CN108663680A - A kind of three-dimensional fix method, apparatus and system for reducing time synchronization - Google Patents

A kind of three-dimensional fix method, apparatus and system for reducing time synchronization Download PDF

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Publication number
CN108663680A
CN108663680A CN201810317728.5A CN201810317728A CN108663680A CN 108663680 A CN108663680 A CN 108663680A CN 201810317728 A CN201810317728 A CN 201810317728A CN 108663680 A CN108663680 A CN 108663680A
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CN
China
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signal
time
reception
period
laser
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CN201810317728.5A
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Chinese (zh)
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张益铭
张佳宁
张道宁
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北京凌宇智控科技有限公司
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Priority to CN201810317728.5A priority Critical patent/CN108663680A/en
Publication of CN108663680A publication Critical patent/CN108663680A/en

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    • 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • G01S15/00Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06Systems determining the position data of a target
    • G01S15/08Systems for measuring distance only
    • 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06Systems determining position data of a target
    • G01S17/08Systems determining position data of a target for measuring distance only

Abstract

The invention discloses a kind of three-dimensional fix method, apparatus and system for reducing time synchronization.The three-dimensional fix method includes:In the initial period according to the synchronizing signal, ultrasonic signal and the laser plane signal that detect, emission time and the time of reception of the period ultrasonic signal, the reference moment of laser plane signal and the time of reception are obtained respectively;Each period after initial period obtains the time of reception of the ultrasonic signal and laser plane signal in each period respectively successively, calculates incremental time of each cycle phase for the ultrasound signal receipt moment and the laser plane signal time of reception in a upper period;The three-dimensional coordinate of each periodic signal reception device is calculated successively.Therefore, this three-dimensional fix method solves existing localization method each cycle is needed all to carry out time synchronization, and makes the calculation amount and the prodigious problem of power consumption of entire positioning system synchronous consumption.

Description

A kind of three-dimensional fix method, apparatus and system for reducing time synchronization

Technical field

The present invention relates to a kind of three-dimensional fix methods for reducing time synchronization, also relate to for realizing this The apparatus and system of three-dimensional fix method belongs to space orientation technique field.

Background technology

In recent years, as the rapid development of mobile Internet, data and multimedia service quickly increase, people are for interior The demand of positioning increasingly increases, especially in virtual reality (VR) and augmented reality (AR) technical field, location technology at The basis interacted for virtual reality technology and augmented reality.

Disclosed in the Chinese patent application application No. is 201610381598.2 it is a kind of scanned based on light field it is virtual Real world devices space positioning system, including virtual reality device and two beacons.Virtual reality device includes laser detector, lamp Tower is scanned for emitting modulated infrared laser harness entirely by located space.Each beacon includes two groups of laser tubes and electricity Machine corresponds to two laser scanning axis of transverse and longitudinal respectively.To avoid receiving terminal from being interfered by other light sources such as ambient lights, sent out by beacon Infrared laser harness is using 2MHz OOK modulation.The advantages of technical solution, is that synchronizing signal uses radio frequency signal, together It is accurate to walk the time.

But in above-mentioned space-location method, each scan period is required for a beacon to send primary system synchronization Signal, and another beacon is then synchronous with a upper beacon by receiving the realization of this synchronizing signal so that equipment to be positioned Position, which calculates, is based on same clock.For the high occasion of positioning accuracy, the calculating of data and transmission frequency quickly, therefore, entirely The synchronization of positioning system (emits synchronizing signal and receives synchronizing signal) frequency also quickly so that entire positioning system synchronous consumption Calculation amount and power consumption it is very big.

Invention content

It is fixed that primary technical problem to be solved by this invention is to provide a kind of three dimensions for reducing time synchronization Position method.

Another technical problem to be solved by this invention, which is to provide, a kind of realizing above-mentioned three-dimensional fix method Apparatus and system.

To achieve the goals above, the present invention uses following technical proposals:

According to a first aspect of the embodiments of the present invention, a kind of three-dimensional fix side for reducing time synchronization is provided Method includes the following steps:

Step S10:In the initial period according to synchronizing signal, ultrasonic signal and the laser plane signal detected, respectively Obtain emission time and the time of reception, the reference moment of laser plane signal and the time of reception of initial period ultrasonic signal;

Step S20:Each period after initial period, ultrasonic signal and the laser for obtaining each period respectively successively are flat The time of reception of face signal calculated each cycle phase and the ultrasound signal receipt moment in a upper period and laser plane signal is connect The incremental time that time receiving carves;

Step S30:According to the emission time of initial period ultrasonic signal and the time of reception, the reference of laser plane signal When moment and the time of reception and each cycle phase received the ultrasound signal receipt moment in a upper period and laser plane signal The incremental time at quarter calculates the three-dimensional coordinate of each periodic signal reception device successively.

Wherein more preferably, the emission time of ultrasonic signal and the time of reception described in the initial period are obtained, the laser is flat Further include following steps after the reference moment of face signal and the time of reception:

Step S11:Emission time and the time of reception of the initial period according to the ultrasonic signal obtain signal and receive dress Set the distance of sender unit;

Step S12:Initial period according to the reference moment and the time of reception of the laser plane signal, calculates the initial period The rotation angle of the laser plane signal;

Step S13:According to the initial period obtain the signal receiving device to the sender unit distance and The rotation angle of the laser plane signal calculates the three-dimensional coordinate of signal receiving device described in the initial period.

Wherein more preferably, in step S11, distance of the signal receiving device described in the initial period to the sender unit It is expressed as:

L1=(I1-H1)×Vd

Wherein, H1Indicate the delivery time for the ultrasonic signal that signal receiving device obtains described in the initial period, I1Table Show the time of reception for the ultrasonic signal that signal receiving device described in the initial period obtains, VdIndicate ultrasonic wave in air Spread speed.

Wherein more preferably, in step S12, the rotation angle of laser plane signal described in the initial period includes first sharp First rotation angle of optical plane signal and the second rotation angle of second laser planed signal;First rotation angle and institute The second rotation angle is stated to be expressed as:

a1=(K1-J1)×Va

b1=(T1-S1)×Vb

Wherein, a1Indicate the first rotation angle of initial period first laser planed signal, K1Indicate that the initial period first swashs The time of reception of optical plane signal, J1Indicate the reference moment of initial period first laser planed signal, WaIndicate first laser electricity The angular speed of machine;b1Indicate the second rotation angle of initial period second laser planed signal, T1Indicate initial period second laser The time of reception of planed signal, S1Indicate the reference moment of initial period second laser planed signal;WbIndicate second laser motor Angular speed.

Wherein more preferably, the ultrasonic wave letter for obtaining each cycle phase for a upper period is calculated separately by following formula The incremental time of number time of reception and the laser plane signal time of reception,

ΔTn=In-In-1

ΔHn=Kn-Kn-1

ΔQn=Tn-Tn-1

Wherein, Δ TnIndicated incremental time of each cycle phase for the upper ultrasound signal receipt moment in a period;InIndicate the The time of reception of n period ultrasonic signals, In-1Indicate the time of reception of the upper period ultrasonic signal in the n-th period;ΔHnTable Show incremental time of each cycle phase for the upper one week first laser planed signal time of reception;KnIndicate that the n-th period first swashed The time of reception of optical plane signal, Kn-1Indicate the time of reception of the upper period first laser planed signal in the n-th period;ΔQn Indicated incremental time of each cycle phase for the second laser planed signal time of reception in a upper period;TnIndicate the n-th period The time of reception of dual-laser planed signal, Tn-1Indicate the time of reception of the upper period second laser planed signal in the n-th period.

