CN106950541A - A kind of alignment system, locating base station, locating base station network and positioning terminal - Google Patents
A kind of alignment system, locating base station, locating base station network and positioning terminal Download PDFInfo
- Publication number
- CN106950541A CN106950541A CN201710098592.9A CN201710098592A CN106950541A CN 106950541 A CN106950541 A CN 106950541A CN 201710098592 A CN201710098592 A CN 201710098592A CN 106950541 A CN106950541 A CN 106950541A
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- base station
- locating base
- group
- signal
- laser
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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
Abstract
The present invention provides a kind of alignment system, locating base station, locating base station network and positioning terminal, and the alignment system includes：N group locating base stations, are arranged in pre-set space, wherein every group includes M locating base station, and each locating base station includes rotary shaft and two laser scanners, and 2M laser scanning face of every group of locating base station outgoing in the process of running is in two groups of parallel planes；Positioning terminal, is provided with light sensor；Data processing equipment, it is connected with the multiple locating base station, start time point and end time point when being scanned for the laser scanning line according to same group of locating base station outgoing to the positioning terminal, determine position of the positioning terminal in the pre-set space.Because the orientation range for extending alignment system is more convenient, and amount of calculation is relatively low when being positioned to positioning terminal, while the position of positioning terminal can be calculated within a scan period, so as to quickly and accurately realize the space orientation in a wide range of.
Description
Technical field
The present invention relates to space orientation field, more particularly to a kind of alignment system, locating base station, locating base station network and
Positioning terminal.
Background technology
Space orientation refers to determine an equipment in the position in space, for example, can pass through GPS (English： Global
Positioning System；Chinese：Global positioning system) technology determines the position of equipment.But, as people are to fixed
The requirement more and more higher of position precision, the need for the meter accuracy that GPS technology is provided can not meet people, and at some
Specific space such as indoor, basement, because the barriers such as wall can block gps signal, so GPS technology can not yet
Apply in these specific spaces.
At present, indoors, the specific space such as basement, typically positioned by wireless location technology, be 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 intensity, then estimate distance of the mobile device apart from each AP using signal attenuation model, finally utilize three
Angle location algorithm determines the position where the equipment.But, the precision that wireless location technology is provided is still in meter level, it is impossible to
Meet people's requirement higher and higher to spatial positioning accuracy.
With becoming increasingly prosperous for field of virtual reality, virtual game starts to occur, and the immersion provided in virtual game is handed over
Mutually in experience, accurate space orientation tracer technique seems outstanding in particular for the space orientation tracer technique in a wide range of space
For key, thus it is how quick and accurately realize large-scale space orientation, as one of urgent problem to be solved.
The content of the invention
It is an object of the invention to provide a kind of alignment system, locating base station, locating base station network and positioning terminal, quickly
Accurately realize large-scale space orientation.
In order to realize foregoing invention purpose, one aspect of the present invention provides a kind of alignment system, including：
N group locating base stations, N is positive integer, is arranged in pre-set space, wherein every group of locating base station includes M positioning base
Stand, M is the integer more than or equal to 2, each locating base station includes rotary shaft and two laser scanners, same group of locating base station
In any two rotary shaft axis parallel and not conllinear, two laser scanner shoot lasers in same locating base station
Both direction differ 180 °, and same rotary shaft on two laser scanner outgoing laser scanning line scanned same
Two laser scanning lines during point are misaligned, and any laser scanning line is not orthogonal to the axle center of place rotary shaft；Every group of positioning
2M laser scanning face of base station outgoing in the process of running is in two groups of parallel planes；
Positioning terminal, is provided with light sensor；
Data processing equipment, is connected with the multiple locating base station, for the laser according to same group of locating base station outgoing
Start time point and end time point when scan line is scanned to the positioning terminal, determine the positioning terminal in institute
State the position in pre-set space.
Alternatively, the alignment system also includes sychronisation, and the signal sending end of the sychronisation is arranged on described
In pre-set space or in any locating base station, the signal receiving end of the sychronisation is arranged on the positioning terminal or described
On data processing equipment, the time point that the signal receiving end receives synchronizing signal is the start time point.
Alternatively, when N is more than or equal to 2, every group of locating base station is correspondingly arranged on the signal sending end of sychronisation,
The synchronizing signal that each signal sending end is sent organizes the localization region of locating base station, and the signal of different groups where only covering
The synchronizing signal that transmitting terminal is sent is differed.
Alternatively, the localization region of every group of locating base station is a group common factor for the scanning area of interior laser scanner.
Alternatively, when N is more than or equal to 2, the laser scanning line of any one group of locating base station outgoing will not enter other
The localization region of group locating base station.
Alternatively, two groups or more locating base station carries out Time share scanning by group.
Alternatively, each locating base station is additionally provided with positioner for rotation shaft, and the positioner for rotation shaft is used to detect
The turned position of the rotary shaft.
Alternatively, it is connected between same group of locating base station by rotary shaft framing signal line；In same group of locating base station
The signal generation registration signal that master base station is sent according to the positioner for rotation shaft of itself, and letter is positioned by the rotary shaft
Number line is sent to from base station；It is described from base station according to the registration signal received, the rotating speed of itself is adjusted, to cause
Have and send the time point of signal and the positioner for rotation shaft of the master base station from the positioner for rotation shaft of base station and send signal
Time point it is identical.
