CN109031199A - A kind of 3-D positioning method, system and its apparatus - Google Patents

A kind of 3-D positioning method, system and its apparatus Download PDF

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Publication number
CN109031199A
CN109031199A CN201810647908.XA CN201810647908A CN109031199A CN 109031199 A CN109031199 A CN 109031199A CN 201810647908 A CN201810647908 A CN 201810647908A CN 109031199 A CN109031199 A CN 109031199A
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CN
China
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signal
photoelectric sensor
laser
time
laser planed
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CN201810647908.XA
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Chinese (zh)
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张益铭
张佳宁
张道宁
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凌宇科技(北京)有限公司
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Priority to CN201810647908.XA priority Critical patent/CN109031199A/en
Publication of CN109031199A publication Critical patent/CN109031199A/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
    • 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 invention discloses a kind of 3-D positioning methods, system and its apparatus.This method comprises the following steps: determining the first rotation angle of first laser planed signal, wherein, first laser planed signal is rotated around the first rotary shaft, when first rotation angle is that photoelectric sensor detects first laser planed signal, angle of the first laser planed signal relative to the first rotary shaft and the determined plane of the second rotary shaft;Determine the second rotation angle of second laser planed signal, wherein, second laser planed signal is rotated around the second rotary shaft, when second rotation angle is that photoelectric sensor detects second laser planed signal, angle of the second laser planed signal relative to the first rotary shaft and the determined plane of the second rotary shaft;Determine sender unit to photoelectric sensor distance;According to the first rotation angle, the second rotation angle and distance, the three-dimensional coordinate of photoelectric sensor is determined.This method not only increases the accuracy of location Calculation, and reduces the complexity of calculating.

Description

A kind of 3-D positioning method, system and its apparatus

Technical field

The present invention relates to a kind of 3-D positioning methods, while being related to realizing the 3 D positioning system of the localization method, belong to Space orientation technique field.

Background technique

In recent years, the relevant technologies and industry of positioning service are to indoor development, especially in VR (virtual reality) and AR (augmented reality) field, location technology have become the basis of VR and AR interaction.The location technology in the existing field VR and AR It include: infrared optics positioning, laser positioning, localization by ultrasonic, visible light-seeking.In order to increase the usage experience of user, it is also necessary to The equipment such as handle or gloves are cooperated to carry out interaction of VR content, such as archery, drawing etc..

Location technology needs to track the tracing system of the motion profiles such as handle or gloves, and existing tracing system includes Inside-out mode, is usually tracked using camera;Outside-in mode, usually using laser or camera into Row tracking.

Summary of the invention

In view of the deficiencies of the prior art, primary technical problem to be solved by this invention is to provide a kind of three-dimensional localization side Method.

It is fixed that another technical problem to be solved by this invention is to provide a kind of three-dimensional for realizing above-mentioned 3-D positioning method Position system and its apparatus.

For achieving the above object, the present invention uses following technical solutions:

According to a first aspect of the embodiments of the present invention, a kind of 3-D positioning method is provided, is included the following steps:

Determine the first rotation angle of first laser planed signal, wherein the first laser planed signal is around the first rotation Shaft rotation, when the first rotation angle is that photoelectric sensor detects the first laser planed signal, described first swashs Angle of the optical plane signal relative to first rotary shaft and the determined plane of the second rotary shaft;

Determine the second rotation angle of second laser planed signal, wherein the second laser planed signal is around the second rotation Shaft rotation, when the second rotation angle is that photoelectric sensor detects second laser planed signal, the second laser is flat Angle of the face signal relative to first rotary shaft and the determined plane of the second rotary shaft;

Determine sender unit to the photoelectric sensor distance;

According to the first rotation angle, the second rotation angle and the distance, the three-dimensional of photoelectric sensor is determined Coordinate.

Wherein more preferably, the first rotation angle of the determining first laser planed signal, includes the following steps:

Determine the first emission time of the first laser planed signal;

Determine that the photoelectric sensor detects that first time of reception of the first laser planed signal and first continues Moment;Wherein, at the time of first time of reception is that the photoelectric sensor starts to detect first laser planed signal;Institute State first continue constantly for the photoelectric sensor finally detect first laser planed signal at the time of;

Continued to determine first rotation constantly according to first emission time, first time of reception and described first Corner.

Wherein more preferably, first rotation angle is determined by following formula:

A=1/2 ((t2-t01+(t1-t01);

Wherein, a is the first rotation angle;t2Continue the moment for first;t1For first time of reception;t0For the first emission time; ω1For the angular velocity of rotation of first laser planed signal.

Wherein more preferably, the second rotation angle of the determining second laser planed signal, includes the following steps:

Determine the second emission time of the second laser planed signal;

Determine that the photoelectric sensor detects that second time of reception of the second laser planed signal and second continues Moment;Wherein, at the time of second time of reception is that the photoelectric sensor starts to detect second laser planed signal;Institute State second continue constantly for the photoelectric sensor finally detect second laser planed signal at the time of;

Continued to determine second rotation constantly according to second emission time, second time of reception and described second Corner.

Wherein more preferably, second rotation angle is determined by following formula:

B=1/2 ((t4-t022+(t3-t022);

Wherein, b is the second rotation angle;t4Continue the moment for second;t3For second time of reception;t02When emitting for second It carves;ω2For the angular velocity of rotation of second laser planed signal.

