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 PDF

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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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CN
China
Prior art keywords
base station
locating base
signal
laser
rotary shaft
Prior art date
Application number
CN201710098592.9A
Other languages
Chinese (zh)
Inventor
李小虎
王捷
张超
Original Assignee
成都理想境界科技有限公司
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Publication date
Application filed by 成都理想境界科技有限公司 filed Critical 成都理想境界科技有限公司
Priority to CN201710098592.9A priority Critical patent/CN106950541A/en
Publication of CN106950541A publication Critical patent/CN106950541A/en

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16Position-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

A kind of alignment system, locating base station, locating base station network and positioning terminal

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.
CN201710098592.9A 2017-02-23 2017-02-23 A kind of alignment system, locating base station, locating base station network and positioning terminal CN106950541A (en)

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Application publication date: 20170714