Alternatively, the positioner for rotation shaft is made up of Hall sensor and magnet, or by laser generator and light
Dependent sensor is constituted, or is made up of code-disc.
Second aspect present invention provides a kind of locating base station, including rotary shaft and two laser scanners, two laser
The both direction of scanner shoot laser differs 180 °, and the laser scanning line of described two laser scanner outgoing is being scanned
Two laser scanning lines when crossing same point are misaligned, and any laser scanning line is not orthogonal to the axle center of place rotary shaft.
Alternatively, the locating base station is additionally provided with positioner for rotation shaft, and the positioner for rotation shaft is used to detect
The turned position of the rotary shaft.
Alternatively, the positioner for rotation shaft is made up of Hall sensor and magnet, or by laser generator and light
Dependent sensor is constituted, or is made up of code-disc.
Third aspect present invention provides a kind of locating base station network, including N group locating base stations, and N is positive integer, sets
In pre-set space, wherein every group of locating base station includes the M locating base stations as described in any one of second aspect, M for more than etc.
The axis parallel of any two rotary shaft in 2 integer, same group of locating base station and not conllinear, every group of locating base station
2M laser scanning face of outgoing is in two groups of parallel planes in the process of running.
Alternatively, the localization region of every group of locating base station is a group common factor for the scanning area of interior laser scanner.
Alternatively, when N is more than or equal to 2, the laser scanning line of any one group of locating base station outgoing will not enter other
The localization region of group locating base station.
Alternatively, two groups or more locating base station carries out Time share scanning by group.
Alternatively, it is connected between same group of locating base station by rotary shaft framing signal line；In same group of locating base station
The signal generation registration signal that master base station is sent according to the positioner for rotation shaft of itself, and letter is positioned by the rotary shaft
Number line is sent to from base station；It is described from base station according to the registration signal received, the rotating speed of itself is adjusted, to cause
Have and send the time point of signal and the positioner for rotation shaft of the master base station from the positioner for rotation shaft of base station and send signal
Time point it is identical.
Alternatively, every group of locating base station is correspondingly arranged on the signal sending end of sychronisation, and each signal sending end is sent
Synchronizing signal only cover where group locating base station localization region, and the synchronous letter that sends of signal sending end of different group
Number differ.
Fourth aspect present invention provides a kind of positioning terminal, including：
Light sensor, the light sensor can give birth in the presence of the laser scanning face of laser scanner outgoing
Into electric signal；
Processor, is connected with the light sensor, goes out for obtaining the light sensor in same group of locating base station
Penetrate into the electric signal generated in the presence of two groups of parallel laser scanning faces, and according to 3 laser scanning faces of wherein at least
Start time point and end time point, determine the position of the positioning terminal, at least three laser scanning face is scanned
Not exclusively overlapped during the light sensor.
Alternatively, the positioning terminal is additionally provided with the signal receiving end of sychronisation, and the signal receiving end receives same
The time point for walking signal is the start time point.
Alternatively, the signal sending end of each group of locating base station one sychronisation of correspondence, difference group locating base station correspondence
The synchronizing signal that sends of signalling terminals differ, and the synchronizing signal that each signal sending end is sent only covers institute
In the localization region of group locating base station.
One or more technical scheme in the embodiment of the present invention, at least has the following technical effect that or advantage：
Due to only needing the quantity of corresponding increase locating base station, i.e., it can extend the orientation range of alignment system, extension side
Formula is more convenient, is extremely applicable to large-scale laser positioning scene, while setting single light sensor in positioning terminal
Device is that can realize positioning, and the amount of calculation needed is relatively low, relatively low to the processor requirement in data processing equipment, can be with
Directly complete on the microprocessor, and the endless number system in alignment system to positioning terminal, consequently facilitating multiple positioning are eventually
End is interacted in VR scenes according to respective positional information, further, since within a scan period, one group of positioning base
The laser scanning line for meeting positioning requirements can be provided by standing, so can calculate positioning eventually within a scan period
The position at end so that can reach very high refresh rate when calculating the position of positioning terminal, realize the real-time of ultralow delay
Positioning, so that the quick and accurately space orientation in realization on a large scale.
Brief description of the drawings
Fig. 1 is the module diagram of alignment system provided in an embodiment of the present invention；
Fig. 2A is the stereogram of locating base station provided in an embodiment of the present invention；
Fig. 2 B are the top view of locating base station provided in an embodiment of the present invention；
Fig. 2 C are the scanning schematic diagram of laser scanner provided in an embodiment of the present invention；
Fig. 2 D are light path schematic diagram of the dot laser by Bao Weier prism formation line laser；
Fig. 3 A are the stereogram that alignment system provided in an embodiment of the present invention is arranged on pre-set space；
Fig. 3 B are the sectional view that locating base station provided in an embodiment of the present invention is arranged on pre-set space；
Fig. 4 is the circuit diagram that locating base station provided in an embodiment of the present invention is connected；
Fig. 5 is the signal schematic representation that positioning terminal provided in an embodiment of the present invention is generated；
Fig. 6 is the schematic diagram provided in an embodiment of the present invention for setting two groups of locating base stations in pre-set space.
