CN106646342A - Positioning base station and positioning system - Google Patents
Positioning base station and positioning system Download PDFInfo
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- CN106646342A CN106646342A CN201611246509.XA CN201611246509A CN106646342A CN 106646342 A CN106646342 A CN 106646342A CN 201611246509 A CN201611246509 A CN 201611246509A CN 106646342 A CN106646342 A CN 106646342A
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- outgoing
- base station
- scanning line
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- 230000003287 optical effect Effects 0.000 claims description 7
- 230000000694 effects Effects 0.000 abstract description 7
- 238000000034 method Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 7
- 229910052934 alunite Inorganic materials 0.000 description 1
- 239000010424 alunite Substances 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000003205 fragrance Substances 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000000700 radioactive tracer Substances 0.000 description 1
- KPZTWMNLAFDTGF-UHFFFAOYSA-D trialuminum;potassium;hexahydroxide;disulfate Chemical compound [OH-].[OH-].[OH-].[OH-].[OH-].[OH-].[Al+3].[Al+3].[Al+3].[K+].[O-]S([O-])(=O)=O.[O-]S([O-])(=O)=O KPZTWMNLAFDTGF-UHFFFAOYSA-D 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using electromagnetic waves other than radio waves
Abstract
The invention discloses a positioning base station and a positioning system. The positioning base station comprises a base and two rotary shafts which are arranged on the base. Two laser scanners are arranged on each of the rotary shafts; a laser scanning line emitted by each of the laser scanners is not vertical to the axis of each of the rotary shafts, four laser scanning lines which are emitted by the four laser scanners are not fully superposed when scanning a same point in a space, and the included angle between two connecting lines formed by connecting two projection points of the two laser scanners vertical to the planes of the rotary shafts on the same rotary shaft to projection points, the axes of which are in the same plane, is smaller than or equal to 90 degrees. As the time interval from the two laser scanning lines emitted from the same rotary shaft to the same point in a positioning region is shortened, the positioning distortion of a positioning terminal is reduced, so that a technical effect of quickly and precisely realizing spatial positioning is achieved.
Description
Technical field
The present invention relates to space orientation field, more particularly to a kind of locating base station and alignment system.
Background technology
Space orientation refers to that one equipment of determination, in the position in space, for example, can pass through 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 is such as indoor, basement, because the barriers such as wall can block gps signal, so GPS technology also cannot be applied
These specific spaces.
At present, indoors, the specific space such as basement, is typically positioned, specifically by wireless location technology
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 distance of the mobile device apart from each AP is estimated 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.
With becoming increasingly prosperous for field of virtual reality, virtual game starts appearance, and the immersion provided in virtual game is handed over
How quick mutually in experience, accurate space orientation tracer technique seems particularly critical, therefore and accurately realize space orientation,
Become 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 and alignment system, with quick and accurately realize space orientation.
In order to realize foregoing invention purpose, embodiment of the present invention first aspect provides a kind of locating base station, including base
Two rotary shafts with being arranged on the base, are provided with two laser scanners, each laser scanning in each rotary shaft
The laser scanning line of device outgoing is not orthogonal to the axle center of place rotary shaft, and the laser scanning line of four laser scanner outgoing is swept
Four laser scanning lines when retouching same point in space not exclusively overlap, and two laser scanners in same rotary shaft
In two subpoints in the plane of rotary shaft, respectively the subpoint with axle center at grade be connected to form two
Angle between bar line is less than or equal to 90 °.
Alternatively, when the locating base station is run, the laser scanning line of four laser scanner outgoing is in the positioning
It is non-intersect in the positioning region of base station.
Alternatively, two laser scanners in same rotary shaft, the laser scanning of one of laser scanner outgoing
Angle between the axle center of line and place rotary shaft is 0 ° ± 15 °, the laser scanning line of another laser scanner outgoing and institute
Angle between the axle center of rotary shaft is 45 ° ± 15 °.
Alternatively, the direction of rotation of two rotary shafts is identical.