Wherein more preferably, in step S30, the method for calculating the three-dimensional coordinate of each periodic signal reception device includes following son Step:

Step S31:According to obtained each cycle phase for the incremental time of the ultrasonic signal in a upper period, calculated successively Obtain each periodic signal reception device to sender unit distance;

Step S32:According to obtained each cycle phase for the incremental time of the laser plane signal in a upper period, counted successively Calculation obtains the rotation angle of each periodic laser planed signal;

Step S33:Distance and each period of each periodic signal reception device obtained according to step to sender unit The three-dimensional coordinate of each periodic signal reception device is calculated in the rotation angle of laser plane signal.

Wherein more preferably, in step S31, the distance of each periodic signal reception device to sender unit is expressed as:

Ln=Δ tn×Vd

Δtn=Δ Tn-W-ΔTn-1

Wherein:Ln indicates the n-th periodic signal reception device to the distance of sender unit;Δ tn indicates that the n-th period is super The delivery time of acoustic signals and the difference of the time of reception;Δ Tn indicates the n-th cycle phase to a period ultrasonic signal thereon The incremental time of the time of reception;W indicates cycle length, and n is positive integer.

Wherein more preferably, in step S32, the rotation angle of each periodic laser planed signal is expressed as:

an=Δ hn×Wa

bn=Δ qn×Wb

Δhn=Δ Hn-W–Δhn-1

Δqn=Δ Qn-W–Δqn-1

Wherein:anIndicate the first rotation angle of the n-th period first laser planed signal, bnIndicate the n-th period second laser Second rotation angle of planed signal;ΔhnIndicate the n-th first laser planed signal time of reception in period and the difference with reference to the moment Value, Δ qnIndicate the n-th second laser planed signal time of reception in period and the difference with reference to the moment;WaIndicate first laser motor Angular speed, WbIndicate the angular speed of second laser motor;ΔHnIndicated that the n-th cycle phase was flat for the first laser in a upper period The incremental time of the face signal time of reception, Δ QnIndicate that the n-th cycle phase received the second laser planed signal in a upper period The incremental time at moment;W indicates cycle length, and n is positive integer.

Wherein more preferably, in step S30, the method for calculating the three-dimensional coordinate of each periodic signal reception device includes following son Step:

Step S34:According to the ultrasonic signal and the incremental time of laser plane signal, each cycle phase pair is calculated separately Increased to the distance increment of sender unit and the rotation angle of laser plane signal in the signal receiving device in a upper period Amount;

Step S35:It is flat according to the distance of the signal receiving device in obtained initial period to sender unit and laser The rotation angle of face signal and each cycle phase calculated each week successively for the distance increment and rotation angle increment in a upper period Phase signal receiving device is to the distance of sender unit and the rotation angle of laser plane signal;

Step S36:Believed according to the distance and laser plane of each periodic signal reception device of acquisition to sender unit Number rotation angle, calculate the three-dimensional coordinate of each periodic signal reception device successively.

Wherein more preferably, in step S34, each cycle phase for a upper period signal receiving device to sender unit Distance increment and the rotation angle increment of laser plane signal be expressed as:

Δ d=(Δ Tn-W)×Vd

Δ x=(Δ Hn-W)×Wa

Δ y=(Δ Qn-W)×Wb

Wherein, Δ d indicates that the n-th cycle phase increased the signal receiving device in a upper period to the distance of sender unit Amount;Δ x indicates rotation angle increment of n-th cycle phase for upper period first laser planed signal;Δ y indicated for the n-th period The rotation angle increment of the second laser planed signal of signal receiving device relative to a upper period;ΔTnIndicate n-th The incremental time at the ultrasound signal receipt moment that cycle phase obtains a period thereon, VdIndicate that ultrasonic wave passes in air Broadcast speed;ΔHnIndicated the n-th cycle phase for the incremental time of the first laser planed signal time of reception in a upper period, WaTable Show the angular speed of first laser motor;ΔQnWhen indicating that the n-th cycle phase received the second laser planed signal in a upper period The incremental time at quarter, WbIndicate the angular speed of second laser motor;W indicates cycle length, and n is positive integer.

Wherein more preferably, the three-dimensional coordinate of the signal receiving device is calculated according to following formula:

Xn=Zn×tan(an)

Yn=Zn×tan(bn)

Wherein, (Xn, Yn, Zn) indicate signal the n-th periodic signal reception device three-dimensional coordinate, n is positive integer;anIt indicates First rotation angle of the first laser planed signal that the n-th period obtained;bnIndicate that the second laser that the n-th periodic signal obtains is flat Second rotation angle of face signal;LnIndicate the n-th periodic signal reception device to sender unit distance.

Wherein more preferably, after calculating predetermined period number successively, return to step S10 re-executes step S10~step S30 realizes the three-dimensional coordinate for calculating each periodic signal reception device successively.

According to a second aspect of the embodiments of the present invention, a kind of three-dimensional fix dress for reducing time synchronization is provided It sets, including initial period signal acquisition module, incremental time acquisition module and three-dimensional coordinate computing module;

The initial period signal acquisition module be used for the initial period according to detect synchronizing signal, ultrasonic signal And laser plane signal, emission time and the time of reception of initial period ultrasonic signal are obtained respectively, laser plane signal With reference to moment and the time of reception;

The incremental time acquisition module is used for each period after the initial period, obtains the super of each period respectively successively The time of reception of acoustic signals and laser plane signal calculated ultrasound signal receipt moment of each cycle phase for a upper period With the incremental time of the laser plane signal time of reception;

Emission time and the time of reception of the three-dimensional coordinate computing module according to initial period ultrasonic signal, laser are flat The reference moment of face signal and the time of reception and each cycle phase are flat for the ultrasound signal receipt moment in a upper period and laser The incremental time of the face signal time of reception calculates the three-dimensional coordinate of each periodic signal reception device successively.

Wherein more preferably, the three-dimensional fix device further includes being revolved apart from acquisition module, initial period in the initial period Gyration acquisition module and initial period three-dimensional coordinate computing module;

The initial period according to the emission time of the ultrasonic signal and connects apart from acquisition module for the initial period Time receiving carves, the distance of acquisition signal receiving device to sender unit;

When the initial period rotation angle acquisition module is used for reference of the initial period according to the laser plane signal Quarter and the time of reception calculate the rotation angle of laser plane signal described in the initial period;

The initial period three-dimensional coordinate computing module according to the signal receiving device that the initial period obtains for arriving The rotation angle of the distance of the sender unit and the laser plane signal calculates signal described in the initial period and receives dress The three-dimensional coordinate set.

Wherein more preferably, the three-dimensional coordinate computing module includes metrics calculation unit, rotation angle calculating unit and three Dimension coordinate computing unit;

The metrics calculation unit was used for the time for the ultrasonic signal in a upper period according to obtained each cycle phase Increment, be calculated successively each periodic signal reception device to sender unit distance;

The rotation angle calculating unit was used for the laser plane signal for a upper period according to obtained each cycle phase Incremental time, the rotation angle of each periodic laser planed signal is calculated successively;

Each periodic signal reception device that the three-dimensional coordinate computing unit is used to be obtained according to step sends to signal and fills The three-dimensional coordinate of each periodic signal reception device is calculated in the rotation angle of the distance and each periodic laser planed signal set.

Wherein more preferably, the three-dimensional coordinate computing module include distance and rotation angle increment computing unit, distance and Rotation angle calculating unit and three-dimensional coordinate computing unit;

The distance and rotation angle increment computing unit are used for according to the ultrasonic signal and laser plane signal Incremental time, calculate separately each cycle phase for a upper period signal receiving device to sender unit distance increment, With the rotation angle increment of laser plane signal;

The distance and rotation angle calculating unit are used for according to the signal receiving device in obtained initial period to signal The distance increment and rotation of the distance of sending device and the rotation angle of laser plane signal and each cycle phase for a upper period Angle step calculates each periodic signal reception device to the distance of sender unit and the rotation angle of laser plane signal successively Degree;

The three-dimensional coordinate computing unit is used to arrive sender unit according to each periodic signal reception device of acquisition The rotation angle of distance and laser plane signal, calculates the three-dimensional coordinate of each periodic signal reception device successively.