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 whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of creative work is not made it is all its
His embodiment, belongs to the scope of protection of the invention.
The embodiments of the invention provide a kind of alignment system, locating base station, locating base station network and positioning terminal, with fast
Speed and accurately realize large-scale space orientation.
The embodiments of the invention provide a kind of alignment system, Fig. 1 is refer to, Fig. 1 is positioning provided in an embodiment of the present invention
The module diagram of system, as shown in figure 1, the positioning network includes N group locating base stations, N is positive integer, wherein every group of positioning
Base station includes M locating base station 101, and M is the integer more than or equal to 2, positioning terminal 102, and data processing equipment 103.
In specific implementation process, locating base station 101 is the equipment for referring to shoot laser scan line, the laser scanning
Line is used to position positioning terminal 102；Light sensor is provided with positioning terminal 102, so as to be swept by laser
Corresponding electric signal is generated after the laser scanning line scanning for retouching device outgoing, can be according to generation so as to obtain data processing equipment 103
Electric signal positioning terminal 102 is positioned；Data processing equipment 103 is an equipment in logic, can be a list
Only entity device, can also be integrated in locating base station 101 or positioning terminal 102, not be limited herein, for example, in reality
In, positioning terminal 102 can be VR (English：Virtual Reality；Chinese：Virtual reality) wear all-in-one, then
Data processing equipment 103 is desirably integrated into VR and worn in all-in-one, and positioning terminal 102 can also be VR operation handles, then data
Processing equipment 103 is desirably integrated into locating base station 101 or a single entity device, or is desirably integrated into
In other electronic equipments, it is not limited herein.
Please continue to refer to Fig. 2A and Fig. 2 B, Fig. 2A is the stereogram of locating base station 101 provided in an embodiment of the present invention, figure
2B is the top view of locating base station 101 provided in an embodiment of the present invention, and as shown in Figure 2 A and 2 B, the locating base station 101 includes
Rotary shaft 1011 and two laser scanners 1012,1013, the direction of two laser scanner shoot lasers differ 180 °, when
So, in order to guarantee that positioning terminal is positioned, two of two laser scanner outgoing in same rotary shaft are sharp
Optical scanning line is misaligned in scanned same point, and in order to which the localization region for ensureing locating base station 101 is relatively enough big, appoints
Meaning laser scanning line is not orthogonal to the axle center of its place rotary shaft.
It should be noted that two laser scanners in same rotary shaft can be the axle center using rotary shaft in
The heart is oppositely arranged, and can not also be oppositely arranged, is not limited herein centered on the axle center of rotary shaft；In the present embodiment, such as
Shown in Fig. 2A and Fig. 2 B, it is introduced exemplified by being oppositely arranged by two laser scanners centered on the axle center of rotary shaft.
In specific implementation process, rotary shaft 1011 can be driven by brushless electric machine, be applied to by change brushless
The voltage of motor, can easily change the rotating speed of brushless electric machine, namely can easily change the rotating speed of rotary shaft 1011.When
So, the technical staff belonging to this area also can select other suitable drive devices that axle is rotated according to actual conditions
1011, the need for meeting actual conditions, just repeat no more herein.
Please continue to refer to Fig. 2A, as shown in Figure 2 A, in the present embodiment, two laser scanners in locating base station 101
Two laser scanning lines of outgoing are consistent relative to the skew direction of rotary shaft, and the axle center of laser scanning line and rotary shaft
Between angle be 45 °, so, be located at approximately the same plane equivalent to two laser scanners and two laser scanning lines.At it
In his embodiment, in satisfaction, " the laser scanning plane of two laser scanner outgoing in same rotary shaft is scanned same
Point when two laser scanning lines it is misaligned ", and " any laser scanning line be not orthogonal to where rotary shaft axle center " the two
When condition, in locating base station 101 skew direction of the laser scanning line of two laser scanner outgoing can be it is any,
It is not limited herein.
In specific implementation process, laser scanner can directly send line laser using a wordline laser device, also may be used
To be to utilize a wordline lens such as post lens, Bao Weier prism or a wordline wave prism, the point that laser generator is sent is swashed
Light is converted to line laser, laser scanner and the line laser of its outgoing, namely formation laser scanning face between laser scanning line,
Please continue to refer to Fig. 2 C, Fig. 2 C are the scanning schematic diagram of laser scanner provided in an embodiment of the present invention, such as Fig. 2A and Fig. 2 C institutes
Show, laser scanner 1012 can shoot laser scan line 21, so, between laser scanner 1012 and laser scanning line 21
Laser scanning face 201 is formed, laser scanner 1012, i.e., can be in rotary shaft 1011 after being set in rotary shaft 1011
Drive under, the space of surrounding is scanned, just repeated no more herein.