Wherein more preferably, the determining sender unit includes the following steps: to the distance of photoelectric sensor

Determine the first emission time of the first laser planed signal;

Determine that the photoelectric sensor detects that first time of reception of the first laser planed signal and first continues Moment;Wherein, at the time of first time of reception is that the photoelectric sensor starts to detect first laser planed signal;Institute State first continue constantly for the photoelectric sensor finally detect first laser planed signal at the time of;

Determine that the first reception rotates angle according to first emission time and first time of reception;

Continue to determine that first persistently rotates angle constantly according to first emission time and described first;

Rotation angle is received according to described first, described first persistently rotates the straight of angle and the photoelectric sensor Diameter, in conjunction with the attitude data of the photoelectric sensor;Determine the sender unit to photoelectric sensor distance.

Wherein more preferably, the determination sender unit to photoelectric sensor distance, it is true by following formula It is fixed:

Wherein, Ts is to start to detect the point of first laser planed signal on the photoelectric sensor;B is the photoelectric transfer The center of sensor;O is the position where sender unit;OB is distance of number emitter to photoelectric sensor;TsB is light The radius of electric transducer;OTsTo start to detect first laser plane on the sender unit to the photoelectric sensor The distance between point of signal;∠OTsB=90 °+the first reception rotates angle+photoelectric sensor attitude data.

Wherein more preferably, when three-dimensional measurement coordinate system is cartesian coordinate system, using the first rotary shaft as Y-axis, with the second rotation When shaft is X-axis, the right-hand rule determines Z axis, solves obtain the three-dimensional coordinate of photoelectric sensor according to the following formula:

XB 2+YB 2+ZB 2=OB2

YB× tanb=XB× tana=ZB

Wherein, (XB, YB, ZB) be photoelectric sensor three-dimensional coordinate, OB be sender unit to photoelectric sensor away from From a is the first rotation angle, and b is the second rotation angle.

According to a second aspect of the embodiments of the present invention, a kind of 3 D positioning system, including processor and memory are provided;Institute It states and is stored with the available computer program run on the processor on memory, when the computer program is by the processing Device realizes following steps when executing:

Determine the first rotation angle of first laser planed signal, wherein the first laser planed signal is around the first rotation Shaft rotation, when the first rotation angle is that photoelectric sensor detects the first laser planed signal, described first swashs Angle of the optical plane signal relative to first rotary shaft and the determined plane of the second rotary shaft;

Determine the second rotation angle of second laser planed signal, wherein the second laser planed signal is around the second rotation Shaft rotation, when the second rotation angle is that photoelectric sensor detects second laser planed signal, the second laser is flat Angle of the face signal relative to first rotary shaft and the determined plane of the second rotary shaft;

Determine sender unit to the photoelectric sensor distance;

According to the first rotation angle, the second rotation angle and the distance, the three-dimensional of photoelectric sensor is determined Coordinate.

According to a third aspect of the embodiments of the present invention, a kind of 3 D locating device is provided, including the three-dimensional localization system System, further includes signal projector, signal receiver;

The signal projector is used to send first laser planed signal around the first rotary shaft, sends the around the second rotary shaft Dual-laser planed signal;

The signal receiver includes at least one photoelectric sensor, is swashed for receiving first laser planed signal and second Optical plane signal.

3-D positioning method provided by the present invention emits the first of first laser planed signal according to sender unit In emission time, signal receiving device photoelectric sensor detect laser plane signal first time of reception and first continue when Carve the first rotation angle for determining photoelectric sensor in signal receiving device;Emit second laser plane letter according to sender unit Number the second emission time and signal receiving device in photoelectric sensor detect second laser planed signal second receive Moment and second continues the second rotation angle for determining photoelectric sensor in signal receiving device constantly;According to first rotation angle, Second rotation angle and the distance between photoelectric sensor and sender unit, determine photoelectric sensing in signal receiving device The three-dimensional coordinate of device.This method is in calculating signal receiving device when the three-dimensional coordinate of photoelectric sensor, the first rotation angle, the The distance between photoelectric sensor and sender unit are based on the received in two rotation angles and signal receiving device Laser plane signal acquires, and not only increases the accuracy of location Calculation, and reduces the complexity of calculating, and then improve The efficiency of calculating.

Detailed description of the invention

Fig. 1 is effective form schematic diagram of photoelectric sensor in embodiment provided by the present invention;

Fig. 2 is in embodiment provided by the present invention, and laser emitter shows around the structure that X-axis and Y-axis send laser plane It is intended to;

Fig. 3 is the flow chart of 3-D positioning method provided by the present invention;

Fig. 4 is in embodiment provided by the present invention, and the three-dimensional coordinate of photoelectric sensor calculates in signal receiving device Schematic illustration one;

Fig. 5 is in embodiment provided by the present invention, and the three-dimensional coordinate of photoelectric sensor calculates in signal receiving device Schematic illustration two;

Fig. 6 is the structural schematic diagram of 3 D positioning system provided by the present invention.

Specific embodiment

Summary of the invention of the invention is done in the following with reference to the drawings and specific embodiments and is further described in detail.It should manage Solution, embodiments described below are only used for describing and explaining the application, are not used to limit the application.