According to a third aspect of the embodiments of the present invention, a kind of three-dimensional fix system for reducing time synchronization is provided System, including sender unit, signal receiving device and data processing equipment;

The sender unit is used to send synchronizing signal, ultrasonic signal and laser plane signal in the initial period; Several periods after the initial period stop sending synchronizing signal, keep sending the ultrasonic signal and the laser is flat Face signal;

The signal receiving device is used to receive the synchronizing signal of sender unit transmission, the ultrasonic signal And the laser plane signal, and the synchronizing signal, the ultrasonic signal and the laser plane signal are sent to institute State data processing equipment;

The data processing equipment is used for flat according to synchronizing signal, ultrasonic signal and the laser detected in the initial period Face signal obtains emission time and the time of reception of initial period ultrasonic signal, the reference moment of laser plane signal respectively And the time of reception;And each period after the initial period obtains the ultrasonic signal and laser in each period respectively successively The time of reception of planed signal, and it is flat for the ultrasound signal receipt moment in a upper period and laser to calculate separately each cycle phase The incremental time of the face signal time of reception;It is described according to the emission time of the initial period ultrasonic signal and the time of reception The reference moment of laser plane signal and the time of reception and each cycle phase for a upper period the ultrasound signal receipt moment and The incremental time of the laser plane signal time of reception calculates the three-dimensional coordinate of each periodic signal reception device successively.

According to a fourth aspect of the embodiments of the present invention, a kind of terminal is provided, including memory, processor and is stored in described On memory and the computer program that can run on the processor, the processor realize following step when executing described program Suddenly:

Step S10:In the initial period according to synchronizing signal, ultrasonic signal and the laser plane signal detected, respectively Obtain emission time and the time of reception, the reference moment of laser plane signal and the time of reception of initial period ultrasonic signal;

Step S20:Each period after initial period, ultrasonic signal and the laser for obtaining each period respectively successively are flat The time of reception of face signal calculated each cycle phase and the ultrasound signal receipt moment in a upper period and laser plane signal is connect The incremental time that time receiving carves;

Step S30:According to the emission time of initial period ultrasonic signal and the time of reception, the reference of laser plane signal When moment and the time of reception and each cycle phase received the ultrasound signal receipt moment in a upper period and laser plane signal The incremental time at quarter calculates the three-dimensional coordinate of each periodic signal reception device successively.

According to a fifth aspect of the embodiments of the present invention, a kind of machine readable media is provided, computer program is stored thereon with, The program realizes following steps when being executed by processor:

Step S10:In the initial period according to synchronizing signal, ultrasonic signal and the laser plane signal detected, respectively Obtain emission time and the time of reception, the reference moment of laser plane signal and the time of reception of initial period ultrasonic signal;

Step S20:Each period after initial period, ultrasonic signal and the laser for obtaining each period respectively successively are flat The time of reception of face signal calculated each cycle phase and the ultrasound signal receipt moment in a upper period and laser plane signal is connect The incremental time that time receiving carves;

Step S30:According to the emission time of initial period ultrasonic signal and the time of reception, the reference of laser plane signal When moment and the time of reception and each cycle phase received the ultrasound signal receipt moment in a upper period and laser plane signal The incremental time at quarter calculates the three-dimensional coordinate of each periodic signal reception device successively.

Three-dimensional fix method provided by the present invention only obtains synchronizing signal in the initial period, and remaining period stops Synchronizing signal is received, and according to the emission time of initial period ultrasonic signal and the time of reception, the reference of laser plane signal When moment and the time of reception and each cycle phase received the ultrasound signal receipt moment in a upper period and laser plane signal The incremental time at quarter can calculate the three-dimensional coordinate of each periodic signal reception device successively.Therefore, this three-dimensional fix method Solving existing localization method needs each cycle all to carry out time synchronization, and makes the calculation amount of entire positioning system synchronous consumption With the prodigious problem of power consumption.

Description of the drawings

Fig. 1 is the flow chart one of three-dimensional fix method provided by the present invention;

Fig. 2 is the flowchart 2 of three-dimensional fix method provided by the present invention;

Fig. 3 is in three-dimensional fix method provided by the present invention, and the location information based on reception device establishes flute card That coordinate system;

Fig. 4 is the structure diagram one of three-dimensional fix device provided by the present invention;

Fig. 5 is the structure diagram two of three-dimensional fix device provided by the present invention;

Fig. 6 is the detail of construction one of three-dimensional fix device provided by the present invention;

Fig. 7 is the detail of construction two of three-dimensional fix device provided by the present invention;

Fig. 8 is the structure chart of three-dimensional fix system provided by the present invention.

Specific implementation mode

The technology contents of the present invention are described in further detail in the following with reference to the drawings and specific embodiments.

As shown in Figure 1, the three-dimensional fix method that the embodiment of the present invention is provided mainly includes the following steps:

Step S10:In the initial period according to synchronizing signal, ultrasonic signal and the laser plane signal detected, respectively Obtain emission time and the time of reception, the reference moment of laser plane signal and the time of reception of initial period ultrasonic signal;

Step S20:Each period after initial period, ultrasonic signal and the laser for obtaining each period respectively successively are flat The time of reception of face signal calculated each cycle phase and the ultrasound signal receipt moment in a upper period and laser plane signal is connect The incremental time that time receiving carves;

Step S30:According to the emission time of initial period ultrasonic signal and the time of reception, the reference of laser plane signal When moment and the time of reception and each cycle phase received the ultrasound signal receipt moment in a upper period and laser plane signal The incremental time at quarter calculates the three-dimensional coordinate of each periodic signal reception device successively.

Three-dimensional fix method provided by the present invention only obtains synchronizing signal in the initial period, and remaining period is not required to Receive synchronizing signal, you can calculate the three-dimensional coordinate of each periodic signal reception device successively.Therefore, this three-dimensional fix method Solving existing localization method needs each cycle all to carry out time synchronization, and makes the calculation amount of entire positioning system synchronous consumption With the prodigious problem of power consumption.

In order to make skilled person be better understood by the present invention, a more detailed embodiment is set forth below, As shown in Fig. 2, the embodiment of the present invention provides a kind of three-dimensional fix method, including:

Step S10:In the initial period according to synchronizing signal, ultrasonic signal and the laser plane signal detected, respectively Obtain emission time and the time of reception, the reference moment of laser plane signal and the time of reception of initial period ultrasonic signal;

In the initial period, sender unit can to signal receiving device simultaneously send synchronizing signal, ultrasonic signal and Laser plane signal, synchronizing signal and ultrasonic signal, laser plane signal can be sent simultaneously, or be separated by one it is fixed Time interval is sent.Synchronizing signal can be optical signal or radio signal, and signal receiving device first receives synchronous letter Ultrasonic signal and laser plane signal are received after number;Wherein, signal receiving device receives the same of sender unit transmission Signal is walked, the synchronous base moment is used for;It is received to signal specifically, sender unit can be detected by data processing equipment Synchronizing signal, ultrasonic signal and the laser plane signal that device is sent, and data processing equipment is sent out according to the signal detected The time of the synchronizing signal of device transmission, reckoning is sent to obtain the emission time of ultrasonic signal and the ginseng of laser plane signal Examine the moment.