The wordline lens passed through when the line laser of laser scanner outgoing is to the line laser outgoing are related, with Bao Wei
Exemplified by your prism, please continue to refer to Fig. 2 D, Fig. 2 D are light path schematic diagram of the dot laser by Bao Weier prism formation line laser,
As shown in Figure 2 D, the section of Bao Weier prism 301 is similar to a curve with " roof ", and dot laser is from Bao Weier prism
301 roof side is injected, and the line vertical with the ridge line of Bao Weier prism 301 can be formed when being projected from room bottom side and is swashed
Light, that is to say, that two laser scanners set in locating base station are using Bao Weier prism 301 as line laser
When outgoing mirror, the angle of the ridge of the Bao Weier prism 301 by setting two laser scanners, for example, by two Baos
The ridge of Weir prism 301 is set to be not parallel to the axle center of rotary shaft, and two ridges are perpendicular to laser scanner
The projected image formed in the plane in shoot laser direction is non-axis symmetry image, that is, enables to the locating base station to meet " same
Two laser scanning lines of the laser scanning plane of two laser scanner outgoing in one rotary shaft in scanned same point
It is misaligned ", and " any laser scanning line is not orthogonal to the axle center of place rotary shaft " the two conditions.Similarly, in laser scanning
When device uses other eyeglasses as outgoing mirror, according to the property of other eyeglasses in itself, i.e., can correspondingly it be set,
To meet " two in scanned same point of the laser scanning plane of two laser scanner outgoing in same rotary shaft
Laser scanning line is misaligned ", and " any laser scanning line is not orthogonal to the axle center of place rotary shaft " the two conditions,
Just repeat no more herein.
In specific implementation process, because two laser scanners in each locating base station are the axles with rotary shaft
Centered on the heart, and it is oppositely disposed in rotary shaft, so data processing equipment can be by the rotation that is arranged in locating base station
Axle positioner, to detect the turned position of rotary shaft.Positioner for rotation shaft can be made up of Hall sensor and magnet,
Either it can be made up of or can be made up of code-disc laser generator and light sensor, will in ensuing part
It is introduced respectively.
When positioner for rotation shaft is made up of Hall sensor and magnet, magnet can be arranged on the fixation of rotary shaft
Position, Hall sensor is arranged near the motion path of magnet, so, and the process that magnet is rotated is driven in rotary shaft
In, the position that magnet passes through where Hall sensor can cause the changes of magnetic field near Hall sensor, therefore Hall is passed
Sensor can export a pulse signal, and data processing equipment is received after the pulse signal, that is, can determine that the rotary shaft is current
Turned position, so as to determine the current location for two laser scanners being arranged in the rotary shaft.
When positioner for rotation shaft is made up of laser generator and light sensor, light sensor can be arranged on
In rotary shaft, laser generator can be fixedly installed near the motion path of light sensor, so, driven in rotary shaft
During light sensor is rotated, light sensor pass through laser generator where position when, will be sent out in laser
Electric signal is generated under the triggering for the laser that raw device is sent, data processing equipment is received after the electric signal, that is, can determine this
The current turned position of rotary shaft, so as to determine the current location for two laser scanners being arranged in the rotary shaft.
Certainly, in actual applications, the position of laser generator and light sensor is not limited to aforesaid way, for example also
Laser generator can be set on the rotary shaft, and light sensor can be arranged on to the motion road of laser generator
Near footpath, or laser generator and light sensor be arranged on the base for fixing rotary shaft simultaneously, and in base
Or reflecting strips or reflective mirror, etc. are sticked in corresponding position in rotary shaft, just repeat no more herein.
It should be noted that the light sensor and laser generator in positioner for rotation shaft are, it is necessary to and positioning terminal
In light sensor and the optical scanner in locating base station make a distinction, to avoid in positioning terminal and locating base station
Laser positioning data are interfered, can for example be made a distinction by way of different wave length is set etc..
When positioner for rotation shaft is made up of code-disc, code-disc (English：Encoding disk) it is measurement angular displacement
Digital encoder, including contact encoder and the class of optical encoder two, contact encoder or optical encoder can be arranged on rotation
In rotating shaft, so as to be rotated in rotary shaft during accurately measure the turned position of rotary shaft, and generate corresponding letter
Number, data processing equipment is received after the signal, that is, the current turned position of the rotary shaft is can determine, so as to determine
The current location for two laser scanners being arranged in the rotary shaft.
Certainly, in actual applications, by the introduction of the present embodiment, the technical staff belonging to this area can be according to reality
Border situation, one or more kinds of modes using above-mentioned introduction are set to by positioner for rotation shaft, or with belonging to this area
The other modes that can use of technical staff be combined, the need for meeting actual conditions, just repeat no more herein.
After the structure of single locating base station 101 has been introduced, in ensuing part, alignment system will be introduced and set
Put the situation in pre-set space.
It refer to Fig. 3 A and Fig. 3 B, Fig. 3 A and be arranged on the vertical of pre-set space for alignment system provided in an embodiment of the present invention
Body figure, Fig. 3 B are the sectional view that locating base station provided in an embodiment of the present invention is arranged on pre-set space, such as Fig. 3 A and Fig. 3 B institutes
Show, in the present embodiment, be provided with one group of locating base station at the top of pre-set space, locating base station therein be Fig. 2A and
The locating base station that Fig. 2 B are introduced, the group includes 4 locating base stations, and the rotary shaft of 4 locating base stations is parallel and lines up neat
A row, certainly, the distance between two adjacent positioned base stations can be carried out by those skilled in the art according to actual conditions
Set, be known equivalent to distance, be not limited herein.