Alternatively, according to the direction of rotation of two rotary shafts, four laser scanners in two rotary shafts are successively to institute
The positioning region for stating locating base station is scanned, the laser scanning line of first laser scanner outgoing and the axle of place rotary shaft
Angle between the heart is 0 ° ± 15 °, between the laser scanning line of second laser scanner outgoing and the axle center of place rotary shaft
Angle be 45 ° ± 15 °, the angle between the laser scanning line of the 3rd laser scanner outgoing and the axle center of place rotary shaft
For 45 ° ± 15 °, the angle between the laser scanning line of the 4th laser scanner outgoing and the axle center of place rotary shaft is 0 ° ±
15 °, also, the laser of the laser scanning line of second laser scanner outgoing and the 3rd laser scanner outgoing
The yawing moment of scan line is identical, wherein, first laser scanner and second laser scanner are arranged at one
In individual rotary shaft, the 3rd laser scanner and the 4th laser scanner are arranged in another rotary shaft.
Alternatively, the skew direction of the laser scanning line of two laser scanner outgoing in same rotary shaft is consistent.
Alternatively, the locating base station also includes synchronizing signal dispensing device.
Embodiment of the present invention second aspect also provides a kind of alignment system, including：
Positioning terminal；
Locating base station as described in relation to the first aspect；
Data processing equipment, for what is scanned by the laser scanning line of the locating base station outgoing according to the positioning terminal
Time point, determines the position of the relatively described locating base station of the positioning terminal.
One or more technical scheme in the embodiment of the present invention, at least has the following technical effect that or advantage：
As a result of by the position of two laser scanners in same rotary shaft, it is set to perpendicular to the rotary shaft
Plane on two subpoints, the folder between two lines that respectively subpoint with axle center at grade is connected to form
Angle is less than or equal to 90 ° of this technical schemes, reduces two laser scanning lines scanning of outgoing in same rotary shaft to positioning area
Time interval in domain between same point, so as to reduce the positioning distortion to positioning terminal, it is achieved thereby that quick and accurate
Realize sterically defined technique effect.
Description of the drawings
Fig. 1 is the structural representation of locating base station provided in an embodiment of the present invention；
Fig. 2A is the schematic diagram of the laser scanning plane of locating base station provided in an embodiment of the present invention；
Fig. 2 B send the schematic diagram of laser scanning line for laser scanner；
Fig. 3 is the schematic diagram that the angle between two laser scanners is 180 °；
Fig. 4 is the position view of four laser scanners in locating base station provided in an embodiment of the present invention；
Fig. 5 A are the first schematic diagram of the laser scanning line of two rotary shaft outgoing provided in an embodiment of the present invention；
Fig. 5 B are second set-up mode of the laser scanning line of two rotary shaft outgoing provided in an embodiment of the present invention
Schematic diagram；
Fig. 6 A are the consistent signal of skew direction of the laser scanning line of two laser scanner outgoing in same rotary shaft
Figure；
Fig. 6 B are that the skew direction of the laser scanning line of two laser scanner outgoing in same rotary shaft inconsistent shows
It is intended to.
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.
The embodiment of the present invention provides a kind of locating base station, and the locating base station includes base and two rotations being arranged on base
Rotating shaft, is provided with two laser scanners in each rotary shaft, refer to Fig. 1, and Fig. 1 is positioning base provided in an embodiment of the present invention
The structural representation stood, as shown in figure 1, the locating base station include base 11, the first rotary shaft 12 and the second rotary shaft 13, first
The rotary shaft 13 of rotary shaft 12 and second is arranged on the pedestal 11, it should be noted that the first rotary shaft 12 and the second rotary shaft 13
The distance between can be by belonging to this area technical staff set according to actual conditions, to meet the need of actual conditions
Will, here is not limited.
The positioning region of locating base station refer to four laser scanner outgoing laser scanning line can common scan arrive
Region, effective propagation distance of set-up mode and laser scanning line depending on the laser scanner of rotary shaft, here is just no longer
Repeat.