3 D locating device provided by the present invention, including sender unit, signal receiving device and three-dimensional localization System;Wherein, sender unit is laser emitter, for sending first laser planed signal around the first rotary shaft, around the Two rotary shafts send second laser planed signal.The laser plane signal that signal receiving device passes through reception laser transmitter projects Carry out location Calculation.Signal receiver includes at least one photoelectric sensor, for receiving first laser planed signal and second Laser plane signal.Laser is inswept, and photoelectric sensor has certain duration, and this time is by signal receiving device away from signal The distance of emitter is related with the angle relative to sender unit, and 3 D positioning system can be with by calibrated data The angle of signal receiving device and sender unit is obtained, and can be sentenced by the length that photoelectric sensor receives signal time Disconnected its distance relative to sender unit out, the synchronization time that photoelectric sensor receives signal, i.e. it emitted relative to signal The angle of device.Angle and distance constitutes location information (polar coordinates).

Specifically, a photoelectric sensor is equipped on signal receiving device, laser is inswept, and photoelectric sensor has centainly Duration, distance of this time by photoelectric sensor away from sender unit and the angle relative to sender unit have It closes.In embodiment provided by the present invention, photoelectric sensor is set as round, if not circle, can be hidden by covering The modes such as mating plate become round the valid shape of photoelectric sensor, as shown in Figure 1, the diameter of photoelectric sensor is d.Alternatively, When photoelectric sensor such as is square at the shapes, diameter d is set as with its size dimension approximation.

As shown in Fig. 2, laser emitter sends laser plane signal around orthogonal X-axis and Y-axis.Sender unit Interior there are two motor, motor is rotated rotating around X-axis and Y-axis, drives the laser emitter being mounted on motor into space around X-axis Transmitting laser plane signal is rotated with Y-axis.As shown in figure 3,3-D positioning method provided by the present invention, includes the following steps: Firstly, determining the first rotation angle of first laser planed signal, wherein first laser planed signal is revolved around the first rotary shaft Turn, the first rotation angle is photoelectric sensor when detecting first laser planed signal, and first laser planed signal is relative to the The angle of one rotary shaft and the determined plane of the second rotary shaft;Secondly, determine the second rotation angle of second laser planed signal, Wherein, second laser planed signal is rotated around the second rotary shaft, and the second rotation angle is that photoelectric sensor detects second laser When planed signal, angle of the second laser planed signal relative to the first rotary shaft and the determined plane of the second rotary shaft;Then, Determine sender unit to photoelectric sensor distance;Finally, being sent out according to the first rotation angle, the second rotation angle and signal Injection device determines the three-dimensional coordinate of photoelectric sensor to the distance of photoelectric sensor.This process is carried out below specific in detail Explanation.

S1 determines the first rotation angle of first laser planed signal, wherein the first laser planed signal is around first Rotary shaft rotation, when the first rotation angle is that photoelectric sensor detects the first laser planed signal, described first Angle of the laser plane signal relative to first rotary shaft and the determined plane of the second rotary shaft.

In embodiment provided by the present invention, using three-dimensional measurement coordinate system as cartesian coordinate system, X-axis is the first rotation Axis, Y-axis be the second rotary shaft, sender unit be three-dimensional measurement coordinate system origin for be illustrated.Signal transmitting dress There are two motor in setting, motor is rotated rotating around X-axis and Y-axis, drives the laser emitter being mounted on motor into space around X Axis and Y-axis rotation transmitting laser plane signal.The laser emitter Oy of sender unit rotates transmitting first laser around Y-axis Planed signal, revolving speed are, for example, ω1;The laser emitter Ox of sender unit rotates transmitting second laser plane around X-axis Signal, revolving speed are, for example, ω2.Plane determined by X-axis and Y-axis is XOY plane.

Pass through the reference instant of synchronization signal emitter and signal receiving device, it is ensured that sender unit and signal connect The clock of receiving apparatus is synchronous, to ensure that the calculating of subsequent progress is based on identical benchmark, to improve the standard of three-dimensional coordinate calculating True property.Sender unit can pass through reception to signal receiving device launch time synchronization signal, signal receiving device Reference instant is extrapolated at the time of to time synchronizing signal.It is sent out then, it is determined that sender unit is rotated around the first rotary shaft Penetrate the first emission time of first laser planed signal.

The the first rotation angle for determining first laser planed signal, specifically comprises the following steps:

S11 determines the first emission time of first laser planed signal;Determine sender unit around the first rotation First emission time t of axis rotation transmitting first laser planed signal0

First emission time t of sender unit transmitting first laser planed signal0It is embodied in, when signal emits When trigger point in device on the motor that Y-axis rotates is gone to XOY plane in corresponding angle, touched by Hall sensor, light The modes such as hair device obtain trigger signal, to start to emit first laser planed signal along XOY plane.It can also show as, when Sender unit persistently emits first laser planed signal around Y-axis, when first laser planed signal goes to XOY plane, leads to It crosses the modes such as Hall sensor, light trigger and obtains trigger signal, the first emission time is obtained at the time of passing through trigger signal.

S12 determines that photoelectric sensor detects that first time of reception of first laser planed signal and first continues the moment; Wherein, at the time of first time of reception was that photoelectric sensor starts to detect first laser planed signal;First continue be constantly At the time of photoelectric sensor finally detects first laser planed signal.