In other embodiments, the rotary shaft in one group of locating base station can not line up a neat row, can be certain
Degree or so is interlocked, but the localization region of this group of locating base station is a group common factor for interior all respective localization regions of locating base station,
Namely this mode can reduce the localization region of this group of locating base station to a certain extent, the rotary shaft of locating base station or so is handed over
Wrong amplitude is bigger, then the degree of the localization region reduction of this group of locating base station is bigger, just repeats no more herein.
In specific implementation process, because the structure of all locating base stations is identical, certainly, in addition it is also necessary to ensure all positioning
Mounting means is identical when base station is arranged on the top of pre-set space, so data processing equipment 103 can pass through each positioning base
The signal that the positioner for rotation shaft stood is sent, to determine the current location of two laser scanners in each locating base station, and
And by sending adjustment of rotational speed signal to each locating base station, come the rotating speed of the rotary shaft that adjusts each locating base station, for example plus
Fast or reduction rotary shaft rotating speed, until the time point for the signal that the positioner for rotation shaft in all locating base stations is sent
It is identical, so that 2M laser scanning face of all locating base stations outgoing in the process of running is in two groups of parallel planes, when
So, every group of parallel plane includes M laser scanning face, the M laser scanning face namely M locating base station the same side laser
The laser scanning face of scanner outgoing, then ensure that this two groups parallel laser scanning planes are carried out to positioning terminal
It will not be interfered during scanning.
In another embodiment, Fig. 4 is refer to, Fig. 4 is that the circuit that locating base station provided in an embodiment of the present invention is connected shows
Be intended to, as shown in figure 4, wherein any one locating base station can be set into master base station, remaining locating base station be set to from
Base station, master base station is connected by rotary shaft framing signal line 401 with from base station, so, and master base station is receiving the rotation of itself
After the signal that axle positioner is sent, i.e., it can generate corresponding registration signal and be sent by rotary shaft framing signal line 401
To all from base station, the registration signal can for example indicate the time point for the signal that the positioner for rotation shaft of master base station is sent,
After all registration signals for receiving master base station transmission from base station, its own rotation axis can be adjusted according to the registration signal
Rotating speed, until the rotary shaft positioning dress at each time point and master base station that signal is sent from the positioner for rotation shaft of base station
Put send signal time point it is identical, namely registration signal is sent to from base station by master base station, from base station according to definite message or answer
Number carry out adjustment of rotational speed mode so that the positioner for rotation shaft of all locating base stations sends the time of signal in same group
Point is identical, because all locating base stations are structure identical base station, so the positioner for rotation shaft in all locating base stations is sent out
Go out signal time point it is identical when, all locating base stations in the process of running outgoing laser scanning face also can be in two
The parallel plane of group, is just repeated no more herein.
It is describing that the laser scanning face adjustment of all locating base stations outgoing in the process of running is parallel flat in two groups
After face, technical staff belonging to this area can also actual conditions, it is in properly two by the adjustment of laser scanning face to select other
The parallel plane of group, the need for meeting actual conditions, is just repeated no more herein.
, it is necessary to start time point and scanning when each laser scanning line proceeds by scanning in specific implementation process
To end time point during positioning terminal 102, wherein, laser scanning line scanning to the end time point of positioning terminal 102, energy
The time point for enough generating electric signal by the light sensor set in positioning terminal 102 is recorded, and laser scanning line is opened
Start time point when beginning to be scanned can be recorded in the following way：
First way：In the preferable feelings of time identical that ensure that all locating base stations and positioning terminal are used
, i.e., can be in sometime point under condition, all locating base stations start scanning, and the time point is start time point, certainly,
In practical application, the time point can be after being determined by locating base station, and the information comprising the time point is sent at data
Manage equipment 103, data processing equipment 103 results in start time point or data processing equipment 103 to all
Locating base station is sent in the control signal that sometime point starts scanning, and such data processing equipment 103 also results in starting
At time point, it is not limited herein.
The second way：Alignment system also includes sychronisation, and the wherein signal sending end of sychronisation can be arranged on
In pre-set space, it can also be arranged in any one locating base station, it is of course also possible to set one in each locating base station
It is individual, one of transmission synchronizing signal is only controlled in position fixing process, corresponding signal receiving end can be arranged on positioning
It in terminal 102, can also be arranged on data processing equipment 103, so, record the synchronizing signal of signal sending end transmission
When locating base station outgoing laser scanning face position, time point of synchronizing signal that signal sending end is sent that is to say starting
Time point.
Certainly, according to signal sending end by the way of it is different, signal receiving end exists not when receiving synchronizing signal
Same time delay, it is thus preferable to, signal sending end can use the faster mode of some transmission speeds, and such as signal is sent out
Sending end can be LED array or radio-frequency signal generator, and corresponding, signal receiving end can be light sensor or penetrate
The transmission speed of frequency signal receiver, optical signal and radiofrequency signal is all very fast, so delay can be ignored substantially, namely signal
Receiving terminal receives time point of the time point equivalent to signal sending end transmission synchronizing signal of synchronizing signal, so as to greatest extent
Ground reduces the influence to positioning result.
After having introduced and how determining start time point, in ensuing part, it will introduce specific how to positioning
Terminal 102 is positioned.
Please continue to refer to Fig. 3 A and Fig. 3 B, as shown in Figure 3A, 4 locating base stations 101 are arranged on the top of pre-set space,
In the present embodiment, by be introduced by way of sending synchronizing signal LED array.