Please continue to refer to Fig. 1, as shown in figure 1, first laser scanner 121 and second is provided with the first rotary shaft 12 swashing
Optical scanner 122, the first laser scan line of the outgoing of first laser scanner 121 and the of the outgoing of second laser scanner 122
Dual-laser scan line is not orthogonal to the axle center of the first rotary shaft 12；The 3rd laser scanner is provided with second rotary shaft 13
131 and the 3rd laser scanner 132, the 3rd laser scanning line and the 4th laser scanner of the outgoing of the 3rd laser scanner 131
4th laser scanning line of 132 outgoing is not orthogonal to the axle center of the second rotary shaft 13.In actual applications, each laser scanning
The laser scanning line of device outgoing specifically can be sent by a wordline laser device, or by the dot laser to outgoing using luxuriant and rich with fragrance alunite
Ear lens or Bao Weier prism are converted to a wordline laser, and here is not limited.
Please continue to refer to Fig. 2A, Fig. 2A is the signal of the laser scanning plane of locating base station provided in an embodiment of the present invention
Figure, the figure is top view, and as shown in Figure 2 A, the corresponding laser scanning of first laser line of the outgoing of first laser scanner 121 is put down
Face 21, the corresponding laser scanning plane 22 of second laser line of the outgoing of second laser scanner 122, the 3rd laser scanner 131
The corresponding laser scanning plane 31 of 3rd laser rays of outgoing, the 4th laser rays of the outgoing of the 4th laser scanner 132 is corresponding
Laser scanning plane 32.
In the present embodiment, the structure of four laser scanners can be with identical, and only it is in respective place rotary shaft
On position and yawing moment it is different, refer to Fig. 2 B, Fig. 2 B send the schematic diagram of laser scanning line for laser scanner, such as
Shown in Fig. 2 B, laser scanning plane 21 is formed between the laser scanning line and laser scanner of the outgoing of first laser scanner 121,
First laser scanner 121 goes out light subtended angle typically at 90 °～130 ° within the scope of this.
In specific implementation process, locating base station also includes synchronizing signal dispensing device, and synchronizing signal dispensing device can be with
It is LED array and/or radio-frequency signal generator, certainly, is also required to arrange corresponding light sensor in positioning terminal and/or penetrates
Frequency signal receiver.Due to four laser in the scanned space of the laser scanning line of four laser scanner outgoing during same point
Scan line not exclusively overlaps, so locating base station is sent after synchronizing signal by synchronizing signal dispensing device, then is swashed by four
The laser scanning line of optical scanner's outgoing is scanned to positioning region, and the data processing equipment in alignment system i.e. can be with fixed
It is starting point that position terminal receives the time point of synchronizing signal, then the letter generated when being scanned by four laser scanning lines with positioning terminal
Number be terminal, angular speed when rotating further according to rotary shaft such that it is able to calculate positioning terminal and send relative to locating base station
During synchronizing signal, the side-play amount of the corresponding laser scanning plane of each laser scanner, that is, be capable of determining that positioning terminal is relative
In the position of locating base station, equivalent to being positioned to positioning terminal by locating base station, specific position fixing process here is just
Repeat no more.
For in theory, locating base station only needs to two groups and per group includes two uneven laser scanning planes, at least
Three laser scanning planes are scanned, i.e., positioning terminal can be positioned, certainly, in order to ensure the positioning of locating base station
Region, the rotary shaft that laser scanning plane can not be located perpendicular to it, therefore, in the present embodiment, as long as ensureing first laser
Scan line, second laser scan line, the 3rd laser scanning line and the 4th laser scanning line are in scanned space during same point
Four laser scanning line not exclusively overlaps, i.e., can guarantee to position the positioning terminal in positioning region.