As shown in figure 4, Y-axis laser is from the first time of reception (t1Moment) reach Ts point when activate photoelectric sensor, at this point, Photoelectric sensor in signal receiving device detects first laser planed signal.That is, first time of reception was that signal receives dress At the time of photoelectric sensor in setting starts to detect first laser planed signal in a signal transmit cycle.

Since first laser planed signal is rotated around Y-axis, photoelectric sensor is persistently received in a signal transmit cycle First laser planed signal continues moment (t until first2Moment) Te point is reached, photoelectric sensor no longer receives the later One laser plane signal.First continue it is constantly last for the photoelectric sensor in signal receiving device in signal transmit cycle At the time of detecting first laser planed signal.It specifically can behave as: after photoelectric sensor receives optical signal, optical signal being turned Turn to pulse electrical signal, t1Moment is the rising edge time of pulse electrical signal, t2Moment is the failing edge moment of pulse electrical signal.

S13 continues to determine the first rotation angle constantly according to the first emission time, first time of reception and first, specific to wrap Include following steps:

S131 determines that the first reception rotates angle according to the first emission time and first time of reception.

According to the first emission time t0With the first time of reception t1And y-axis motor angular velocity omega1Determine that the first reception rotates Angle ∠ AyOTs;Wherein, AyFor any point in X-axis, O is the coordinate origin where sender unit, and Ts is signal reception Start to detect the point of first laser planed signal on photoelectric sensor in device, first to receive rotation angle be to believe at one In number transmit cycle, when the photoelectric sensor in signal receiving device starts to detect first laser planed signal, first laser Angle of the planed signal relative to XOY plane.Be embodied in, from sender unit transmitting first laser planed signal when At the time of the photoelectric sensor being carved into signal receiving device detects persistently sharp first laser planed signal for the first time, first swashs The angle that optical plane signal is inswept, calculation formula are as follows:

∠AyOTs=(t1-t01

S132 continues to determine that first persistently rotates angle constantly according to the first emission time and first.

According to the first emission time t0Continue moment t with first2And y-axis motor angular velocity omega1Determine the first lasting rotation Angle ∠ AyOTe;Wherein, Te is finally to detect first laser planed signal on the photoelectric sensor in signal receiving device Point, first rotates angle persistently in a signal transmit cycle, the photoelectric sensor in signal receiving device is finally detected When to first laser planed signal, angle of the first laser planed signal relative to XOY plane.

∠AyOTe=(t2-t01

S133 persistently rotates the first rotation that angle determines signal receiving device according to the first reception rotation angle and first Angle.

First rotation angle is the Y-axis rotation angle that y-axis motor measures, and detects that first laser plane is believed for photoelectric sensor Number when, angle of the first laser planed signal relative to the first rotary shaft Y-axis and the second determined XOY plane of rotary shaft X-axis Degree;

I.e. first rotation angle is determined by following formula:

A=1/2 ((t2-t01+(t1-t01);

Wherein, a is the first rotation angle;t2Continue the moment for first;t1For first time of reception;t0For the first emission time; ω1For the angular velocity of rotation of first laser planed signal.

S2 determines the second rotation angle of second laser planed signal, wherein second laser planed signal is around the second rotation Axis rotation, when the second rotation angle is that photoelectric sensor detects second laser planed signal, second laser planed signal is opposite In the angle of the first rotary shaft and the determined plane of the second rotary shaft.

Wherein it is determined that the second rotation angle of second laser planed signal, includes the following steps:

S21 determines the second emission time t of second laser planed signal02

The laser emitter Ox of sender unit rotates transmitting second laser planed signal around X-axis, and revolving speed is, for example, ω2.Determine that sender unit rotates the second emission time t of transmitting second laser planed signal around the second rotary shaft02

In order to which photoelectric sensor can receive first laser planed signal and second laser planed signal with timesharing, so first Laser plane signal and second laser plane the certain interval of time time division emission within a signal period, preferably, the first hair Penetrate moment t0With the second emission time t02Differ the time of half of signal period.In preceding half of signal period, first laser plane Signal emits and persistently strafed spatial dimension, and in rear half of signal period, second laser planed signal emits and persistently strafes Cross spatial dimension.

S22 determines that photoelectric sensor detects that second time of reception of second laser planed signal and second continues the moment; Wherein, at the time of second time of reception was that the photoelectric sensor starts to detect second laser planed signal;Second continue when At the time of quarter is that the photoelectric sensor finally detects second laser planed signal.

Specifically, determining that the photoelectric sensor in signal receiving device detects that the second of second laser planed signal receives Moment and second continues the moment;Wherein, second time of reception was that the photoelectric sensor in signal receiving device is sent out in a signal It penetrates in the period at the time of start to detect second laser planed signal;Second continues constantly as signal in a signal transmit cycle At the time of photoelectric sensor in reception device finally detects second laser planed signal;

If X-axis laser is from the second time of reception (t3Moment) persistently reach Ts2Photoelectric sensor is activated when point, at this point, signal Photoelectric sensor in reception device detects second laser planed signal.That is, second time of reception was in signal receiving device Photoelectric sensor at the time of start to detect second laser planed signal in a signal transmit cycle.

Photoelectric sensor persistently receives second laser planed signal in a signal transmit cycle, when second continues Carve (t4Moment) reach Te2Point, photoelectric sensor no longer receives second laser planed signal later.Second continues constantly to be one At the time of photoelectric sensor in a signal transmit cycle in signal receiving device finally detects second laser planed signal.