After step S10, it can also include the following steps:

Step S11:Emission time and the time of reception of the initial period according to the ultrasonic signal obtain signal and receive dress Set the distance of sender unit.Initial period signal receiving device can be calculated according to following formula to sender unit Distance.

L1=(I1-H1)×Vd (1)

Wherein, L1Indicate initial period signal receiving device to the distance of sender unit, H1Indicate initial period ultrasound The delivery time of wave signal, I1Indicate the time of reception of initial period ultrasonic signal, VdIndicate that ultrasonic wave propagates speed in air Degree ((for example, its spread speed is 340m/s in 15 DEG C of air).

In the present embodiment, signal receiving device can be the locator installed in handle or head display device;Signal Sending device can be base station, but be not only limited to this.

Step S12:Initial period according to the reference moment and the time of reception of the laser plane signal, calculates the initial period The rotation angle of the laser plane signal;

Equally, in the initial period, laser plane signal that signal receiving device receives include first laser planed signal and The laser plane signal that second laser planed signal, i.e. data processing equipment detect includes first laser planed signal and second Laser plane signal.In an optional embodiment, first laser planed signal is sender unit around the first rotation The laser plane signal that axis rotation is sent, second laser planed signal are that sender unit rotates transmission around the second rotary shaft Laser plane signal;It is sent out for example, first laser motor drive signal sending device may be used and rotated around the first rotary shaft First laser planed signal is sent, second is sent around the rotation of the second rotary shaft using second laser motor drive signal sending device Laser plane signal;Preferably, the first rotary shaft is mutually perpendicular to the second rotary shaft.Data processing equipment is same according to what is detected The time of signal and laser plane signal is walked, respectively when the reference of acquisition first laser planed signal and second laser planed signal It carves and the time of reception, and calculates separately the first rotation angle and the of initial period first laser planed signal according to following formula Second rotation angle of dual-laser planed signal.

a1=(K1-J1)×Wa (2)

b1=(T1-S1)×Wb (3)

Wherein, a1Indicate the first rotation angle of initial period first laser planed signal, K1Indicate that the initial period first swashs The time of reception of optical plane signal, J1Indicate the reference moment of initial period first laser planed signal, WaIndicate first laser electricity The angular speed of machine;b1Indicate the second rotation angle of initial period second laser planed signal, T1Indicate initial period second laser The time of reception of planed signal, S1Indicate the reference moment of initial period second laser planed signal;WbIndicate second laser motor Angular speed.Wherein, the angular speed of each laser motor is depending on the scan frequency of laser plane signal, such as laser plane letter Number scan frequency be 60HZ, each period is about 16.666s, then the angular speed of each laser motor be 21600 °/s.

Specifically, the first rotation angle is the first laser for the signal receiving device reception that data processing equipment detects Angle of the planed signal relative to the first rotary shaft and the determined plane of the second rotary shaft, the second rotation angle fill for data processing It is true relative to the first rotary shaft and the second rotary shaft institute to set the second laser planed signal that the signal receiving device detected receives Allocate the angle in face.The reference moment of first laser planed signal and second laser planed signal is set as the first, second laser At the time of plane rotates to plane determined by the first rotary shaft and the second rotary shaft respectively.It is received and is filled according to signal with reference to the moment Reckoning at the time of receiving synchronizing signal is set to obtain.

Step 13:The distance and laser plane of the signal receiving device obtained according to the initial period to sender unit are believed Number rotation angle, calculate initial period signal receiving device three-dimensional coordinate.

Three-dimensional system of coordinate can be that cartesian coordinate system, can when using the second rotary shaft as Y-axis using the first rotary shaft as X-axis With calculated according to following formula the signal receiving device in each period in the three-dimensional measurement coordinate system three-dimensional coordinate (X, Y, Z):

Xn=Zn×tan(an) (5)

Yn=Zn×tan(bn) (6)

Wherein, (Xn, Yn, Zn) indicate signal the n-th periodic signal reception device three-dimensional coordinate, n is positive integer;anIt indicates First rotation angle of the first laser planed signal that the n-th period obtained;bnIndicate that the second laser that the n-th periodic signal obtains is flat Second rotation angle of face signal;LnIndicate the n-th periodic signal reception device to sender unit distance.

As shown in Figure 3, it is assumed that the position of a certain periodic signal reception device is located at P points, establishes cartesian coordinate system, In, OP indicates the periodic signal reception device to the distance of sender unit, and a is that the periodic signal reception device obtains First rotation angle of one laser plane signal, b are the of the second laser planed signal that the periodic signal reception device obtains Two rotation angles;Therefore, according to step S10~step S13 obtain the periodic signal reception device to sender unit away from From OP and laser plane signal rotation angle (the first rotation angle a and the second rotation angle b), then, substitute into above-mentioned formula, It can obtain the three-dimensional coordinate of the periodic signal reception device.

Step S20:Each period after initial period, ultrasonic signal and the laser for obtaining each period respectively successively are flat The time of reception of face signal, and calculate separately each cycle phase for a upper period ultrasonic signal and laser plane signal when Between increment;

Each periodic signal reception device after initial period receives only the ultrasonic signal of sender unit transmission With laser plane signal (sender unit no longer sends synchronizing signal to signal receiving device), and signal receiving device connects The laser plane signal of receipts includes first laser planed signal and second laser planed signal, first laser planed signal and second Laser plane signal is with described in step S12, and details are not described herein.Therefore, data processing equipment can obtain each week successively The time of reception of the ultrasonic signal and laser plane signal of phase, the ultrasonic signal that this cycle data processing unit is obtained It is poor that the time of reception for the ultrasonic signal that the time of reception obtains with a cycle data processing unit thereon is made, and can obtain this period The incremental time of ultrasonic signal relative to a upper period;Equally, the laser plane this cycle data processing unit obtained It is poor that the time of reception for the laser plane signal that the time of reception of signal obtains with a cycle data processing unit thereon is made, and can obtain Incremental time to this period relative to the laser plane signal in a upper period.

According to step S20, can by each cycle phase that following formula calculates separately for the data in a upper period at The incremental time at ultrasound signal receipt moment and the laser plane signal time of reception that device obtains is managed,

ΔTn=In-In-1 (7)

ΔHn=Kn-Kn-1 (8)

ΔQn=Tn-Tn-1 (9)

Wherein, Δ TnIndicated incremental time of each cycle phase for the upper ultrasound signal receipt moment in a period;InIndicate the The time of reception of n period ultrasonic signals, In-1Indicate the time of reception of the upper period ultrasonic signal in the n-th period;ΔHnTable Show incremental time of each cycle phase for the upper one week first laser planed signal time of reception;KnIndicate that the n-th period first swashed The time of reception of optical plane signal, Kn-1Indicate the time of reception of the upper period first laser planed signal in the n-th period;ΔQn Indicated incremental time of each cycle phase for the upper second laser planed signal time of reception in a period;TnIndicated for the n-th period second The time of reception of laser plane signal, Tn-1Indicate the time of reception of the upper period second laser planed signal in the n-th period.

For the ease of the understanding to this step, it can be assumed that 3 periods of scanning is needed (3 may to be far longer than in practice Period), and the time of reception of the ultrasonic signal and laser plane signal in each period is obtained by data processing equipment successively, I.e. by the ultrasonic signal of step S10 acquisitions period 1 (i.e. initial period) and after the time of reception of laser plane signal, The time of reception of the ultrasonic signal with laser plane signal of second round, the ultrasonic signal of period 3 are obtained successively and are swashed The time of reception of optical plane signal.The ultrasonic signal of second round is corresponding with the time of reception of laser plane signal with first It is poor that the ultrasonic signal in period is made with the time of reception of laser plane signal, can respectively obtain second round relative to first week The incremental time of the ultrasonic signal and laser plane signal of phase;By the ultrasonic signal of period 3 and laser plane signal The time of reception corresponds to be made poor with the time of reception of the ultrasonic signal of second round and laser plane signal, can respectively obtain the Incremental time of three cycle phases for the ultrasonic signal and laser plane signal of second round.

