CN106546950A - A kind of locating base station - Google Patents

A kind of locating base station Download PDF

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Publication number
CN106546950A
CN106546950A CN201610944492.9A CN201610944492A CN106546950A CN 106546950 A CN106546950 A CN 106546950A CN 201610944492 A CN201610944492 A CN 201610944492A CN 106546950 A CN106546950 A CN 106546950A
Authority
CN
China
Prior art keywords
laser scanner
laser
base station
signal
locating base
Prior art date
Application number
CN201610944492.9A
Other languages
Chinese (zh)
Inventor
冯州
张超
李小虎
Original Assignee
成都理想境界科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 成都理想境界科技有限公司 filed Critical 成都理想境界科技有限公司
Priority to CN201610522023.8A priority Critical patent/CN105974359B/en
Priority to CN201610944492.9A priority patent/CN106546950A/en
Publication of CN106546950A publication Critical patent/CN106546950A/en

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
    • G01S3/782Systems for determining direction or deviation from predetermined direction
    • G01S3/789Systems for determining direction or deviation from predetermined direction using rotating or oscillating beam systems, e.g. using mirrors, prisms
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/30Determining absolute distances from a plurality of spaced points of known location

Abstract

The invention discloses a kind of locating base station, including:Base;Rotary shaft, is arranged on the base;First laser scanner, is arranged at the first position of the rotary shaft;Second laser scanner, it is arranged at the second place of the rotary shaft, the second place is differed with the first position, corresponding first plane of scanning motion of first laser scanner and the scanning of the second laser scanner corresponding second plane of scanning motion can be intersected in alignment in space during same point, and the second scan line that the first scan line for sending of the first laser scanner and the second laser scanner send is not orthogonal to the rotary shaft.Technical scheme in the embodiment of the present invention make use of light along the characteristic of straightline propagation, and as the precision of laser scanning positioning is in grade, and locating speed is in Millisecond, so locating speed is very fast, it is achieved that technique effect that is quick and accurately determining direction.

Description

A kind of locating base station

The application is divisional application, and applying date of original application is on June 30th, 2016, Application No. 201610522023.8, invention and created name is " a kind of location equipment, locating base station, space positioning system and method ".

Technical field

The present invention relates to space orientation field, more particularly to a kind of locating base station.

Background technology

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

At present, indoors, the specific space such as basement, is positioned typically by wireless location technology, specifically Wireless aps (the English according to known to equipment receives multiple positions:Access Point;Chinese:Access point, be otherwise known as heat Point) signal strength signal intensity, then estimate distance of the mobile device apart from each AP using signal attenuation model, finally using triangle Location algorithm determines the position that the equipment is located.But, the precision that wireless location technology is provided is still in meter level, it is impossible to meet People are to the higher and higher requirement of spatial positioning accuracy.

How quick with becoming increasingly prosperous for field of virtual reality, virtual game starts to occur, therefore and accurately determine Direction, becomes one of problem demanding prompt solution.

The content of the invention

It is an object of the invention to provide a kind of locating base station, with quick and accurately determine direction.

In order to realize foregoing invention purpose, the embodiment of the present invention provides a kind of locating base station, including:

Base;

Rotary shaft, is arranged on the base;

First laser scanner, is arranged at the first position of the rotary shaft;

Second laser scanner, is arranged at the second place of the rotary shaft, the second place and the first position Differ, corresponding first plane of scanning motion of first laser scanner and the second laser scanner corresponding second are scanned Flat scanning can intersect during same point in space it is in alignment, and the first laser scanner send first scanning The second scan line that line and the second laser scanner send is not orthogonal to the rotary shaft.

Alternatively, the wavelength of the laser scanning signal that the first laser scanner sends be first wave length, described second The wavelength of the laser scanning signal that laser scanner sends is second wave length, the first wave length and the second wave length not phase Together.

Alternatively, the light source of the first laser scanner and the second laser scanner is same LASER Light Source, The laser that the LASER Light Source is generated is swept to the first laser scanner and the second laser by beam splitting by light-dividing device Retouch device.