S23 continues to determine the second rotation angle constantly according to the second emission time, second time of reception and second, specific to wrap Include following steps:

S231 determines that the second reception rotates angle according to the second emission time and second time of reception;

According to the second emission time t02With the second time of reception t3And X-axis motor angular velocity ω2Determine that the second reception is revolved Gyration ∠ AxOTs2

Wherein, AxFor any point in Y-axis, O is the coordinate origin where base station signal emitter.

∠AxOTs2=(t3-t022

S232 continues to determine that second persistently rotates angle constantly according to the second emission time and second;

According to the second emission time t02Continue moment t with second4And X-axis motor angular velocity ω2Determine the second lasting rotation Gyration ∠ AxOTe2

∠AxOTe2=(t4-t02

S233 persistently rotates the second rotation that angle determines signal receiving device according to the second reception rotation angle and second Angle.

Second rotation angle is the X-axis rotation angle that X-axis motor measures, and detects that second laser plane is believed for photoelectric sensor Number when, second laser planed signal is relative to the first rotary shaft Y-axis and the determined XOY plane of the second rotary shaft X-axis Angle;

Further, b=1/2 ((t4-t022+(t3-t022)。

Wherein, b is the second rotation angle;t4Continue the moment for second;t3For second time of reception;t02When emitting for second It carves;ω2For the angular velocity of rotation of second laser planed signal.

S3 determines that sender unit to the distance of photoelectric sensor, includes the following steps:

S31 determines the first emission time of first laser planed signal;Specifically refer to step S11.

S32 determines that photoelectric sensor detects that first time of reception of first laser planed signal and first continues the moment; Wherein, at the time of first time of reception was that photoelectric sensor starts to detect first laser planed signal;First continue be constantly At the time of the photoelectric sensor finally detects first laser planed signal;Specifically refer to step S12.

S33 determines that the first reception rotates angle according to the first emission time and first time of reception;

Determine that the first reception rotates angle according to the first emission time and first time of reception;According to the first emission time and First continues to determine that first persistently rotates angle constantly.

According to the first emission time t0With the first time of reception t1And y-axis motor angular velocity omega1Determine that the first reception rotates Angle ∠ AyOTs;Wherein, AyFor any point in X-axis, O is the coordinate origin where sender unit, and Ts is signal reception Start to detect the point of first laser planed signal on photoelectric sensor in device, first to receive rotation angle be to believe at one In number transmit cycle, the photoelectric sensor in signal receiving device starts to detect when persistently swashing first laser planed signal, the Angle of the one laser plane signal relative to XOY plane.It is embodied in, from sender unit transmitting first laser plane letter Number at the time of in signal receiving device photoelectric sensor for the first time detect persistently swash first laser planed signal at the time of, The angle that first laser planed signal is inswept, calculation formula are as follows:

∠AyOTs=(t1-t01

S34 continues to determine that first persistently rotates angle constantly according to the first emission time and first;

According to the first emission time t0Continue moment t with first2And y-axis motor angular velocity omega1Determine the first lasting rotation Angle ∠ AyOTe;Wherein, Te is finally to detect first laser planed signal on the photoelectric sensor in signal receiving device Point, first rotates angle persistently in a signal transmit cycle, the photoelectric sensor in signal receiving device is finally detected When to first laser planed signal, angle of the first laser planed signal relative to XOY plane.

∠AyOTe=(t2-t01

S35 receives the diameter that rotation angle, first persistently rotate angle and photoelectric sensor according to first, in conjunction with light The attitude data of electric transducer;Determine sender unit to photoelectric sensor distance.

The diameter that rotation angle, first persistently rotate angle and photoelectric sensor is received according to first, binding signal connects The attitude data of receiving apparatus;Determine the distance between center and the sender unit of signal receiving device OB, wherein B is letter The center of photoelectric sensor in number reception device, O are the point where sender unit.Photoelectric transfer in signal receiving device Sensor starts to detect in a signal transmit cycle point Ts of first laser planed signal, the photoelectricity in signal receiving device Sensor finally detects the triangle of the point Te of first laser planed signal and the origin O composition where sender unit TsTeO, B TsTeMidpoint.

In triangle TsTeIn O, TsTe=d, wherein d is the diameter of the photoelectric sensor in signal receiving device, ∠ TeTsO =90+ ∠ OTsC∠TeTsD=90+ ∠ AyOTs+∠p;Wherein, AyFor any point in X-axis, angle P is posture pitch angle.

According to sine

Obtain the length of OTs.

The length and BT of known OTssLengthWith ∠ OTsB acquires the length of OB according to the cosine law:

Determine that sender unit to the distance of photoelectric sensor, is determined by following formula:

Wherein, TsTo start to detect the point of first laser planed signal on photoelectric sensor;B is in photoelectric sensor The heart;O is the position where sender unit;OB is distance of the sender unit to photoelectric sensor;TsB is photoelectric sensing The radius of device;OTsTo start to detect between the point of first laser planed signal on sender unit to photoelectric sensor Distance;∠OTsB=90 °+the first reception rotates angle+photoelectric sensor attitude data.

S4 determines the three-dimensional coordinate of photoelectric sensor according to the first rotation angle, the second rotation angle and the distance.