In one alternate embodiment, step S30 includes following sub-step:

Step S31:According to obtained each cycle phase for the incremental time of the ultrasonic signal in a upper period, calculated successively Obtain each periodic signal reception device to sender unit distance.

Each cycle phase obtained according to step S20 calculated the incremental time of the ultrasonic signal in a upper period successively Obtain each periodic signal reception device to sender unit distance.Calculation formula is as follows:

Ln=Δ tn×Vd (10)

Wherein, Δ tnIt obtains in this way:

Δt2=Δ T2-W-(I1-H1)

Δt3=Δ T3-W-Δt2

Δt4=Δ T4-W-Δt3

……

Δtn=Δ Tn-W-ΔTn-1 (11)

Wherein:LnIndicate the n-th periodic signal reception device to sender unit distance;ΔtnIndicate the n-th period ultrasound The delivery time of wave signal and the difference of the time of reception;ΔTnIndicate that the n-th cycle phase connects a period ultrasonic signal thereon The incremental time that time receiving carves;W indicates cycle length, such as the tranmitting frequency of ultrasonic signal is 60HZ, then each period W is about 16.666s;H1Indicate the delivery time of initial period ultrasonic signal;I1Indicate the time of reception of initial period ultrasonic signal; VdIndicate that ((for example, its spread speed is 340m/s in 15 DEG C of air), n is just whole to spread speed to ultrasonic wave in air Number.

Step S32:According to obtained each cycle phase for the incremental time of the laser plane signal in a upper period, counted successively Calculation obtains the rotation angle of each periodic laser planed signal.

an=Δ hn×Wa (12)

bn=Δ qn×Wb (13)

Wherein, Δ hn、ΔqnIt obtains in this way:

Δh2=Δ H2-W-(K1-J1), Δ q2=Δ Q2-W-(T1-S1)

Δh3=Δ H3-W-Δh2, Δ q3=Δ Q3-W-Δq2

Δh4=Δ H4-W-Δh3, Δ q4=Δ Q4-W-Δq3

……

Δhn=Δ Hn-W–Δhn-1(14),Δqn=Δ Qn-W–Δqn-1 (15)

Wherein:anIndicate the first rotation angle of the n-th period first laser planed signal, bnIndicate the n-th period second laser Second rotation angle of planed signal;ΔhnIndicate the n-th first laser planed signal time of reception in period and the difference with reference to the moment Value, Δ qnIndicate the n-th second laser planed signal time of reception in period and the difference with reference to the moment;WaIndicate first laser motor Angular speed, WbIndicate the angular speed of second laser motor;K1Indicate the time of reception of initial period first laser planed signal, J1Indicate the reference moment of initial period first laser planed signal;T1Indicate the reception of initial period second laser planed signal Moment, S1Indicate the reference moment of initial period second laser planed signal;ΔHnIndicated the n-th cycle phase for a upper period The incremental time of the first laser planed signal time of reception, Δ QnIndicated that the n-th cycle phase was flat for the second laser in a upper period The incremental time of the face signal time of reception;W indicates cycle length, such as the tranmitting frequency of ultrasonic signal is 60HZ, then each Period W is about 16.666s;N is positive integer.

Step S33:Distance and each periodic laser according to obtained each periodic signal reception device to sender unit The three-dimensional coordinate of each periodic signal reception device is calculated in the rotation angle of planed signal.

Three-dimensional measurement coordinate system can be cartesian coordinate system, using the first rotary shaft as X-axis, using the second rotary shaft as Y-axis When, three-dimensional seat of the signal receiving device in each period in the three-dimensional measurement coordinate system can be calculated according to formula (4)~(6) It marks (X, Y, Z).

In another alternative embodiment, step S30 further includes following sub-step:

S34:According to the ultrasonic signal and the incremental time of laser plane signal, each cycle phase is calculated separately for upper one Rotation angle increment of the signal receiving device in period to the distance increment and laser plane signal of sender unit;

Ultrasonic signal that each cycle phase obtained according to step S20 received the signal receiving device in a upper period and The incremental time of laser plane signal, and next cycle phase was calculated separately by following formula, the signal in a upper period is received The rotation angle increment for the laser plane signal that the distance increment and signal receiving device of device to sender unit receive;

Δ d=(Δ Tn-W)×Vd (16)

Δ x=(Δ Hn-W)×Wa (17)

Δ y=(Δ Qn-W)×Wb (18)

Wherein, Δ d indicates that the n-th cycle phase increased the signal receiving device in a upper period to the distance of sender unit Amount;ΔTnIndicate incremental time of n-th cycle phase to a ultrasound signal receipt moment in period thereon;, n expression scannings The number in period, n are positive integer;VdIndicate ultrasonic wave spread speed (340m/s) in air.Δ x indicates the n-th cycle phase pair In the rotation angle increment of upper period first laser planed signal;ΔHnIndicated the n-th cycle phase for the first of a upper period The incremental time of the laser plane signal time of reception, W indicate cycle length;WaIndicate the angular speed of first laser motor;Δ y tables Show the n-th cycle phase for the rotation angle increment of upper period second laser planed signal, Δ QnIndicate the n-th cycle phase for upper The incremental time of the second laser planed signal time of reception in one period;WbIndicate the angular speed of second laser motor.

Step S35:It is flat according to the distance of the signal receiving device in obtained initial period to sender unit and laser The rotation angle of face signal and each cycle phase calculated each week successively for the distance increment and rotation angle increment in a upper period Phase signal receiving device is to the distance of sender unit and the rotation angle of laser plane signal;

Distance and signal of the signal receiving device in the initial period obtained according to step S11, S12 to sender unit The rotation angle and each cycle phase of the laser plane signal of reception device sent out the signal receiving device in a upper period to signal The rotation angle increment of the distance increment and laser plane signal of device is sent, the signal that can calculate each period successively receives Distance and laser plane signal (first laser planed signal and second laser planed signal) of the device to sender unit Rotation angle.Specifically, by the distance of the signal receiving device in initial period to sender unit and its next cycle phase pair It is added in the distance increment of signal receiving device to the sender unit in initial period, obtains next period (second round) Distance of the signal receiving device to sender unit;Then the signal receiving device in the period (second round) to signal is sent out Send the distance of device and its next period (period 3) relative to the period signal receiving device to sender unit Distance increment is added, and obtains the signal receiving device in next period to the distance of sender unit;And so on each period meter Distance of the calculation signal receiving device to sender unit.

Equally, by the laser plane signal of the signal receiving device in initial period, (first laser planed signal and second swashs Optical plane signal) rotation angle correspond to the signal receiving device with its next period (second round) relative to the initial period The rotation angle increment of laser plane signal (first laser planed signal and second laser planed signal) is added, and obtains next week The laser plane signal (first laser planed signal and second laser planed signal) of the signal receiving device of phase (second round) Rotation angle;Then by laser plane signal (the first laser plane of the signal receiving device in the period ((second round)) Signal and second laser planed signal) rotation angle and its laser plane of next period (period 3) relative to the period The rotation angle increment of signal (first laser planed signal and second laser planed signal) is added, and obtains next period (third Period) signal receiving device laser plane signal (first laser planed signal and second laser planed signal) rotation angle Degree;And so on the laser plane signal of each computation of Period signal receiving device (first laser planed signal and second laser are flat Face signal) rotation angle.

Step S36:Believed according to the distance and laser plane of each periodic signal reception device of acquisition to sender unit Number rotation angle, calculate the three-dimensional coordinate of each periodic signal reception device successively.