Inventor has found the set-up mode of laser scanning line in locating base station during the present invention is realized, can be to fixed
Position result causes large effect, specifically, refer to Fig. 3, and it is 180 ° that Fig. 3 is the angle between two laser scanners
Schematic diagram, as shown in figure 3, the laser scanning line of two laser scanner outgoing corresponds to respectively laser scanning plane 301 and laser
The plane of scanning motion 302, the rotary shaft rotates in the direction of the clock, so as to drive laser scanning plane 301 and laser scanning plane 302
Positioning terminal is scanned, setting positioning terminal is first in A points, then after the scanned A points of laser scanning plane 301, is swashed
Optical scanning plane 302 rotates 180 ° in rotary shaft can scan afterwards A points, and A points rotate 180 ° of this sections in rotary shaft
In time, displacement may be produced and for example move to A ' points, that is to say, that but according to positioning terminal by laser scanning plane
301 and the feedback information that generates when scanning of laser scanning plane 302, when determining the position of positioning terminal, and substantially laser is swept
When retouching plane 301 and each comfortable Scan orientation terminal of laser scanning plane 302, the position of positioning terminal is to differ, that is,
Say that the set-up mode of two laser scanning planes as shown in Figure 3 can cause the positioning distortion to the positioning terminal in motion,
Simultaneously in order to avoid the laser scanning line of the respective outgoing of two rotary shafts in same locating base station is intersecting in positioning region, also need
Timesharing is wanted to be scanned, for example, the shoot laser in current period of the laser scanner in a rotary shaft is scanned, another
Collection scanner in individual rotary shaft shoot laser within next cycle is scanned, and follow-up scan mode by that analogy, can be with
Find out, due to two rotary shafts each outgoing laser scanning line difference a cycle, so this can be further exacerbated by positioning
The positioning distortion of terminal.
Therefore, in embodiments of the present invention, by the position of two laser scanners in same rotary shaft, it is set to hanging down
Straight two subpoints in the plane of the rotary shaft, respectively be connected to form two of the subpoint with axle center at grade
Angle between line is less than or equal to 90 °, reduces two laser scanning lines scanning of outgoing in same rotary shaft to positioning area
Time interval in domain between same point, so as to reduce the positioning distortion to positioning terminal.
As it was previously stated, the light subtended angle that goes out of laser scanner within the scope of this, with maximum light is gone out typically at 90 °～130 °
As a example by 130 ° of subtended angle, the half for going out light subtended angle is 65 °, in the rotation that laser scanning line and its of laser scanner outgoing are located
When angle between the axle center of axle is 45 °, the light subtended angle that goes out of its projection in plane vertically with axle center is necessarily less than 65 °,
Therefore, please continue to refer to Fig. 2A, in the case of the distance on same rotary shaft is ensured between two laser scanners, will be same
The position of two laser scanners in rotary shaft, is set in two subpoints in the plane of the rotary shaft, point
Angle between two lines that subpoint not with axle center at grade is connected to form is that by less than or equal to 90 °
, as shown in Figure 2 A, namely ∠ A being set less than or equal to 90 °, here is just repeated no more.
Can be seen that as a result of by the position of two laser scanners in same rotary shaft by above-mentioned part,
It is set in two subpoints in the plane of the rotary shaft, respectively the subpoint with axle center at grade is connected
Angle between two lines for being formed is less than or equal to 90 ° of this technical schemes, reduces two of outgoing in same rotary shaft
Laser scanning line scanning is lost to the time interval between same point in positioning region so as to reduce the positioning to positioning terminal
Very, it is achieved thereby that quick and accurately realize sterically defined technique effect.
By taking the first rotary shaft 12 as an example, please also refer to Fig. 2A and Fig. 4, Fig. 4 is positioning base provided in an embodiment of the present invention
The position view of four laser scanners on standing, as shown in Fig. 2A and Fig. 4, the laser of the outgoing of first laser scanner 121
Angle between the axle center of scan line and the first rotary shaft is 0 °, the laser scanning line of the outgoing of second laser scanner 122 and the
Angle between the axle center of one rotary shaft is 45 °.Certainly, in actual applications, the laser of the outgoing of first laser scanner 121 is swept
Retouching the laser scanning line of line and the outgoing of second laser scanner 122 can also carry out certain deflection, for example, first laser scanning
Angle between the laser scanning line of the outgoing of device 121 and the axle center of the first rotary shaft is 0 ° ± 15 °, second laser scanner 122
Angle between the axle center of the laser scanning line of outgoing and the first rotary shaft is 45 ° ± 15 °.
The position of two laser scanners is arranged in another rotary shaft in locating base station, namely the second rotary shaft 13,
The set-up mode of the first rotary shaft 12 is may be referred to, here is just repeated no more.