When three-dimensional measurement coordinate system is cartesian coordinate system, as shown in figure 5, using the first rotary shaft as Y-axis, with the second rotation When axis is X-axis, the right-hand rule determines Z axis, can solve to obtain photoelectric sensor according to the following formula in the three-dimensional measurement coordinate system Three-dimensional coordinate:

XB 2+YB 2+ZB 2=OB2

YB× tanb=XB× tana=ZB

Wherein, (XB, YB, ZB) indicate three-dimensional coordinate of the photoelectric sensor in three-dimensional system of coordinate in signal receiving device, OB is distance of the sender unit to photoelectric sensor, and a is the first rotation angle, and b is the second rotation angle.

In conclusion the 3-D positioning method provided by the present invention based on photoelectric sensor, by determining signal transmitting First emission time of device transmitting first laser planed signal;And signal receiving device detects the of laser plane signal One time of reception and first continues the moment;Then, determine that the first reception rotates according to the first emission time and first time of reception Angle;Continued to determine that first persistently rotates angle constantly according to the first emission time and first;According to first receive rotation angle, First persistently rotates the first distance of angle and the inswept signal receiving device of first laser planed signal, and binding signal receives dress The attitude data set;Determine the distance between center and the sender unit of signal receiving device.Later, according to the first transmitting Moment, first time of reception, first continue the first rotation angle for determining signal receiving device constantly;It is sent out according to sender unit The second emission time and signal receiving device for penetrating second laser planed signal detect the second of second laser planed signal The time of reception and second continues the second rotation angle for determining signal receiving device constantly;According to the first rotation angle, the second rotation The distance between the center and sender unit of angle and signal receiving device, determine the photoelectric transfer in signal receiving device The three-dimensional coordinate of sensor.This method is when calculating the three-dimensional coordinate of signal receiving device, the first rotation angle, the second rotation angle And signal receiving device center and the distance between sender unit be that laser plane signal acquires based on the received. The accuracy of location Calculation is not only increased, and reduces the complexity of calculating, and then improves and calculates to obtain efficiency.

It should be noted that the distance between the center of signal receiving device and sender unit are in the present embodiment It is determined by the corresponding moment of first laser planed signal and angle, in enforceable other embodiments, this can also be passed through The corresponding moment of second laser planed signal and angle determine in embodiment.First laser planed signal is around Y in the present embodiment Axis rotation laser plane signal, second laser planed signal is the laser plane signal rotated around X-axis, it is enforceable other In embodiment, also can define first laser planed signal is the laser plane signal rotated around X-axis, and second laser planed signal is The laser plane signal rotated around Y-axis.As long as the mode of texturing of its enforceable technical solution in spirit of the invention, All within the scope of the present invention.

The present invention also provides a kind of 3 D positioning systems.As shown in fig. 6, the system includes processor 62 and is stored with The memory 61 of 62 executable instruction of processor;

Wherein, processor 62 can be general processor, such as central processing unit (CPU), can also be at digital signal Device (DSP), specific integrated circuit (ASIC) are managed, or is arranged to implement the integrated electricity of one or more of the embodiment of the present invention Road.

Wherein, memory 61 are transferred to CPU or single-chip microcontroller (MCU) for storing program code, and by the program code Deng.Memory 61 may include volatile memory, such as random access memory (RAM);Memory 61 also may include non- Volatile memory, such as read-only memory, flash memory, hard disk or solid state hard disk, MCU etc.;Memory 61 can also wrap Include the combination of the memory of mentioned kind.

Specifically, a kind of 3 D positioning system provided by the embodiment of the present invention, including processor 62 and memory 61;It deposits The available computer program run on the processor 62 is stored on reservoir 61, it is real when computer program is executed by processor 62 Existing following steps:

Determine the first rotation angle of first laser planed signal, wherein first laser planed signal is around the first rotary shaft Rotation, the first rotation angle are photoelectric sensor when detecting first laser planed signal, first laser planed signal relative to The angle of first rotary shaft and the determined plane of the second rotary shaft;

Determine the second rotation angle of second laser planed signal, wherein second laser planed signal is around the second rotary shaft Rotation, the second rotation angle are photoelectric sensor when detecting second laser planed signal, second laser planed signal relative to The angle of first rotary shaft and the determined plane of the second rotary shaft;

Determine sender unit to photoelectric sensor distance;

According to the first rotation angle, the second rotation angle and distance, the three-dimensional coordinate of photoelectric sensor is determined.

Wherein, when determining the first rotation angle of first laser planed signal, computer program is executed by processor 62 Realize following steps;

Determine the first emission time of first laser planed signal;

Determine that photoelectric sensor detects that first time of reception of first laser planed signal and first continues the moment;Its In, at the time of first time of reception was that photoelectric sensor starts to detect first laser planed signal;First continues constantly as institute At the time of stating photoelectric sensor and finally detect first laser planed signal;

Continue to determine the first rotation angle constantly according to the first emission time, first time of reception and first.

Wherein, when continuing to determine the first rotation angle constantly according to the first emission time, first time of reception and first, meter Calculation machine program is executed by processor 62 and realizes following steps;

Determine that the first reception rotates angle according to the first emission time and first time of reception;

Continued to determine that first persistently rotates angle constantly according to the first emission time and first;

The first rotation angle that angle determines signal receiving device is persistently rotated according to the first reception rotation angle and first.