Three-dimensional measurement coordinate system can be cartesian coordinate system, using the first rotary shaft as X-axis, using the second rotary shaft as Y-axis When, three-dimensional seat of the signal receiving device in each period in the three-dimensional measurement coordinate system can be calculated according to formula (4)~(6) It marks (X, Y, Z):

Use the three-dimensional coordinate of signal receiving device that this space-location method obtains because of week for calculating successively in order to prevent Issue is excessive and generates larger error, can preset the periodicity calculated successively, after calculating predetermined period number successively, Signal receiving device receives a synchronizing signal (i.e. return to step S10), that is, re-executes step S10~step S30, realization according to The secondary three-dimensional coordinate for calculating each periodic signal reception device.For example, it was 50 periods to preset the periodicity calculated successively, i.e., often After calculating for 50 periods successively, signal receiving device receives a synchronizing signal, that is, re-executes step S10~step S30, realizes The three-dimensional coordinate of each periodic signal reception device is calculated successively.

Corresponding to above-mentioned Fig. 1 and embodiment of the method shown in Fig. 2, as shown in figure 4, the embodiment of the present invention additionally provides one kind Three-dimensional fix device for reducing time synchronization, including:

Initial period signal acquisition module 1 be used for the initial period according to detect synchronizing signal, ultrasonic signal and Laser plane signal obtains emission time and the time of reception of initial period ultrasonic signal, the ginseng of laser plane signal respectively Examine moment and the time of reception.

Incremental time acquisition module 2 is used for each period after the initial period, obtains the ultrasound in each period respectively successively The time of reception of wave signal and laser plane signal, calculate each cycle phase for a upper period the ultrasound signal receipt moment and The incremental time of the laser plane signal time of reception.

Emission time and the time of reception of the three-dimensional coordinate computing module 3 according to initial period ultrasonic signal, laser plane The ultrasound signal receipt moment and laser plane of the reference moment of signal and the time of reception and each cycle phase for a upper period The incremental time of the signal time of reception calculates the three-dimensional coordinate of each periodic signal reception device successively.

As shown in figure 5, the embodiment of the present invention additionally provides a kind of three-dimensional fix device for reducing time synchronization, Further include:

When initial period is used for emission time and reception of the initial period according to the ultrasonic signal apart from acquisition module 4 It carves, the distance of acquisition signal receiving device to sender unit;

Initial period rotation angle acquisition module 5 for the initial period according to reference moment of the laser plane signal with The time of reception calculates the rotation angle of laser plane signal described in the initial period;

The signal receiving device that initial period three-dimensional coordinate computing module 6 is used to be obtained according to the initial period is described in The rotation angle of the distance of sender unit and the laser plane signal calculates signal receiving device described in the initial period Three-dimensional coordinate.

Specifically, as shown in fig. 6, the three-dimensional fix dress for reducing time synchronization that the embodiment of the present invention is provided It sets, three-dimensional coordinate computing module 3 may include:

Metrics calculation unit 31 is used to increase the time of the ultrasonic signal in a upper period according to obtained each cycle phase Amount, be calculated successively each periodic signal reception device to sender unit distance.

Rotation angle calculating unit 32 was used for the laser plane signal for a upper period according to obtained each cycle phase The rotation angle of each periodic laser planed signal is calculated in incremental time successively.

Each periodic signal reception device that three-dimensional coordinate computing unit 33 is used to be obtained according to step is to sender unit Distance and each periodic laser planed signal rotation angle, the three-dimensional coordinate of each periodic signal reception device is calculated.

Specifically, as shown in fig. 7, three-dimensional coordinate computing module 3, can also include:

Distance and rotation angle increment computing unit 34 be used for according to the ultrasonic signal and laser plane signal when Between increment, calculate separately each cycle phase for a upper period signal receiving device to sender unit distance increment, and The rotation angle increment of laser plane signal;

Distance and rotation angle calculating unit 35 are used to be sent out to signal according to the signal receiving device in obtained initial period Sent the distance of device and the rotation angle of laser plane signal and each cycle phase of distance increment and rotation angle to(for) a upper period Increment is spent, calculates each periodic signal reception device successively to the distance of sender unit and the rotation angle of laser plane signal Degree;

Three-dimensional coordinate computing unit 36 be used for according to each periodic signal reception device of acquisition to sender unit away from From and laser plane signal rotation angle, calculate the three-dimensional coordinate of each periodic signal reception device successively.

It is worth noting that the tool provided in an embodiment of the present invention for reducing the three-dimensional fix device of time synchronization Body realization method may refer to above-mentioned embodiment of the method, and details are not described herein again.

In addition, as shown in figure 8, the embodiment of the present invention additionally provides a kind of three-dimensional fix for reducing time synchronization System, including:

Sender unit 7 is used to send synchronizing signal, ultrasonic signal and laser plane signal in the initial period;First Several periods after period beginning stop sending synchronizing signal, keep sending ultrasonic signal and laser plane signal.

Signal receiving device 8 is used to receive synchronizing signal, ultrasonic signal and the laser plane of the transmission of sender unit 7 Signal, and the synchronizing signal, ultrasonic signal and laser plane signal are sent to data processing equipment 9.

Data processing equipment 9 is used in the initial period according to synchronizing signal, ultrasonic signal and the laser plane detected Signal, respectively obtain initial period ultrasonic signal emission time and the time of reception, reference the moment of laser plane signal with The time of reception;And each period after the initial period obtains the ultrasonic signal in each period respectively successively and laser plane is believed Number the time of reception, and calculated separately ultrasound signal receipt moment and laser plane signal of each cycle phase for a upper period The incremental time of the time of reception;According to the emission time of initial period ultrasonic signal and the time of reception, laser plane signal The ultrasound signal receipt moment in a upper period and laser plane signal were connect with reference to moment and the time of reception and each cycle phase The incremental time that time receiving carves, calculates the three-dimensional coordinate of each periodic signal reception device successively.Data processing equipment 9 can be arranged In signal receiving device 8, it can also be attached in signal receiving device 8, pass through wired or wireless way and signal receiving device 8 Carry out data transmission.

It is worth noting that in the three-dimensional fix system provided in an embodiment of the present invention for reducing time synchronization, The specific implementation of data processing equipment 9 may refer to above-mentioned embodiment of the method, and details are not described herein again.

Three-dimensional fix method provided by the present invention only obtains synchronizing signal in the initial period, and remaining period stops Synchronizing signal is received, and according to the emission time of initial period ultrasonic signal and the time of reception, the reference of laser plane signal When moment and the time of reception and each cycle phase received the ultrasound signal receipt moment in a upper period and laser plane signal The incremental time at quarter can calculate the three-dimensional coordinate of each periodic signal reception device successively.Therefore, this three-dimensional fix method Solving existing localization method needs each cycle all to carry out time synchronization, and makes the calculation amount of entire positioning system synchronous consumption With the prodigious problem of power consumption.

In addition, the embodiment of the present invention also provides a kind of terminal (for example, handle, smart mobile phone or head are aobvious), including:Memory And processor, memory are stored with computer-controlled program, this is realized when the computer-controlled program is executed by processor The step of provided three-dimensional fix method is provided (step S10~S30 as described above).In addition, the embodiment of the present invention A kind of machine readable media is also provided, computer-controlled program is stored with, it is real when which is executed by processor The step of existing three-dimensional fix method provided by the present invention (step S10~S30 as described above).