Alternatively, the locating base station also includes sychronisation, and the sychronisation is arranged on the base, described same Step device is used to send synchronizing signal.

Alternatively, the sychronisation is specially LED array and/or radio-frequency signal generator.

Alternatively, the locating base station also includes positioner for rotation shaft, and the positioner for rotation shaft is set for detecting The turned position of the rotary shaft.

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

Technical scheme in the embodiment of the present invention make use of light along the characteristic of straightline propagation, according to laser scanning signal come really Determine direction of the location equipment relative to locating base station such that it is able to determine direction of the location equipment relative to locating base station, due to The precision of laser scanning positioning is in grade, and locating speed is in Millisecond, so locating speed is very fast, it is achieved that soon Speed and the accurately technique effect in determination direction.

Description of the drawings

In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also To obtain other accompanying drawings according to these accompanying drawings:

Fig. 1 is the module map of space positioning system provided in an embodiment of the present invention;

Fig. 2 is the front view of location equipment provided in an embodiment of the present invention 10;

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

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

Fig. 5 is the circuit diagram of location equipment provided in an embodiment of the present invention 10;

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

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

Specific embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made Embodiment, belongs to the scope of protection of the invention.

A kind of space positioning system is present embodiments provided, Fig. 1 is refer to, Fig. 1 is space provided in an embodiment of the present invention The module map of alignment system, as shown in figure 1, the space positioning system includes location equipment 10, locating base station 20 and data processing Equipment 30, the laser scanning signal that data processing equipment 30 can be sent according to locating base station 20, determines that location equipment 10 is relative In the direction of locating base station 20, and the ultrasonic signal sent according to locating base station 20, determine location equipment 10 relative to positioning The distance of base station 20, so that it is determined that the position in space of location equipment 10.

As can be seen that the technical scheme in the present embodiment make use of light along the characteristic of straightline propagation, believed according to laser scanning Number determining direction of the location equipment 10 relative to locating base station 20, and the principle of ultrasonic ranging is make use of, according to positioning base Stand 20 ultrasonic signals for sending, determine distance of the location equipment 10 relative to locating base station 20 such that it is able to it is determined that positioning sets Standby 10, in the position in space, as the precision of laser scanning positioning and the precision of ultrasonic ranging are all in grade, and position Speed is all in Millisecond, so locating speed is very fast, it is achieved that quick and accurately realize sterically defined technique effect.

In ensuing part, above-mentioned technical proposal is will be described in detail.

Fig. 2 is refer to, Fig. 2 is the front view of location equipment provided in an embodiment of the present invention 10, as shown in Fig. 2 positioning sets Standby 10 include:

Housing 101;

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

Ultrasonic receiver 103, is arranged on housing 101, position and the light sensor 102 of ultrasonic receiver 103 Position differ, in the present embodiment, ultrasonic receiver 103 101 surface of housing reception window for circle.

In specific implementation process, as shown in Fig. 2 housing 101 is specially spherical shell.Certainly, in other embodiments, Housing 101 could be arranged to the housing of cubic shaped, the housing of ellipsoid shape, the shell of centrum shape according to actual conditions Body etc., to meet the needs of actual conditions, here is just repeated no more.

In specific implementation process, refer to Fig. 3, the orientation range of the location equipment that Fig. 3 is provided for the present embodiment shows It is intended to, as shown in figure 3, in the present embodiment, the orientation range of location equipment is A, and such as A can be 300 °;

The beam reception scope of each light sensor 102 is set as B, such as B can be 25 ° or 30 ° etc., housing At least provided with M light sensor 102 on 101, M is that A/B is rounded up to be obtained;

Specifically, the beam reception of light sensor 102 may range from the twice of beam half angle (half angle), Specially one cone shape, so, in order to ensure that light sensor 102 can be collected in the orientation range A of location equipment All of laser scanning signal, it is therefore desirable at least provided with M light sensor on housing 101, M are that A/B is carried out upwards Round and obtain, for example, in the present embodiment, M is 12, in another embodiment, if A is 300 °, B is 35 °, then M is right (300 °/35 °=8.5714) are rounded up and are 9, and here is just repeated no more.