Certainly, it should be noted that in the running of locating base station, according to the direction of rotation of rotary shaft, it is ensured that
On the rotary shaft first laser scanner starts after scanning to the positioning region of locating base station, and rotary shaft is rotated by 90 ° interior second
Individual laser scanner starts scanning to positioning region, and needs to avoid first laser scanner from starting positioning region scanning
Afterwards, rotary shaft rotates more than 270 ° second laser scanners and just starts to be scanned positioning region, so, can ensure
In the short period of time, the laser scanning line of two laser scanner outgoing in same rotary shaft scanned can be positioned eventually
End.
In specific implementation process, the direction of rotation of two rotary shafts in locating base station can differ, it is also possible to phase
Together.
When the direction of rotation of two rotary shafts in locating base station differs, in order to avoid laser is swept in two rotary shafts
Retouch the laser scanning line of device outgoing to intersect in positioning region, can in the case of the rotary speed identical of two rotary shafts,
Using rotary shaft for each revolution as a cycle, so, two rotary shafts can be scanned at interval of a cycle, example
Such as, the first rotary shaft 12 is scanned in a cycle, and the second rotary shaft 13 is not scanned in the period 1, the first rotation
Axle 12 is not scanned in second period, and the second rotary shaft 13 is scanned in second round, the like, i.e., can complete
Positioning, it can be seen that the angle between this mode and two laser scanners and two lines in axle center is 180 ° of this sides
Formula is compared, although ensure that the laser scanning line of same rotary shaft outgoing can be in the short period of time, in positioning region
Positioning terminal be scanned, reduce positioning distortion to a certain extent, but due to two rotary shafts scannings to positioning eventually
There is the time difference of a cycle in the moment at end, so yet suffering from more significantly positioning distortion.
When the direction of rotation of two rotary shafts in locating base station is identical, can be in the first rotary shaft 12 to positioning region
After starting scanning, the second rotary shaft 13 immediately begins to be scanned positioning region, for example, please continue to refer to Fig. 2A, such as schemes
Shown in 2A, according to being rotated clockwise, two in the first rotary shaft 12 swash for the first rotary shaft 12 and the second rotary shaft 13
After optical scanner is scanned to the positioning region of locating base station, two laser scanners of the second rotary shaft 13 are also to positioning
The positioning region of base station is scanned, it can be seen that as long as ensure the outgoing of second laser scanner 122 of the first rotary shaft 12
Laser scanning line, and the laser scanning line of the outgoing of the 3rd laser scanner 131 of the second rotary shaft 13 will not in positioning region
It is intersecting, so, as long as the scanned positioning region of laser scanning line of four laser scanner outgoing in two rotary shafts,
The positioning terminal that can be pointed in positioning region is positioned, it can be seen that " the rotation of two rotary shafts in locating base station
Turning direction identical " this mode compared with " direction of rotation of two rotary shafts in locating base station differs ", is greatly reduced
The laser scanning line of two rotary shafts outgoing respectively further reduces positioning to the time interval being scanned in positioning region
Distortion.
In specific implementation process, Fig. 5 A are refer to, Fig. 5 A are two rotary shaft outgoing provided in an embodiment of the present invention
The schematic diagram of the first set-up mode of laser scanning line, as shown in Figure 5A, the direction of rotation of two rotary shafts is identical, is suitable
Hour hands rotate, successively the laser scanning line of scanned positioning region for the outgoing of first laser scanner 121 laser scanning line, the
The laser scanning line of the outgoing of dual-laser scanner 122, the laser scanning line of the outgoing of the 3rd laser scanner 131 and the 4th laser are swept
The laser scanning line of the outgoing of device 132 is retouched, wherein, the laser scanning line of the outgoing of first laser scanner 121 and the first rotary shaft 12
Axis parallel, the axle center of the laser scanning line of the outgoing of second laser scanner 122 and the first rotary shaft 12 is in 45 ° of angles, the
The axle center of the laser scanning line of the outgoing of three laser scanner 131 and the second rotary shaft 13 is in 45 ° of angles, the 4th laser scanner
The axis parallel of the laser scanning line of 132 outgoing and the second rotary shaft 13, and the laser of the outgoing of second laser scanner 122 sweeps
Line is retouched, is differed with the yawing moment of the laser scanning line of the outgoing of the 3rd laser scanner 131.