User is when using positioning terminal 102 and in the pre-set space, and LED array first sends synchronizing signal, simultaneously
All locating base stations start shoot laser scan line, and positioning terminal 102 can be in synchronizing signal and laser by light sensor
Corresponding electric signal is generated in the presence of scan line, Fig. 5 is refer to, Fig. 5 is positioning terminal 102 provided in an embodiment of the present invention
The signal schematic representation of generation, as shown in figure 5, being judged by the waveform of pulse signals, it may be determined that first pulse signal T1
For synchronizing signal；Because the position of M locating base station shown in Fig. 3 A is, it is known that and due to the rotary shaft of each locating base station
Angle between upper two laser scanners is 180 °, so the laser scanner outgoing in all locating base station the same sides
Laser scanning line is successively after scanned positioning terminal 102, and the laser scanning line of the laser scanner outgoing of opposite side just can be according to
Secondary scanner crosses positioning terminal 102, therefore, and pulse signal A1, B1, C1 and D1 in first half cycle Z1 shown in Fig. 5 are first
Pulse signal A2, B2, C2 and D2 in the signal of group parallel laser scanning plane, later half cycle Z2 sweep for second group of parallel laser
Retouch the signal of line.
So, set-up mode of the M locating base station according to Fig. 3 A in pre-set space terminal, it may be determined that A1 and
A2 receives the pulse signal generated during two laser scanning lines of No. 1 locating base station outgoing for positioning terminal 102, equivalent to
A1 and B1 is corresponding two pulse signals of No. 1 locating base station, similarly, and B1 and B2 are corresponding two pulses of No. 2 locating base stations
Signal, C1 and C2 are corresponding two pulse signals of No. 3 locating base stations, and D1 and D2 are corresponding two pulses of No. 4 locating base stations
Signal.
Using synchronizing signal T1 as start time point, using generation time point as the end time point of each pulse signal, simultaneously
The rotating speed of the rotary shaft of all locating base stations is known and is identical, so each laser scanning face can be calculated, from synchronization
It is inclined between the initial angle of start time point when signal T1 is sent, end time point when arriving positioning terminal 102 to scanning
The deflection angle equation in two laser scanning faces in gyration, the same locating base station of simultaneous, i.e., can calculate positioning terminal
102 relative to each locating base station direction, then simultaneous two or more positioning terminal 102 is relative to each locating base station
Direction equation, i.e., can calculate current location of the positioning terminal 102 in pre-set space.
For in theory, the deflection angle of three scannings of simultaneous to the laser scanning face not exclusively overlapped during positioning terminal 102
Equation is spent, that is, is capable of determining that position of the positioning terminal 102 in pre-set space, and hence it is also possible to which any selection is wherein met
It is required that laser scanning face, remaining laser scanning face can be used for correcting the foregoing positioning result for calculating and obtaining, this area institute
The technical staff of category can select suitable calculation according to actual conditions, just repeat no more herein.
It can be seen that, it is only necessary to set the single light sensor can to realize positioning in positioning terminal 102, and
It is relatively low to the processor requirement in data processing equipment 103 and the amount of calculation needed is relatively low, can directly on the microprocessor
Complete, and the endless number system in alignment system to positioning terminal 102, consequently facilitating multiple positioning terminals are in VR scenes
Interacted according to respective positional information, simultaneously as this group of locating base station being capable of outgoing satisfaction within a scan period
The laser scanning line of positioning requirements, so the position of positioning terminal 102 can be calculated within a scan period, so that
Enable and reach very high refresh rate when calculating the position of positioning terminal 102, realize the real-time positioning of ultralow delay.
In specific implementation process, please continue to refer to Fig. 6, Fig. 6 sets to be provided in an embodiment of the present invention in pre-set space
The schematic diagram of two groups of locating base stations is put, as shown in fig. 6, two groups of locating base stations are arranged on the top in pre-set space, in order to keep away
The laser scanning line for exempting from two groups of locating base station outgoing is interfered, so needing to ensure swashing for any one group of locating base station outgoing
Optical scanning line will not enter the localization region of other group of locating base station, specifically can according to the top and ground of pre-set space it
Between height and locating base station on laser scanner light extraction subtended angle, determine the length of laser scanning line on the ground, then will
The distance between two groups of adjacent locating base stations are set greater than the length, i.e., can avoid between two adjacent groups locating base station
Interfere, so that interfering between can also avoiding multigroup locating base station, for example, please continue to refer to Fig. 6, such as Fig. 6
Shown, pre-set space is divided into two parts by the plane shown in dotted line, and two parts, which correspond at the top of pre-set space, installs
Two groups of locating base stations localization region, just repeat no more herein.If it should be noted that the calculating to laser scanning line
There is error, then there may be certain gap between the localization region of two groups of locating base stations, being in these gaps can not
Positioning terminal is positioned.
In actual applications, every group of respective quantity of locating base station can be with different, for example, first group of locating base station can
To there is 5, second group of locating base station can have 6 etc., be defined, be not limited herein by the demand for meeting actual conditions.