It should be noted that the quantity of light sensor 102 is also had with the laser scanning signal that sends in locating base station 20 Close, specifically, if the laser scanning signal sent in locating base station 20 only includes the signal of 1 wavelength, light sensor 102 Quantity be at least M, if the laser scanning signal sent in locating base station 20 only includes the signal of 2 wavelength, photosensitive biography The quantity of sensor 102 is at least 2M.

Beam angle (the total beam angle) range of receiving of each ultrasonic receiver 103 is set as C, such as C Can be 40 ° or 50 ° etc., at least provided with N number of light sensor 102 on housing 101, N be A/C is rounded up and Obtain.The quantity of ultrasonic receiver 103 arranges consistent with the principle of light sensor 102, and here is just repeated no more.

Of course, in another embodiment, in order to guarantee accurately to receive the laser scanning of the transmission of locating base station 20 Signal and ultrasonic signal, can arrange more light sensors and supersonic sensing on the housing 101 of location equipment 10 Device, here are not limited.

In the present embodiment, in order to guarantee accurately to receive the laser scanning signal and ultrasound of the transmission of locating base station 20 Ripple signal, as shown in Fig. 2 the receiving plane of the receiving plane of M light sensor 102 and N number of ultrasonic receiver 103 is uniformly distributed On housing 101.

Certainly, in another embodiment, the technical staff belonging to this area can suitably adjust M according to actual conditions The position of the receiving plane of the receiving plane of individual light sensor 102 and N number of ultrasonic receiver 103 so that M light sensor The receiving plane of 102 receiving plane and N number of ultrasonic receiver 103 is non-uniformly distributed on housing 101, to meet actual conditions Demand, for example position in location equipment 10 and more light sensor 102 and ultrasonic wave are set in the range of frequently receive Device 103, and less light sensor 102 and ultrasonic receiver 103, etc. are set in less scope positioning, here Just it is not limited.

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

Refer to Fig. 4, the internal structure schematic diagram of the location equipment 10 that Fig. 4 is provided for the present embodiment, as shown in figure 4, fixed Cylinder inside the housing 101 of position equipment 10 is light sensor 102 or ultrasonic receiver 103, certainly, light sensor 102 ultrasonic receivers 103 also need to the process chip that inside is connected to by certain circuit, and here is just repeated no more.

As before, if the laser scanning signal that locating base station 20 sends includes two wavelength, each hexagonal receiving plane The light sensor 102 of two corresponding wavelengths can be set in the hollow cylinder of place, so that the laser scanning for receiving two wavelength is believed Number, here is just repeated no more.

Fig. 5 is refer to, Fig. 5 is the circuit diagram of location equipment provided in an embodiment of the present invention 10, as shown in figure 5, M photosensitive Sensor 102 and N number of ultrasonic receiver 103 are in parallel respectively, and so, all light sensors and ultrasonic receiver are altogether only Two paths of signals process circuit is needed, laser scanning signal and ultrasonic signal are only needed to process the signal of earliest reception, electricity Road cost and processing cost are substantially reduced.

In specific implementation process, light sensor 102 is photodiode, phototriode or silicon photocell etc., Here is not limited.

In specific implementation process, location equipment 10 also includes rf signal reception device, and rf signal reception device sets It is placed in housing 101, rf signal reception device is used to receive synchronizing signal.

In specific implementation process, location equipment 10 can also include motion sensor, and motion sensor senses positioning is eventually The exercise data at end, is modified calculating using exercise data and makes up to the locus of positioning terminal.Motion sensor can Think inertial sensor (English:Inertial measurement unit;Referred to as:IMU), in acceleration transducer, gyroscope One or more.When the location equipment 10 of the present embodiment is installed in be used on other intelligent terminals, the motion sensor The motion sensor on intelligent terminal can be borrowed, here is just repeated no more.

In actual applications, location equipment 10 can be integrated on handheld device, helmet, and here is not limited.