Please continue to refer to Fig. 5 B, Fig. 5 B are the of the laser scanning line of two rotary shaft outgoing provided in an embodiment of the present invention
The schematic diagram of two kinds of set-up modes, as shown in Figure 5 B, the direction of rotation of two rotary shafts is identical, is and turns clockwise, successively
The laser scanning line of scanned positioning region is laser scanning line, the second laser scanner of the outgoing of first laser scanner 121
The laser scanning line of 122 outgoing, the laser scanning line of the outgoing of the 3rd laser scanner 131 and the outgoing of the 4th laser scanner 132
Laser scanning line, wherein, the axis parallel of the laser scanning line of the outgoing of first laser scanner 121 and the first rotary shaft 12,
The axle center of the laser scanning line of the outgoing of second laser scanner 122 and the first rotary shaft 12 is in 45 ° of angles, the 3rd laser scanner
The axle center of the laser scanning line of 131 outgoing and the second rotary shaft 13 is in 45 ° of angles, the laser of the outgoing of the 4th laser scanner 132
The axis parallel of scan line and the second rotary shaft 13, and the laser scanning line of the outgoing of second laser scanner 122, swash with the 3rd
The yawing moment of the laser scanning line of the outgoing of optical scanner 131 is identical.
Please after with reference to Fig. 5 A and Fig. 5 B, in same rotary shaft shared by the laser scanning line of two laser scanner outgoing
According to distance be L, the spacing distance between laser scanning line between two rotary shafts be △ L, in the corresponding setting sides of Fig. 5 A
In formula, two rotary shafts need to turn over altogether the distance that length is 2L+ △ L can realize the scanning to positioning terminal, and
In the corresponding set-up modes of Fig. 5 B, because the laser scanning line of second laser scanner outgoing goes out with the 3rd laser scanner
The yawing moment of the laser scanning line penetrated is identical, the laser scanning line of the 3rd laser scanner outgoing, can make full use of
Space after the laser scanning line scanning of two laser scanner outgoing, so two rotary shafts need the distance of rotation substantially little
In 2L+ △ L, it is therefore evident that, in the case of the direction of rotation identical of two kinds of set-up modes, two shown in Fig. 5 B
The set-up mode of the laser scanning line of rotary shaft outgoing can significantly reduce the time interval between laser scanning line, Neng Gou
The scanning to the positioning terminal in positioning region is completed in the shorter time such that it is able to further reduce two rotary shafts point
The laser scanning line of other outgoing further reduces positioning distortion to the time interval being scanned in positioning region.
It should be noted that the concrete numerical value here of the L and △ L of above-mentioned introduction is not limited, the technology belonging to this area
Personnel can be set according to the radius of rotary shaft, the angle of divergence of laser scanner etc. actual conditions, to meet actual feelings
The needs of condition, here is just repeated no more.
In specific implementation process, as it was previously stated, the laser scanning of two laser scanner outgoing in same rotary shaft
Line can deflection to a certain extent, refer to Fig. 6 A and Fig. 6 B, Fig. 6 A are that two laser scanners go out in same rotary shaft
The consistent schematic diagram of the skew direction of the laser scanning line penetrated, Fig. 6 B are that two laser scanner outgoing swash in same rotary shaft
The inconsistent schematic diagram of the skew direction of optical scanning line, it can be seen that the set-up mode shown in Fig. 6 A, two in same rotary shaft
Spacing distance between laser scanner can be less, and the set-up mode shown in Fig. 6 B, two laser are swept in same rotary shaft
The spacing distance retouched between device needs more greatly, therefore the skew direction of the laser scanning line of two laser scanner outgoing is being set
When being set to consistent, latter laser scanning line can make full use of the space after previous laser scanning line scanning such that it is able to
Two laser scanning lines for further reducing outgoing in same rotary shaft are scanned between the time between same point in positioning region
Every so as to further reduce the positioning distortion to positioning terminal, certainly, the angle of deflection is needed in the range of restriction, here
Just repeat no more.