It will appreciated by the skilled person that whole or certain steps in method disclosed hereinabove, system, dress Function module/unit in setting may be implemented as software, firmware, hardware and its combination appropriate.In hardware embodiment, Division between the function module/unit referred in the above description not necessarily corresponds to the division of physical assemblies;For example, one Physical assemblies can have multiple functions or a function or step that can be executed by several physical assemblies cooperations.Certain groups Part or all components may be implemented as by processor, such as the software that digital signal processor or microprocessor execute, or by It is embodied as hardware, or is implemented as integrated circuit, such as application-specific integrated circuit.Such software can be distributed in machine readable Jie In matter (for example, computer-readable medium), computer-readable medium may include computer storage media (or non-transitory be situated between Matter) and communication media (or fugitive medium).As known to a person of ordinary skill in the art, term computer storage medium includes In any method or skill for storing information (such as computer-readable instruction, data structure, program module or other data) The volatile and non-volatile implemented in art, removable and nonremovable medium.Computer storage media includes but not limited to RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storages, magnetic Box, tape, disk storage or other magnetic memory apparatus or it can be used for storing desired information and can be visited by computer Any other medium asked.In addition, known to a person of ordinary skill in the art be, communication media generally comprises computer-readable Other numbers in the modulated data signal of instruction, data structure, program module or such as carrier wave or other transmission mechanisms etc According to, and may include any information delivery media.

The three-dimensional fix method, apparatus provided by the present invention for reducing time synchronization and system are carried out above Detailed description.For those of ordinary skill in the art, to its institute under the premise of without departing substantially from true spirit Any obvious change done, will all belong to the protection domain of patent right of the present invention.

Claims (16)