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

Fig. 6 A and Fig. 6 B, the front view of the locating base station that Fig. 6 A are provided for the present embodiment are refer to, Fig. 6 B are the present embodiment The stereogram of the locating base station of offer, as shown in Figure 6 A and 6 B, locating base station 20 includes:

Base 201;

Rotary shaft 202, is arranged on base 201;In specific implementation process, can by one or more motor come Axle 202 is rotated to be rotated, here is not limited;

First laser scanner 203, is arranged at the first position of rotary shaft 202;

Second laser scanner 204, is arranged at the second place of rotary shaft 202, and the second place and first position differ, 203 corresponding first plane of scanning motion of first laser scanner and the scanning of 204 corresponding second plane of scanning motion of second laser scanner In alignment, and the first scan line that sends of first laser scanner 203 and described can be intersected in space during same point The second scan line that second laser scanner 204 sends is not orthogonal to the rotary shaft;

Ultrasonic transmitter 205, is arranged on base 201;In the present embodiment, ultrasonic transmitter 205 is one complete To ultrasonic transmitter,.

In the present embodiment, first laser scanner 203 can send dot laser by a laser generator, then pass through Dot laser is shaped as a wordline laser by one wordline lens such as post lens, Bao Weier prism or a wordline wave prism etc., so, The first laser plane of scanning motion is defined by a wordline laser of 203 outgoing of first laser scanner, then by rotary shaft 202 Rotation, realizes the scanning to space.In another embodiment, first laser scanner 203 can also directly pass through a wordline Laser instrument sends a wordline laser, and here is just repeated no more.

The concrete structure of second laser scanner 204 is consistent with first laser scanner 203, and here is just repeated no more.

Certainly, in another embodiment, can also be improved by more laser scanners are arranged in rotary shaft 202 The accuracy positioned by the direction of location equipment 10, but its principle will not change, and here is just repeated no more.

It should be noted that in the present embodiment, first laser scanner 203 and second laser scanner 204 are vertical Highly identical on direction, in other embodiments, first laser scanner 203 and second laser scanner 204 are in Vertical Square Height upwards can also be differed, namely first laser scanner 203 and second laser scanner 204 can be in rotary shafts In relative position one on the other on 202, here is not limited.

Fig. 7 is refer to, Fig. 7 sends the schematic diagram of laser scanning signal, such as Fig. 7 for the locating base station 20 that the present embodiment is provided It is shown, in the present embodiment, plane of 203 corresponding first plane of scanning motion 701 of first laser scanner for vertical direction, second 204 corresponding second plane of scanning motion 702 of laser scanner is in 45 ° of plane with vertical direction.

In specific implementation process, the laser scanning signal and second sent to distinguish first laser scanner 203 swashs The laser scanning signal that optical scanner 204 sends, the wavelength of the laser scanning signal that first laser scanner 203 sends is first Wavelength, the wavelength of the laser scanning signal that second laser scanner 204 sends is second wave length, and first wave length is with second wave length not It is identical.

In actual applications, for example by two laser generators, the laser of the different wave length for generating respectively, and can pass It is delivered in first laser scanner 203 and second laser scanner 204.

Certainly, in another embodiment, the light source of the first laser scanner and the second laser scanner can be with For same LASER Light Source, the laser that the LASER Light Source is generated can be sharp to first by light-dividing device such as optical splitter etc., beam splitting In optical scanner 203 and second laser scanner 204, then sent distinguishing first laser scanner 203 by way of sequential Laser scanning signal and the laser scanning signal that sends of second laser scanner 204, for example, locating base station 20 can also include Sychronisation, first sends synchronizing signal by sychronisation, further according to first laser scanner 203 and second laser scanner 204 Scanning sequency, send so as to distinguish laser scanning signal that first laser scanner 203 sends and second laser scanner 204 Laser scanning signal.