Based on same inventive concept, on the other hand the embodiment of the present invention also provides a kind of alignment system, the alignment system bag
Locating base station, positioning terminal and data processing equipment are included, wherein, positioning terminal can be gone out with can receive locating base station
The equipment of the laser scanning line penetrated, such as head-mounted display, handle virtual reality device；Locating base station in preceding sections
It is described in detail, here is just repeated no more for the succinct of specification；Data processing equipment can be an independence
Equipment, such as data processing equipment be independent host computer, positioning terminal be head-mounted display, it is also possible to be integrated into positioning
On base station or positioning terminal, such as data processing equipment is wear-type all-in-one when being integrated in positioning terminal, here is just
Repeat no more.
One or more technical scheme in the embodiment of the present invention, at least has the following technical effect that or advantage：
As a result of by the position of two laser scanners in same rotary shaft, it is set to perpendicular to the rotary shaft
Plane on two subpoints, the folder between two lines that respectively subpoint with axle center at grade is connected to form
Angle is less than or equal to 90 ° of this technical schemes, reduces two laser scanning lines scanning of outgoing in same rotary shaft to positioning area
Time interval in domain between same point, so as to reduce the positioning distortion to positioning terminal, it is achieved thereby that quick and accurate
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 alternative features equivalent by other or with similar purpose replaced.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 in this manual disclosed
New feature or any new combination, and the arbitrary new method that discloses or the step of process or any new combination.
Claims (8)
1. a kind of locating base station, it is characterised in that including base and two rotary shafts being arranged on the base, each rotation
Two laser scanners are provided with axle, the laser scanning line of each laser scanner outgoing is not orthogonal to place rotary shaft
Axle center；Four laser scanning lines in the scanned space of laser scanning line of four laser scanner outgoing during same point are incomplete
Overlap；Two laser scanners in same rotary shaft in two subpoints in the plane of rotary shaft, respectively with axle
Angle between two lines that heart subpoint at grade is connected to form is less than or equal to 90 °.
2. locating base station as claimed in claim 1, it is characterised in that when the locating base station is run, four laser scannings
The laser scanning line of device outgoing is non-intersect in the positioning region of the locating base station.
3. locating base station as claimed in claim 1, it is characterised in that two laser scanners in same rotary shaft, wherein
Angle between the laser scanning line of one laser scanner outgoing and the axle center of place rotary shaft is 0 ° ± 15 °, and another swashs
Angle between the laser scanning line of optical scanner's outgoing and the axle center of place rotary shaft is 45 ° ± 15 °.
4. locating base station as claimed in claim 3, it is characterised in that the direction of rotation of two rotary shafts is identical.
5. locating base station as claimed in claim 4, it is characterised in that according to the direction of rotation of two rotary shafts, two rotations
Four laser scanners on axle are scanned successively to the positioning region of the locating base station, first laser scanner outgoing
Laser scanning line and the axle center of place rotary shaft between angle be 0 ° ± 15 °, the laser of second laser scanner outgoing
Angle between the axle center of scan line and place rotary shaft is 45 ° ± 15 °, the laser scanning line of the 3rd laser scanner outgoing
And the angle between the axle center of place rotary shaft is 45 ° ± 15 °, laser scanning line and the place of the 4th laser scanner outgoing
Angle between the axle center of rotary shaft is 0 ° ± 15 °, also, laser scanning line and the institute of second laser scanner outgoing
The yawing moment for stating the laser scanning line of the 3rd laser scanner outgoing is identical, wherein, first laser scanner and
Second laser scanner is arranged in a rotary shaft, and the 3rd laser scanner and the 4th laser are swept
Retouch device to be arranged in another rotary shaft.
6. locating base station as claimed in claim 5, it is characterised in that two laser scanner outgoing in same rotary shaft
The skew direction of laser scanning line is consistent.
7. locating base station as claimed in claim 1, it is characterised in that the locating base station also includes that synchronizing signal sends dress
Put.
8. a kind of alignment system, it is characterised in that include：
Positioning terminal；
Locating base station as described in right wants arbitrary claim in 1-7；
Data processing equipment, for the time scanned by the laser scanning line of the locating base station outgoing according to the positioning terminal
Point, determines the position of the relatively described locating base station of the positioning terminal.
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|---|---|---|---|---|
| CN108966342A (en) * | 2018-06-08 | 2018-12-07 | 上海乐相科技有限公司 | A kind of method, apparatus and system of VR positioning |
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