1. a kind of three-dimensional fix method for reducing time synchronization, it is characterised in that include the following steps:
Step S10:In the initial period according to the synchronizing signal, ultrasonic signal and the laser plane signal that detect, obtain respectively The emission time of initial period ultrasonic signal and the time of reception, the reference moment of laser plane signal and the time of reception;
Step S20:Each period after initial period, the ultrasonic signal and laser plane for obtaining each period respectively successively are believed Number the time of reception, when calculating each cycle phase the ultrasound signal receipt moment in a upper period and laser plane signal being received The incremental time at quarter;
Step S30:According to the emission time of initial period ultrasonic signal and the time of reception, the reference moment of laser plane signal And the ultrasound signal receipt moment and the laser plane signal time of reception of the time of reception and each cycle phase for a upper period Incremental time calculates the three-dimensional coordinate of each periodic signal reception device successively.
2. the three-dimensional fix method as described in claim 1 for reducing time synchronization, it is characterised in that:
Obtain the emission time of ultrasonic signal and the time of reception, the reference moment of the laser plane signal described in the initial period Further include following steps after the time of reception:
Step S11:Emission time and the time of reception of the initial period according to the ultrasonic signal obtain signal receiving device and arrive The distance of sender unit;
Step S12:Initial period according to the reference moment and the time of reception of the laser plane signal, calculates described in the initial period The rotation angle of laser plane signal;
Step S13:The signal receiving device obtained according to the initial period is to the distance of the sender unit and described The rotation angle of laser plane signal calculates the three-dimensional coordinate of signal receiving device described in the initial period.
3. the three-dimensional fix method as described in claim 1 for reducing time synchronization, it is characterised in that:
Calculated separately to obtain each cycle phase for the ultrasound signal receipt moment in a upper period and institute by following formula The incremental time of the laser plane signal time of reception is stated,
ΔTn=In-In-1
ΔHn=Kn-Kn-1
ΔQn=Tn-Tn-1
Wherein, Δ TnIndicated incremental time of each cycle phase for the upper ultrasound signal receipt moment in a period;InIt indicates n-th week The time of reception of phase ultrasonic signal, In-1Indicate the time of reception of the upper period ultrasonic signal in the n-th period;ΔHnIt indicates Incremental time of each cycle phase for the upper one week first laser planed signal time of reception;KnIndicate the n-th period first laser The time of reception of planed signal, Kn-1Indicate the time of reception of the upper period first laser planed signal in the n-th period;ΔQnTable Showed incremental time of each cycle phase for the upper second laser planed signal time of reception in a period;TnIndicate that the n-th period second swashed The time of reception of optical plane signal, Tn-1Indicate the time of reception of the upper period second laser planed signal in the n-th period.
4. the three-dimensional fix method as described in claim 1 for reducing time synchronization, it is characterised in that:
In step S30, the method for calculating the three-dimensional coordinate of each periodic signal reception device includes following sub-step:
Step S31:According to obtained each cycle phase for the incremental time of the ultrasonic signal in a upper period, it was calculated successively Distance of each periodic signal reception device to sender unit;
Step S32:According to obtained each cycle phase for the incremental time of the laser plane signal in a upper period, calculated successively To the rotation angle of each periodic laser planed signal;
Step S33:Distance and each periodic laser of each periodic signal reception device obtained according to step to sender unit The three-dimensional coordinate of each periodic signal reception device is calculated in the rotation angle of planed signal.
5. the three-dimensional fix method as claimed in claim 4 for reducing time synchronization, it is characterised in that:
In step S31, the distance of each periodic signal reception device to sender unit is expressed as:
Ln=Δ tn×Vd
Δtn=Δ Tn-W-ΔTn-1
Wherein:Ln indicates the n-th periodic signal reception device to the distance of sender unit;Δ tn indicates the n-th period ultrasonic wave The delivery time of signal and the difference of the time of reception;Δ Tn indicates the n-th cycle phase to a period ultrasound signal receipt thereon The incremental time at moment;W indicates cycle length, and n is positive integer.
6. the three-dimensional fix method as claimed in claim 4 for reducing time synchronization, it is characterised in that:
In step S32, the rotation angle of each periodic laser planed signal is expressed as:
an=Δ hn×Wa
bn=Δ qn×Wb
Δhn=Δ Hn-W–Δhn-1
Δqn=Δ Qn-W–Δqn-1
Wherein:anIndicate the first rotation angle of the n-th period first laser planed signal, bnIndicate the n-th period second laser plane Second rotation angle of signal;ΔhnIndicate the n-th first laser planed signal time of reception in period and the difference with reference to the moment, Δ qnIndicate the n-th second laser planed signal time of reception in period and the difference with reference to the moment;WaIndicate the angle speed of first laser motor Degree, WbIndicate the angular speed of second laser motor;ΔHnIndicated first laser planed signal of n-th cycle phase for a upper period The incremental time of the time of reception, Δ QnIndicated the second laser planed signal time of reception of n-th cycle phase for a upper period Incremental time;W indicates cycle length, and n is positive integer.
7. the three-dimensional fix method as claimed in claim 2 for reducing time synchronization, it is characterised in that:
In step S30, the method for calculating the three-dimensional coordinate of each periodic signal reception device includes following sub-step:
Step S34:According to the ultrasonic signal and the incremental time of laser plane signal, each cycle phase is calculated separately for upper Rotation angle increment of the signal receiving device in one period to the distance increment and laser plane signal of sender unit;
Step S35:Believed according to the distance of the signal receiving device in obtained initial period to sender unit and laser plane Number rotation angle and each cycle phase for the distance increment and rotation angle increment in a upper period, calculate each period letter successively Number reception device is to the distance of sender unit and the rotation angle of laser plane signal;
Step S36:According to the distance of each periodic signal reception device of acquisition to sender unit and laser plane signal Rotation angle calculates the three-dimensional coordinate of each periodic signal reception device successively.
8. the three-dimensional fix method as claimed in claim 7 for reducing time synchronization, it is characterised in that:
In step S34, each cycle phase for a upper period signal receiving device to sender unit distance increment, and swash The rotation angle increment of optical plane signal is expressed as:
Δ d=(Δ Tn-W)×Vd
Δ x=(Δ Hn-W)×Wa
Δ y=(Δ Qn-W)×Wb
Wherein, Δ d indicate the n-th cycle phase for a upper period signal receiving device to sender unit distance increment; Δ x indicates rotation angle increment of n-th cycle phase for upper period first laser planed signal;Δ y indicates the n-th cycle phase pair In the rotation angle increment of the second laser planed signal of the signal receiving device in a upper period;ΔTnIndicated for the n-th period The incremental time at the ultrasound signal receipt moment that a period obtains thereon relatively, VdIndicate that ultrasonic wave propagates speed in air Degree;ΔHnIndicated the n-th cycle phase for the incremental time of the first laser planed signal time of reception in a upper period, WaIndicate the The angular speed of one laser motor;ΔQnIndicated the second laser planed signal time of reception of n-th cycle phase for a upper period Incremental time, WbIndicate the angular speed of second laser motor;W indicates cycle length, and n is positive integer.
9. the three-dimensional fix method for reducing time synchronization as described in any one of claim 2,4 or 7, special Sign is:
The three-dimensional coordinate of the signal receiving device is calculated according to following formula:
Xn=Zn×tan(an)
Yn=Zn×tan(bn)
Wherein, (Xn, Yn, Zn) indicate signal the n-th periodic signal reception device three-dimensional coordinate, n is positive integer;anIt indicates n-th week First rotation angle of the first laser planed signal that the phase obtains;bnIndicate the second laser plane letter that the n-th periodic signal obtains Number the second rotation angle;LnIndicate the n-th periodic signal reception device to sender unit distance.
10. the three-dimensional fix method as described in claim 1 for reducing time synchronization, it is characterised in that:
After calculating predetermined period number successively, return to step S10 re-executes step S10~step S30, and realization is counted successively Calculate the three-dimensional coordinate of each periodic signal reception device.
11. a kind of three-dimensional fix device for reducing time synchronization, it is characterised in that including initial period signal acquisition Module, incremental time acquisition module and three-dimensional coordinate computing module;
The initial period signal acquisition module be used for the initial period according to detect synchronizing signal, ultrasonic signal and sharp Optical plane signal obtains emission time and the time of reception of initial period ultrasonic signal, the reference of laser plane signal respectively Moment and the time of reception;
The incremental time acquisition module is used for each period after the initial period, obtains the ultrasonic wave in each period respectively successively The time of reception of signal and laser plane signal, calculate each cycle phase for a upper period the ultrasound signal receipt moment and swash The incremental time of the optical plane signal time of reception;
Emission time and the time of reception of the three-dimensional coordinate computing module according to initial period ultrasonic signal, laser plane letter Number reference moment and the time of reception and each cycle phase the ultrasound signal receipt moment in a upper period and laser plane are believed The incremental time of number time of reception, calculates the three-dimensional coordinate of each periodic signal reception device successively.
12. the three-dimensional fix device as claimed in claim 11 for reducing time synchronization, it is characterised in that further include Initial period is apart from acquisition module, initial period rotation angle acquisition module and initial period three-dimensional coordinate computing module;
When the initial period is used for emission time and reception of the initial period according to the ultrasonic signal apart from acquisition module It carves, the distance of acquisition signal receiving device to sender unit;
The initial period rotation angle acquisition module for the initial period according to reference moment of the laser plane signal with The time of reception calculates the rotation angle of laser plane signal described in the initial period;
The signal receiving device that the initial period three-dimensional coordinate computing module is used to be obtained according to the initial period is described in The rotation angle of the distance of sender unit and the laser plane signal calculates signal receiving device described in the initial period Three-dimensional coordinate.
13. the three-dimensional fix device as claimed in claim 12 for reducing time synchronization, it is characterised in that:
The three-dimensional coordinate computing module includes metrics calculation unit, rotation angle calculating unit and three-dimensional coordinate computing unit;
The metrics calculation unit was used for the incremental time for the ultrasonic signal in a upper period according to obtained each cycle phase, Be calculated successively each periodic signal reception device to sender unit distance;
The rotation angle calculating unit be used for according to obtained each cycle phase for a upper period laser plane signal when Between increment, the rotation angle of each periodic laser planed signal is calculated successively;
The three-dimensional coordinate computing unit is used to arrive sender unit according to each periodic signal reception device that step obtains The three-dimensional coordinate of each periodic signal reception device is calculated in the rotation angle of distance and each periodic laser planed signal.
14. the three-dimensional fix device as claimed in claim 12 for reducing time synchronization, it is characterised in that:
The three-dimensional coordinate computing module includes distance and rotation angle increment computing unit, distance and rotation angle calculating unit And three-dimensional coordinate computing unit;
The distance and rotation angle increment computing unit are used for the time according to the ultrasonic signal and laser plane signal Increment, calculate separately each cycle phase for a upper period signal receiving device to sender unit distance increment, and swash The rotation angle increment of optical plane signal;
The distance and rotation angle calculating unit are used to be sent to signal according to the signal receiving device in obtained initial period The distance increment and rotation angle of the distance of device and the rotation angle of laser plane signal and each cycle phase for a upper period Increment calculates each periodic signal reception device to the distance of sender unit and the rotation angle of laser plane signal successively;
The three-dimensional coordinate computing unit is used for the distance to sender unit according to each periodic signal reception device of acquisition And the rotation angle of laser plane signal, the three-dimensional coordinate of each periodic signal reception device is calculated successively.
15. a kind of three-dimensional fix system for reducing time synchronization, it is characterised in that including sender unit, signal Reception device and data processing equipment;
The sender unit is used to send synchronizing signal, ultrasonic signal and laser plane signal in the initial period;Institute It states the stopping of several periods after the initial period and sends synchronizing signal, keep sending the ultrasonic signal and laser plane letter Number;
The signal receiving device is used to receive the synchronizing signal, the ultrasonic signal and the institute of sender unit transmission Laser plane signal is stated, and the synchronizing signal, the ultrasonic signal and the laser plane signal are sent to the number According to processing unit;
The data processing equipment is used to be believed according to the synchronizing signal, ultrasonic signal and the laser plane that detect in the initial period Number, respectively obtain initial period ultrasonic signal emission time and the time of reception, reference the moment of laser plane signal with connect Time receiving carves;And each period after the initial period obtains the ultrasonic signal and laser plane in each period respectively successively The time of reception of signal, and calculated separately each cycle phase and the ultrasound signal receipt moment in a upper period and laser plane are believed The incremental time of number time of reception;According to the emission time of the initial period ultrasonic signal and the time of reception, the laser The ultrasound signal receipt moment and laser of the reference moment of planed signal and the time of reception and each cycle phase for a upper period The incremental time of the planed signal time of reception calculates the three-dimensional coordinate of each periodic signal reception device successively.
16. a kind of terminal, including memory, processor and it is stored on the memory and can runs on the processor Computer program, which is characterized in that the processor realizes following steps when executing described program:
Step S10:In the initial period according to the synchronizing signal, ultrasonic signal and the laser plane signal that detect, obtain respectively The emission time of initial period ultrasonic signal and the time of reception, the reference moment of laser plane signal and the time of reception;
Step S20:Each period after initial period, the ultrasonic signal and laser plane for obtaining each period respectively successively are believed Number the time of reception, when calculating each cycle phase the ultrasound signal receipt moment in a upper period and laser plane signal being received The incremental time at quarter;
Step S30:According to the emission time of initial period ultrasonic signal and the time of reception, the reference moment of laser plane signal And the ultrasound signal receipt moment and the laser plane signal time of reception of the time of reception and each cycle phase for a upper period Incremental time calculates the three-dimensional coordinate of each periodic signal reception device successively.
CN201810317728.5A 2018-04-10 2018-04-10 A kind of three-dimensional fix method, apparatus and system for reducing time synchronization CN108663680A (en)

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