In specific implementation process, sychronisation is specifically as follows LED array and/or radio-frequency signal generator, for example, leads to Cross LED array and send synchronous optical signal, synchronous optical signal can for example be infrared signal etc., and location equipment 10 is by photosensitive After sensor 102 receives synchronous optical signal, i.e., can be using current point in time as synchronizing time point;In the same manner, radiofrequency signal is sent out After generating apparatus generate synchronous radiofrequency signal transmission, location equipment 10 receives synchronous radio frequency letter by rf signal reception device After number, it is also possible to which, using current point in time as synchronizing time point, here is just repeated no more.

It should be noted that sychronisation be LED array when, location equipment 10 can by light sensor 102 come Receive the synchronous optical signal that LED array sends, it is also possible to specially arrange extra light sensor to receive what LED array sent Synchronous optical signal, here are not limited.

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

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

When LED array transmission synchronization optical signal is used alone, can be because the light in LED array and location equipment 10 The distance between dependent sensor 102 distance, angle problem and cause the pulsewidth of light sensor 102 to change, and also meeting Clutter is produced because of ambient, is individually judged that the rising edge of synchronous optical signal easily malfunctions, cannot so be obtained accurately Synchronization point, is likely to result in error so LED array being used alone and sending synchronizing signal.

When radiofrequency signal generating means is used alone to send synchronous radiofrequency signal, because circuit characteristic can cause The time that synchronous radiofrequency signal reaches the rf signal reception device in location equipment is uncertain, there is certain time delay, so Accurate synchronization point cannot be obtained, so radiofrequency signal generating means is used alone being also possible to sending synchronous radiofrequency signal Cause error.

Therefore, it is same to send in order to avoid LED array and/or radiofrequency signal generating means are used alone in practical application Step signal is likely to result in the defect of error, and the present embodiment is by the way of both are combined, specific as follows:

When synchronization point is reached, namely when needing the moment for sending synchronizing signal to reach, locating base station 20 is simultaneously logical Cross LED array and send synchronous optical signal and the synchronous radiofrequency signal of radiofrequency signal generating means transmission, it is photosensitive in location equipment 10 When sensor 102 receives synchronous optical signal, judge whether while have received synchronous radiofrequency signal, if having received synchronous radio frequency letter Number, specifically, for example, detect whether to receive synchronous radiofrequency signal of the duration more than preset value, then show that this signal is Effectively synchronizing signal, can be using the rising edge of synchronous optical signal as synchronization point.

As can be seen that have by way of LED array sends synchronous optical signal to be accurately determined synchronous optical signal The time of reception advantage, but jitter can be caused because of practical situations or external interference, and pass through radiofrequency signal Generating means sends the mode of synchronous radiofrequency signal and has the advantages that the reliability for sending signal is high, but because of reasons such as circuit characteristics And certain time delay can be caused, after both are combined by the scheme in the present embodiment, can retain and synchronizable optical is sent by LED array The advantage of the accurate determination time of reception that the mode of signal has and synchronous radio frequency letter is sent by radiofrequency signal generating means Number the high advantage of the reliability of signal that has of mode, while avoiding by way of LED array sends synchronous optical signal The shortcoming of the jitter having, it also avoid radiofrequency signal generating means and sends the mode of synchronous radiofrequency signal with certain Time delay shortcoming.

Synchronizing signal is sent in sychronisation, after location equipment 10 receives synchronizing signal, according to the rotation of rotary shaft 202 Direction, arranges and first sends laser scanning signal by first laser scanner 203, then send laser by second laser scanner 204 Scanning signal, so, that is, can determine that the laser scanning signal that 10 first time of location equipment receives is first laser scanner 203 send, and determine that the laser scanning signal that location equipment is received for 10 second is sent for second laser scanner 204 's.

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

First, introduce the situation that positioner for rotation shaft is made up of Hall element and magnet:Magnet can be arranged on rotation Fixed position in rotating shaft 202, Hall element are arranged near the motion path of 201 upper magnet of base, so, in rotary shaft When 202 rotation, the position that magnet is located through Hall element causes the changes of magnetic field near Hall element, therefore Hall element can export a pulse signal, and the control device in locating base station 20 such as single-chip microcomputer, process chip etc. are received After the pulse signal, i.e., can control sychronisation and send synchronizing signal, and rotary shaft 202 can drive first laser scanner 203 It is scanned with second laser scanner 204, magnet again passes by Hall element place after rotary shaft 202 rotates a circle During position, i.e., Hall element output pulse signal can be triggered again, here is just repeated no more.