Can be two groups of locating base stations by group carrying out a Time share scanning during being positioned to positioning terminal 102,
Can determine positioning terminal 102 is the electric signal generated after the laser scanning line scanning of which group locating base station outgoing, from
And position of the positioning terminal 102 relative to this group of locating base station is capable of determining that, then determine positioning terminal 102 in Fig. 6 institutes
The position for the pre-set space terminal shown.But, because two kinds of locating base station timesharing are scanned, so it is complete to add scanning
The time of individual pre-set space, equivalent to the positioning time delay added to positioning terminal 102, reduce the accuracy of positioning result
And real-time.
In another positioning method, the dispensing device of a synchronizing signal can be set for every group of locating base station, and this is same
The synchronizing signal that step sender unit is sent organizes the localization region of locating base station, and every group of positioning base where only covering
Stand corresponding synchronizing signal dispensing device outgoing is different synchronizing signals, for example, the signal sending end of sychronisation can be with
It is LED array, while setting certain light-blocking structure for the LED array so that the light that the LED array is sent only covers this
The localization region of group locating base station, and during being positioned to positioning terminal 102, the LED in one group of locating base station
The synchronizing signal of array outgoing is the synchronizing signal for sending the LED array outgoing in an optical signal, another group of locating base station
To send optical signal twice, so, the synchronizing signal received according to positioning terminal 102 can determine positioning terminal 102
Which is organized the localization region of locating base station positioned at, so that it is determined that position of the positioning terminal 102 relative to this group of locating base station, after
And determine positioning terminal 102 in the position of the pre-set space terminal shown in Fig. 6, so avoid each group locating base station by
The larger defect of positioning result time delay caused by group progress Time share scanning.
As can be seen that with the increase of pre-set space, it is thus only necessary to the quantity of corresponding increase locating base station, i.e., it can expand
The orientation range of alignment system is opened up, extended mode is more convenient, is extremely applicable to large-scale laser positioning scene.Certainly, institute
Increased locating base station needs the structure setting with original base station to be consistent, while increased locating base station was being run
Two laser scanning faces of outgoing are also required to put down respectively with two groups of parallel laser scanning faces of former locating base station respectively in journey
OK.
It should be noted that due to the increase with pre-set space, it is necessary to which the laser scanning line of laser scanner outgoing is swept
The maximum distance retouched also increases therewith, in order to ensure that positioning terminal can receive effective laser scanning signal, it is necessary to protect
The length of set same group of locating base station in pre-set space is demonstrate,proved, less than the laser scanning line of single laser scanner outgoing
Coverage, the coverage of the laser scanning line of single laser scanner outgoing is general in 100m or so, just no longer goes to live in the household of one's in-laws on getting married herein
State.
One or more technical scheme in the embodiment of the present invention, at least has the following technical effect that or advantage：
Due to only needing the quantity of corresponding increase locating base station, i.e., it can extend the orientation range of alignment system, extension side
Formula is more convenient, is extremely applicable to large-scale laser positioning scene, while setting single light sensor in positioning terminal
Device is that can realize positioning, and the amount of calculation needed is relatively low, relatively low to the processor requirement in data processing equipment, can be with
Directly complete on the microprocessor, and the endless number system in alignment system to positioning terminal, consequently facilitating multiple positioning are eventually
End is interacted in VR scenes according to respective positional information, further, since within a scan period, one group of positioning base
The laser scanning line for meeting positioning requirements can be provided by standing, so can calculate positioning eventually within a scan period
The position at end so that can reach very high refresh rate when calculating the position of positioning terminal, realize the real-time of ultralow delay
Positioning, so that the quick and accurately space orientation in realization on a large scale.
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 in 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 foregoing embodiment.The present invention is expanded to any to be disclosed in this manual
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (21)
1. a kind of alignment system, it is characterised in that including：
N group locating base stations, N is positive integer, is arranged in pre-set space, wherein every group of locating base station includes M locating base station, M
For the integer more than or equal to 2, each locating base station includes appointing in rotary shaft and two laser scanners, same group of locating base station
The axis parallel for two rotary shafts of anticipating and not conllinear, two sides of two laser scanner shoot lasers in same locating base station
Two in scanned same point of laser scanning line of two laser scanner outgoing on to difference 180 °, and same rotary shaft
Laser scanning line is misaligned, and any laser scanning line is not orthogonal to the axle center of place rotary shaft；Every group of locating base station is in operation
During outgoing 2M laser scanning face in two groups of parallel planes；
Positioning terminal, is provided with light sensor；
Data processing equipment, is connected with the multiple locating base station, for the laser scanning according to same group of locating base station outgoing
Start time point and end time point when line is scanned to the positioning terminal, determine the positioning terminal described default
Position in space.
2. alignment system as claimed in claim 1, it is characterised in that the alignment system also includes sychronisation, described same
The signal sending end of step device is arranged in the pre-set space or arbitrarily in locating base station, the signal of the sychronisation is received
End is arranged on the positioning terminal or the data processing equipment, and the time point that the signal receiving end receives synchronizing signal is
The start time point.
3. alignment system as claimed in claim 2, it is characterised in that when N is more than or equal to 2, every group of locating base station correspondence
The signal sending end of sychronisation is provided with, the synchronizing signal that each signal sending end is sent organizes locating base station where only covering
Localization region, and the synchronizing signal that sends of signal sending end of different group differs.
4. alignment system as claimed in claim 1, it is characterised in that swept for laser in group the localization region of every group of locating base station
Retouch the common factor of the scanning area of device.
