of the positioning optical signal transmitting devices in the sub-positioning space where the object to be positioned is located, for example, only calculate the optical signals transmitted by the positioning optical signal transmitting devices and received by the optical receiver in the sub-positioning space. Thus, the optical signals in the sub-positioning space without the object to be positioned are not calculated, unnecessary calculation steps are reduced, unnecessary use of the processor 430 is reduced or avoided, and the service life of the processor 430 is prolonged.
The predetermined time interval may be the same as the length of the light emitting period or shorter than the length of the light emitting period. The interval between the time point of the processor executing the positioning calculation and the time point of the last time of receiving the positioning optical signal is smaller than a preset time interval, so that the latest positioning optical signal is calculated when the processor executing the positioning calculation, and the latest positioning result is obtained.
The processor 430 may be fixed to the object to be positioned, or may be fixed at other positions independently of the object to be positioned. The processor 430 may receive the positioning light signals received by the light signal receiver 420. When the object to be positioned moves in the plurality of sub-positioning spaces, the processor 430 can identify the corresponding positioning optical signal emitting device based on the positioning optical signals received by the optical signal receivers on the object to be positioned, so that the position of the object to be positioned can be determined according to the time, the angular velocity, the relative spatial position relationship and the determined preset position of the positioning optical signal emitting device when the plurality of optical signal receivers respectively receive the positioning optical signals in one scanning period. The time when the light beam receiver receives the positioning light signal may be recorded by the light signal receiver or may be recorded by the processor 430 (i.e. when the processor 430 receives the positioning light signal received by the light signal receiver in real time, the processor 430 may record the time when the light beam receiver obtains the positioning light signal as the time when the light signal receiver receives the positioning light signal)
The positioning system may further comprise a memory (not shown in the figures) for storing relevant positioning data, which may comprise the positioning light signals received by the light signal receiver 420, the time of the positioning light signals, etc.
Thus far, the positioning system according to the invention has been described in detail, wherein the processor may also perform other functions not mentioned in the present invention.
The positioning optical signal transmitting system, method and positioning system according to the present invention have been described in detail above with reference to the accompanying drawings. Based on the above description, compared with the existing laser positioning technology, the positioning optical signal transmitting system, the positioning optical signal transmitting method and the positioning system of the invention also provide smoother and more accurate positioning process and the possibility of infinitely expanding the positioning space under the condition of keeping the advantages of high positioning precision, small time delay and the like of laser positioning.
The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (8)
1. A positioning light signal transmitting system for transmitting positioning light signals to a positioning space, the positioning space comprising m sub-positioning spaces, m being a natural number greater than 1, the system comprising:
n positioning optical signal emitting devices respectively arranged at preset positions in the m sub-positioning spaces and used for emitting positioning optical signals to the sub-positioning space where the positioning optical signal emitting devices are positioned, wherein one or more positioning optical signal emitting devices are arranged in each sub-positioning space, n is a natural number which is greater than or equal to m,
wherein the emission time of the n positioning optical signal emission devices is not overlapped, and the one or more positioning optical signal emission devices in the same sub-positioning space sequentially and circularly emit positioning optical signals at the same first time interval,
wherein m light emitting periods constitute one subspace cycle period, one of the positioning light signal emitting devices emits positioning light signals in one light emitting period,
the m light emitting periods in each subspace cycle are allocated to the m subspaces in a first predetermined order, which is set based on the number or arrangement positions of the m subspaces,
For each sub-positioning space, a plurality of light emitting periods allocated thereto in a plurality of consecutive sub-space cycle periods are allocated to one or more positioning light signal emitting devices provided in the sub-positioning space in a second predetermined order.
2. The positioning light signal transmitting system as claimed in claim 1, wherein,
the m positioning space groups form a positioning space group, the positioning space comprises a plurality of positioning space groups, and the n positioning light signal emitting devices are configured in each positioning space group in the same mode.
3. A positioning optical signal transmitting method for transmitting positioning optical signals to a positioning space, the positioning space including m sub-positioning spaces, n positioning optical signal transmitting devices being respectively disposed at predetermined positions in the m sub-positioning spaces, m being a natural number greater than 1, n being a natural number greater than or equal to m, the method comprising:
each positioning optical signal transmitting device transmits positioning optical signals to the sub-positioning space where the positioning optical signal transmitting device is positioned in sequence,
wherein the n positioning optical signal emitting devices emit positioning optical signals at different emission times, and the one or more positioning optical signal emitting devices in the same sub-positioning space sequentially and circularly emit positioning optical signals at the same first time interval,
Wherein m light emitting periods constitute one subspace cycle period, one of the positioning light signal emitting devices emits positioning light signals in one light emitting period,
the m light emitting periods in each subspace cycle are allocated to the m subspaces in a first predetermined order, which is set based on the number or arrangement positions of the m subspaces,
for each sub-positioning space, a plurality of light emitting periods allocated thereto in a plurality of consecutive sub-space cycle periods are allocated to one or more positioning light signal emitting devices provided in the sub-positioning space in a second predetermined order.
4. A positioning system for positioning an object to be positioned in a positioning space, the positioning space comprising m sub-positioning spaces, the system comprising:
the positioning optical signal transmission system of any one of claims 1-2; and
and the optical signal receiver is fixed on the outer surface of the object to be positioned and is used for receiving the positioning optical signal.
5. The positioning system of claim 4, further comprising:
and the processor is connected to the optical signal receiver and used for determining the position of the object to be positioned based on the positioning optical signal received by the optical signal receiver.
6. The positioning system of claim 5, wherein,
the processor performs a positioning calculation based on the positioning light signal received by the light signal receiver last time at the same second time interval to determine a position of the object to be positioned in the positioning space.
7. The positioning system of claim 6, wherein,
the second time interval is equal to the first time interval.
8. Positioning system according to any of the claims 4-7, wherein,
the processor adjusts the time point of performing the positioning calculation so that the interval between the time point of performing the positioning calculation and the time point of last receiving the positioning light signal is smaller than a predetermined time interval in response to determining that the object to be positioned enters a sub-positioning space.
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| CN107610173B (en) * | 2017-08-11 | 2021-04-02 | 北京圣威特科技有限公司 | Real-time positioning method and device |
| CN109541700A (en) * | 2018-10-25 | 2019-03-29 | 深圳市华讯方舟太赫兹科技有限公司 | Safety check instrument system, millimeter wave transceiving module and its millimeter-wave signal generate component |
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