Certainly, in actual applications, it is also possible to after being set in the pulse signal of Hall element output preset times, for example Hall element output can be set twice after pulse signal, namely rotary shaft 202 often rotates twice, the control in locating base station 20 Device processed just exports synchronizing signal, and the concrete numerical value of preset times can be determined according to actual conditions, to meet actual conditions Need, here is just repeated no more.

Then, introduce the situation that positioner for rotation shaft is made up of laser generator and light sensor:Light sensor Can be arranged in rotary shaft 202, laser generator can be arranged on base 201, so, and light sensor is in rotary shaft Under 202 drive, light sensor when the position that laser generator is located, the laser that will be sent in laser generator Electric signal is generated under triggering, after the electric signal is positioned the reception of the control device in base station 20, i.e., sychronisation can be controlled and be sent out Go out synchronizing signal, and rotary shaft 202 can drive first laser scanner 203 and second laser scanner 204 to be scanned, it is photosensitive When sensor again passes by the position at laser generator place after rotary shaft 202 rotates a circle, i.e., photosensitive biography can be triggered again Sensor exports electric signal, and here is just repeated no more.

Certainly, in actual applications, the position of laser generator and light sensor is not limited to aforesaid way, for example can be with Laser generator is arranged in rotary shaft 202, and light sensor is arranged on base 201, or laser is occurred Device and light sensor are arranged on rotary shaft 202 or base 201 simultaneously, and the corresponding position on base 201 or rotary shaft 202 Put and stick reflecting strips or reflective mirror, or infrared integrated transceiver is arranged in rotary shaft 202 or base 201, and the bottom of at On seat 201 or rotary shaft 202, reflecting strips or reflective mirror, etc. are sticked in corresponding position, and here is just repeated no more.

It should be noted that the light sensor and laser generator in positioner for rotation shaft needs and location equipment 10 In light sensor and the optical scanner in locating base station 20 make a distinction, to avoid to location equipment 10 and positioning base Laser positioning data in 20 of standing are interfered, for example can be made a distinction by way of different wave length is set etc..

Finally, introduce the situation that positioner for rotation shaft is made up of code-disc:Code-disc (English:Encoding disk) it is to survey The digital encoder of angulation displacement, including contact two class of encoder and optical encoder, contact encoder or optical encoder can To be arranged in rotary shaft 202 such that it is able to the position of rotary shaft 202 is accurately measured during rotary shaft 202 rotates, And corresponding signal is generated, the control device in locating base station 20 can control sychronisation generation according to the signal and send same Step signal, here are just repeated no more.

Certainly, at one ideally, if the time all same in location equipment 10 and locating base station 20, need not Locating base station 20 generates synchronizing signal, sends the transmission time point of laser scanning signal and ultrasonic signal according to locating base station, And location equipment receives the reception time point of laser scanning signal and ultrasonic signal, that is, can determine the position of location equipment Put, here is just repeated no more.

After location equipment 10 and locating base station 20 has been introduced, in ensuing part, the present embodiment will be introduced and carried For space positioning system specifically how to be positioned, the data processing equipment 30 in the present embodiment pass through Laser Measuring orientation principle Combine apart from principle with ultrasound and positioned:

1st, Laser Measuring orientation principle:Assume that laser scanning signal presses θ/second angular speed scanning, start timing from position is started, Start to laser scanning signal to be positioned the time that equipment 10 receives from positioning light beam is the t seconds, then location equipment 10 is located The startup position angle α=θ * t in orientation and laser scanning signal.So, strafed by both direction laser, you can accurately Determine direction vector of the positioning terminal relative to base station;

Specifically, by taking No. 01 light sensor in location equipment 10 as an example, if the point is p0, it is assumed that locating base station 20 On rotary shaft 202 it is constant rotated with θ angular speed, then locating base station 20 point to p0 points direction vector computational methods such as Under:

First laser scanner 203 sends first laser scanning signal after synchronizing signal is received, when recording transmission Between point, No. 01 light sensor in location equipment 10 swept by 203 corresponding first plane of scanning motion of first laser scanner Retouch, namely location equipment 10 receives the first laser scanning signal, record reception time point, setting first laser scanning The difference for sending time point and receiving between time point of signal is t1, then the deflection angle α for obtaining=θ * t1 are that p0 points are relative In the deflection angle of first plane of scanning motion;

When in the same manner, by recording the transmission time point of the second scanning signal that second laser scanner 204 sends and receiving Between point, set second laser scanning signal send time point and receive time point between difference as t2, the deflection angle of acquisition Degree β=θ * t2 are deflection angle of the p0 points relative to second plane of scanning motion;

So, it is known that two azimuths, as constraint, you can point to the direction vector of p0 points in the hope of origin, that is, position The direction vector of p0 points is pointed in base station 20, and specific mathematic calculation has various, and here is just repeated no more.

2nd, ultrasound is apart from principle:The aerial spread speed of ultrasonic signal is V, then sending out from ultrasonic signal It is the t3 seconds to go out to the time that the equipment that is positioned 10 is received, then the distance between location equipment 10 and locating base station 20 d=V*t3. Certainly, in Practical Calculation, as, under different temperatures, the transmission speed of ultrasonic wave is different, accordingly, it would be desirable to according to Current Temperatures pair V is adjusted, and to ensure the accuracy of result of calculation, here is just repeated no more.

In specific implementation process, data processing equipment 30 can be by wired or wirelessly obtain location equipment 10 and locating base station 20 in data, here just repeats no more.

Certainly, in actual applications, in order to avoid the echo interference of ultrasonic wave, can set and send ultrasonic signal twice Between time interval it is sufficiently large, further, since the signal strength values of the echo interference of ultrasonic wave are less, can also set and filter The too small ultrasonic signal of intensity level, so ensures to measure the accuracy of gained distance.

So that the accurate positioning distance of locating base station 20 is as 5m as an example, the time spent by ultrasonic signal propagation 5m is about 15ms, therefore, it can be set to 20ms between ultrasonic signal twice, certainly, as long as being gone up more than 15ms in theory ;Furthermore it is possible to the intensity level of ultrasonic signal that the distance away from locating base station 20 is 5m places is filtered as normal intensity value Except the signal less than the normal intensity value.By any one in both modes or combination, preferably can avoid surpassing The interference of sound echo signal, here are just repeated no more.

As the precision of laser measurement and ultrasonic measurement is in grade, and locating speed is in Millisecond, so positioning Precision and locating speed are all greatly improved compared to prior art, are realized quick and are accurately realized sterically defined technology effect Really.

In actual applications, data processing equipment 30 can physically be integrated in location equipment 10 or locating base station 20 On, or be individually present, here is not limited.

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

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

First, locating base station drives first laser scanner and second laser scanner to be revolved by a rotary shaft Turn, and send first laser scanning signal, second laser scanning signal and ultrasonic signal, first laser scanner corresponding the One scan plane and corresponding second plane of scanning motion scanning of second laser scanner can intersect one in space during same point Bar straight line, and first plane of scanning motion and second plane of scanning motion are not orthogonal to rotary shaft;

Then, location equipment passes through light sensor and ultrasonic receiver, and reception first laser scanning signal, second swash Optical scanning signal and ultrasonic signal;

Finally, data processing equipment is according to first laser scanning signal, second laser scanning signal and ultrasonic signal Send time point and receive time point, determine position of the location equipment relative to locating base station.

In specific implementation process, first laser scanner and second laser are driven by a rotary shaft in locating base station Scanner is rotated, and before sending first laser scanning signal, second laser scanning signal and ultrasonic signal, method is also Including:

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

Location equipment when synchronous optical signal is received, if while receive synchronous radiofrequency signal, by synchronous optical signal Rising edge as synchronization point.