5. alignment system as claimed in claim 1, it is characterised in that when N is more than or equal to 2, any one group of locating base station
The laser scanning line of outgoing will not enter the localization region of other group of locating base station.
6. alignment system as claimed in claim 5, it is characterised in that two groups or more locating base station carries out timesharing by group
Scanning.
7. alignment system as claimed in claim 1, it is characterised in that each locating base station is additionally provided with rotary shaft positioning dress
Put, the positioner for rotation shaft is used for the turned position for detecting the rotary shaft.
8. alignment system as claimed in claim 7, it is characterised in that positioned and believed by rotary shaft between same group of locating base station
Number line is connected；The signal generation that master base station in same group of locating base station is sent according to the positioner for rotation shaft of itself is to definite message or answer
Number, and be sent to by the rotary shaft framing signal line from base station；It is described from base station according to the registration signal received,
The rotating speed of itself is adjusted, all to send time point of signal and the master base station from the positioner for rotation shaft of base station
The time point that positioner for rotation shaft sends signal is identical.
9. alignment system as claimed in claim 7, it is characterised in that the positioner for rotation shaft is by Hall sensor and magnetic
Body is constituted, and is either made up of or is made up of code-disc laser generator and light sensor.
10. a kind of locating base station, it is characterised in that including rotary shaft and two laser scanners, two laser scanner outgoing
The both direction of laser differs 180 °, and described two laser scanner outgoing laser scanning line in scanned same point
Two laser scanning line is misaligned, and any laser scanning line is not orthogonal to the axle center of place rotary shaft.
11. locating base station as claimed in claim 10, it is characterised in that the locating base station is additionally provided with rotary shaft positioning dress
Put, the positioner for rotation shaft is used for the turned position for detecting the rotary shaft.
12. locating base station as claimed in claim 11, it is characterised in that the positioner for rotation shaft by Hall sensor and
Magnet is constituted, and is either made up of or is made up of code-disc laser generator and light sensor.
13. a kind of locating base station network, it is characterised in that including N group locating base stations, N is positive integer, is arranged on pre-set space
In, wherein every group of locating base station includes the M locating base stations as described in any claim in claim 10-12, M for more than or equal to
The axis parallel of any two rotary shaft in 2 integer, same group of locating base station and not conllinear, every group of locating base station is in fortune
2M laser scanning face of outgoing is in two groups of parallel planes during row.
14. locating base station network as claimed in claim 13, it is characterised in that the localization region of every group of locating base station is in group
The common factor of the scanning area of laser scanner.
15. locating base station network as claimed in claim 14, it is characterised in that when N is more than or equal to 2, any one group is determined
The laser scanning line of position base station outgoing will not enter the localization region of other group of locating base station.
16. locating base station network as claimed in claim 15, it is characterised in that two groups or more locating base station is entered by group
Row Time share scanning.
17. locating base station network as claimed in claim 13, it is characterised in that pass through rotary shaft between same group of locating base station
Framing signal line is connected；The signal generation that master base station in same group of locating base station is sent according to the positioner for rotation shaft of itself
Registration signal, and be sent to by the rotary shaft framing signal line from base station；It is described described right according to what is received from base station
Calibration signal, adjusts the rotating speed of itself, with cause it is all from the positioner for rotation shaft of base station send time point of signal with it is described
The time point that the positioner for rotation shaft of master base station sends signal is identical.
18. locating base station network as claimed in claim 13, it is characterised in that every group of locating base station is correspondingly arranged on synchronous dress
The signal sending end put, the synchronizing signal that each signal sending end is sent organizes the localization region of locating base station where only covering,
And the synchronizing signal that the signal sending end of different groups is sent is differed.
19. a kind of positioning terminal, it is characterised in that including：
Light sensor, the light sensor can generate telecommunications in the presence of the laser scanning face of laser scanner outgoing
Number；
Processor, is connected with the light sensor, for obtaining the light sensor in same group of locating base station outgoing
The electric signal generated in the presence of into two groups of parallel laser scanning faces, and according to the starting in 3 laser scanning faces of wherein at least
Time point and end time point, determine the position of the positioning terminal, at least three laser scanning face is in the scanned light
Not exclusively overlapped during dependent sensor.
20. positioning terminal as claimed in claim 19, it is characterised in that the positioning terminal is additionally provided with the letter of sychronisation
Number receiving terminal, the time point that the signal receiving end receives synchronizing signal is the start time point.
21. positioning terminal as claimed in claim 20, it is characterised in that the corresponding sychronisation of each group of locating base station
Signal sending end, the synchronizing signal that the corresponding signalling terminals of difference group locating base station are sent is differed, and each signal hair
The synchronizing signal that sending end is sent organizes the localization region of locating base station where only covering.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710098592.9A CN106950541A (en) | 2017-02-23 | 2017-02-23 | A kind of alignment system, locating base station, locating base station network and positioning terminal |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710098592.9A CN106950541A (en) | 2017-02-23 | 2017-02-23 | A kind of alignment system, locating base station, locating base station network and positioning terminal |
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| CN201710098592.9A Pending CN106950541A (en) | 2017-02-23 | 2017-02-23 | A kind of alignment system, locating base station, locating base station network and 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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