Wherein, following steps are realized when computer program is executed by processor 62;

First rotation angle is determined by following formula:

A=1/2 ((t2-t01+(t1-t01);

Wherein, a is the first rotation angle;t2Continue the moment for first;t1For first time of reception;t0For the first emission time; ω1For the angular velocity of rotation of first laser planed signal.

Wherein, when determining the second rotation angle of second laser planed signal, computer program is executed by processor 62 Realize following steps;

Determine the second emission time of second laser planed signal;

Determine that photoelectric sensor detects that second time of reception of second laser planed signal and second continues the moment;Its In, at the time of second time of reception was that the photoelectric sensor starts to detect second laser planed signal;Second continues the moment At the time of finally detecting second laser planed signal for photoelectric sensor;

Continue to determine the second rotation angle constantly according to the second emission time, second time of reception and second.

Wherein, when continuing determine signal receiving device constantly according to the second emission time, second time of reception, second When two rotation angles, computer program is executed by processor 62 and realizes following steps;

Determine that the second reception rotates angle according to the second emission time and second time of reception;

Continued to determine that second persistently rotates angle constantly according to the second emission time and second;

The second rotation angle that angle determines signal receiving device is persistently rotated according to the second reception rotation angle and second.

Wherein, following steps are realized when computer program is executed by processor 62;

Second rotation angle is determined by following formula:

B=1/2 ((t4-t022+(t3-t022);

Wherein, b is the second rotation angle;t4Continue the moment for second;t3For second time of reception;t02When emitting for second It carves;ω2For the angular velocity of rotation of second laser planed signal.

Wherein, when determine sender unit to photoelectric sensor apart from when, computer program executed by processor 62 Realize following steps;

Determine the first emission time of first laser planed signal;

Determine that photoelectric sensor detects that first time of reception of first laser planed signal and first continues the moment;Its In, at the time of first time of reception was that photoelectric sensor starts to detect first laser planed signal;First continues constantly as light At the time of electric transducer finally detects first laser planed signal;

Determine that the first reception rotates angle according to the first emission time and first time of reception;

Continued to determine that first persistently rotates angle constantly according to the first emission time and first;

The diameter that rotation angle, first persistently rotate angle and photoelectric sensor is received according to first, in conjunction with photoelectric transfer The attitude data of sensor;Determine sender unit to photoelectric sensor distance.

Wherein, following steps are realized when computer program is executed by processor 62;

Determine that the sender unit to the distance of photoelectric sensor, is determined by following formula:

Wherein, TsTo start to detect the point of first laser planed signal on the photoelectric sensor;B is the photoelectric transfer The center of sensor;O be and the position where sender unit;OB is distance of number emitter to photoelectric sensor;TsB is The radius of photoelectric sensor;OTsTo start to detect that first laser plane is believed on sender unit to the photoelectric sensor Number point the distance between;∠OTsB=90 °+the first reception rotates angle+photoelectric sensor attitude data.

Wherein, following steps are realized when computer program is executed by processor 62;

When three-dimensional measurement coordinate system is cartesian coordinate system, using the first rotary shaft as Y-axis, when using the second rotary shaft as X-axis, The right-hand rule determines Z axis, solves obtain the three-dimensional coordinate of photoelectric sensor according to the following formula:

XB 2+YB 2+ZB 2=OB2

YB× tanb=XB× tana=ZB

Wherein, (XB, YB, ZB) indicate three-dimensional coordinate of the photoelectric sensor in three-dimensional system of coordinate in signal receiving device, OB is the distance between sender unit and photoelectric sensor, and a is the first rotation angle, and b is the second rotation angle.

Wherein, following steps are realized when computer program is executed by processor 62;

Before sending the laser plane signal, the benchmark of the sender unit and the signal receiving device is synchronized Moment.

The embodiment of the invention also provides a kind of computer readable storage mediums.Here computer readable storage medium is deposited Contain one or more program.Wherein, computer readable storage medium may include volatile memory, such as arbitrary access Memory;Memory also may include nonvolatile memory, such as read-only memory, flash memory, hard disk or solid-state are hard Disk, MCU etc.;Memory can also include the combination of the memory of mentioned kind.One described in the computer readable storage medium A or multiple programs can be executed by one or more processor, above-mentioned for realizing in above method embodiment to realize The part steps or Overall Steps of 3-D positioning method.

3-D positioning method provided by the present invention, system and its apparatus are described in detail above.To ability For the those skilled in the art in domain, any obviously change under the premise of without departing substantially from true spirit to what it was done Infringement that is dynamic, all weighing composition to the invention patent, will undertake corresponding legal liabilities.