The carrying out practically process of the space-location method that the present embodiment is provided has been carried out detailed in preceding sections Introduce, here is succinct in order to specification, just repeats no more.

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

Technical scheme in the embodiment of the present invention make use of light along the characteristic of straightline propagation, according to laser scanning signal come really Determine direction of the location equipment 10 relative to locating base station 20, and make use of the principle of ultrasonic ranging, according to locating base station 20 The ultrasonic signal for going out, determines distance of the location equipment 10 relative to locating base station 20 such that it is able to determine that location equipment 10 exists The position in space, as the precision of laser scanning positioning and the precision of ultrasonic ranging are all in grade, and locating speed is all In Millisecond, so locating speed is very fast, it is achieved that quick and accurately realize sterically defined technique effect.

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

Any feature disclosed in this specification (including any accessory claim, summary and accompanying drawing), except non-specifically is chatted State, can be replaced by other equivalent or alternative features with similar purpose.I.e., unless specifically stated otherwise, each feature It is an example in a series of equivalent or similar characteristics.

The invention is not limited in aforesaid specific embodiment.The present invention is expanded to and any is disclosed in this manual New feature or any new combination, and the arbitrary new method that discloses or the step of process or any new combination.

Claims (6)

1. a kind of locating base station, it is characterised in that include:
Base;
Rotary shaft, is arranged on the base;
First laser scanner, is arranged at the first position of the rotary shaft;
Second laser scanner, is arranged at the second place of the rotary shaft, the second place and the first position not phase Together, corresponding first plane of scanning motion of the first laser scanner and corresponding second plane of scanning motion of the second laser scanner Can intersect when scanning same point in space it is in alignment, and the first scan line for sending of the first laser scanner and The second scan line that the second laser scanner sends is not orthogonal to the rotary shaft.
2. locating base station as claimed in claim 1, it is characterised in that the laser scanning letter that the first laser scanner sends Number wavelength be first wave length, the wavelength of the laser scanning signal that the second laser scanner sends is second wave length, described First wave length is differed with the second wave length.
3. locating base station as claimed in claim 1, it is characterised in that the first laser scanner and the second laser are swept The light source for retouching device is same LASER Light Source, and the laser that the LASER Light Source is generated is by light-dividing device by beam splitting to described first Laser scanner and the second laser scanner.
4. locating base station as claimed in claim 1, it is characterised in that the locating base station also includes sychronisation, described same Step device is arranged on the base, and the sychronisation is used to send synchronizing signal.
5. locating base station as claimed in claim 4, it is characterised in that the sychronisation is specially LED array and/or radio frequency Signal generator.
6. locating base station as claimed in claim 1, it is characterised in that the locating base station also includes positioner for rotation shaft, The positioner for rotation shaft is set for detecting the turned position of the rotary shaft.
CN201610944492.9A 2016-06-30 2016-06-30 A kind of locating base station CN106546950A (en)

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CN105607034A (en) * 2015-12-23 2016-05-25 北京凌宇智控科技有限公司 Three-dimensional space detection system, positioning method and system
US20170248696A1 (en) * 2016-07-13 2017-08-31 Alexei L. Vyssotski Ultrasonic and optical tracking method and system for small animal research
TWI678121B (en) * 2016-10-20 2019-11-21 宏達國際電子股份有限公司 Auxiliary apparatus for a lighthouse positioning system
CN106714297B (en) * 2016-11-30 2020-03-24 成都理想境界科技有限公司 Base station network positioning device and positioning system
CN106851575B (en) * 2017-01-22 2020-04-24 上海乐相科技有限公司 Method for uniformly positioning base station coordinate system and positioning calibration device
CN106878944B (en) * 2017-01-22 2020-04-24 上海乐相科技有限公司 Method for calibrating coordinate system of positioning base station and positioning calibration device
CN107144848A (en) * 2017-03-31 2017-09-08 成都理想境界科技有限公司 A kind of locating base station and alignment system

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CN105607034A (en) * 2015-12-23 2016-05-25 北京凌宇智控科技有限公司 Three-dimensional space detection system, positioning method and system
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Application publication date: 20170329