Claims (10)

1. a kind of 3-D positioning method, it is characterised in that include the following steps:
Determine the first rotation angle of first laser planed signal, wherein the first laser planed signal is around the first rotary shaft Rotation, when the first rotation angle is that photoelectric sensor detects the first laser planed signal, the first laser is flat Angle of the face signal relative to first rotary shaft and the determined plane of the second rotary shaft;
Determine the second rotation angle of second laser planed signal, wherein the second laser planed signal is around the second rotary shaft Rotation, when the second rotation angle is that photoelectric sensor detects second laser planed signal, the second laser plane letter Angle number relative to first rotary shaft and the determined plane of the second rotary shaft;
Determine sender unit to the photoelectric sensor distance;
According to the first rotation angle, the second rotation angle and the distance, the three-dimensional coordinate of photoelectric sensor is determined.
2. 3-D positioning method as described in claim 1, which is characterized in that the first of the determining first laser planed signal Angle is rotated, is included the following steps:
Determine the first emission time of the first laser planed signal;
Determine that the photoelectric sensor detects that first time of reception of the first laser planed signal and first continues the moment; Wherein, at the time of first time of reception is that the photoelectric sensor starts to detect first laser planed signal;Described One continue constantly for the photoelectric sensor finally detect first laser planed signal at the time of;
Continued to determine first rotation constantly according to first emission time, first time of reception and described first Angle.
3. 3-D positioning method as claimed in claim 2, which is characterized in that first rotation angle is true by following formula It is fixed:
A=1/2 ((t2‐t01+(t1‐t01);
Wherein, a is the first rotation angle;t2Continue the moment for first;t1For first time of reception;t0For the first emission time;ω1For The angular velocity of rotation of first laser planed signal.
4. 3-D positioning method as described in claim 1, which is characterized in that the second of the determining second laser planed signal Angle is rotated, is included the following steps:
Determine the second emission time of the second laser planed signal;
Determine that the photoelectric sensor detects that second time of reception of the second laser planed signal and second continues the moment; Wherein, at the time of second time of reception is that the photoelectric sensor starts to detect second laser planed signal;Described Two continue constantly for the photoelectric sensor finally detect second laser planed signal at the time of;
Continued to determine second rotation constantly according to second emission time, second time of reception and described second Angle.
5. 3-D positioning method as claimed in claim 4, which is characterized in that second rotation angle is true by following formula It is fixed:
B=1/2 ((t4‐t022+(t3‐t022);
Wherein, b is the second rotation angle;t4Continue the moment for second;t3For second time of reception;t02For the second emission time;ω2 For the angular velocity of rotation of second laser planed signal.
6. 3-D positioning method as described in claim 1, which is characterized in that the determining sender unit to photoelectric sensing The distance of device, includes the following steps:
Determine the first emission time of the first laser planed signal;
Determine that the photoelectric sensor detects that first time of reception of the first laser planed signal and first continues the moment; Wherein, at the time of first time of reception is that the photoelectric sensor starts to detect first laser planed signal;Described One continue constantly for the photoelectric sensor finally detect first laser planed signal at the time of;
Determine that the first reception rotates angle according to first emission time and first time of reception;
Continue to determine that first persistently rotates angle constantly according to first emission time and described first;
The diameter that rotation angle, described first persistently rotate angle and the photoelectric sensor, knot are received according to described first Close the attitude data of the photoelectric sensor;Determine the sender unit to photoelectric sensor distance.
7. 3-D positioning method as claimed in claim 6, which is characterized in that the determination sender unit to photoelectricity The distance of sensor is determined by following formula:
Wherein, Ts is to start to detect the point of first laser planed signal on the photoelectric sensor;B is the photoelectric sensor Center;O is the position where sender unit;OB is distance of the sender unit to photoelectric sensor;TsB is photoelectricity The radius of sensor;OTsTo start to detect that first laser plane is believed on the sender unit to the photoelectric sensor Number point the distance between;∠OTsB=90 °+the first reception rotates angle+photoelectric sensor attitude data.
8. 3-D positioning method as described in claim 1, it is characterised in that:
When three-dimensional measurement coordinate system is cartesian coordinate system, using the first rotary shaft as Y-axis, when using the second rotary shaft as X-axis, the right hand Rule determines Z axis, solves obtain the three-dimensional coordinate of photoelectric sensor according to the following formula:
XB 2+YB 2+ZB 2=OB2
YB× tanb=XB× tana=ZB
Wherein, (XB, YB, ZB) be photoelectric sensor three-dimensional coordinate, OB be distance of the sender unit to photoelectric sensor, a For the first rotation angle, b is the second rotation angle.
9. a kind of 3 D positioning system, it is characterised in that including processor and memory;Being stored on the memory can be used in The computer program run on the processor realizes following steps when the computer program is executed by the processor:
Determine the first rotation angle of first laser planed signal, wherein the first laser planed signal is around the first rotary shaft Rotation, when the first rotation angle is that photoelectric sensor detects the first laser planed signal, the first laser is flat Angle of the face signal relative to first rotary shaft and the determined plane of the second rotary shaft;
Determine the second rotation angle of second laser planed signal, wherein the second laser planed signal is around the second rotary shaft Rotation, when the second rotation angle is that photoelectric sensor detects second laser planed signal, the second laser plane letter Angle number relative to first rotary shaft and the determined plane of the second rotary shaft;
Determine sender unit to the photoelectric sensor distance;
According to the first rotation angle, the second rotation angle and the distance, the three-dimensional coordinate of photoelectric sensor is determined.
10. a kind of 3 D locating device, including 3 D positioning system as claimed in claim 9, it is characterised in that further include signal Transmitter, signal receiver;
The signal projector is used to send first laser planed signal around the first rotary shaft, sends second around the second rotary shaft and swashs Optical plane signal;
The signal receiver includes at least one photoelectric sensor, flat for receiving first laser planed signal and second laser Face signal.
CN201810647908.XA 2018-06-22 2018-06-22 A kind of 3-D positioning method, system and its apparatus CN109031199A (en)

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