CN109143250A - A kind of System and method for based on laser positioning - Google Patents
A kind of System and method for based on laser positioning Download PDFInfo
- Publication number
- CN109143250A CN109143250A CN201810744919.XA CN201810744919A CN109143250A CN 109143250 A CN109143250 A CN 109143250A CN 201810744919 A CN201810744919 A CN 201810744919A CN 109143250 A CN109143250 A CN 109143250A
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- laser
- transceiver
- processor
- signal
- vibration mirror
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a kind of systems based on laser positioning, the Laser emission component of the system includes light source generator, vibration mirror, processor a and RF transceiver a, the vibration mirror is connected with rotating base, and the laser pick-off component of the system includes optical sensor, processor b and RF transceiver b；The present invention also provides a kind of method based on laser positioning, this method includes that starting light source generator generates laser signal, and passes through vibration mirror reflection；Shaking mirror is scanned laser continuously in a region by the drive of rotating base；Processor b captures photosensor signal variation, and controls RF transceiver b and emit signal to RF transceiver a；RF transceiver a receives the approximate region where estimating the optical sensor by scanning convergence algorithm by processor a after signal, and persistently scans in the new region；It repeats the above steps, until navigating to accurate range；The present invention positions rapid, accurate and can carry out multipoint positioning simultaneously.
Description
Technical field
The present invention relates to field of locating technology, specially a kind of System and method for based on laser positioning.
Background technique
Location technology includes two major classes at present: one kind is mainly to utilize GPS system or Beidou system for outdoor spacious occasion
It unites to position the approximate location of current device or user, general precision can accomplish 5m or so；Another kind of is to be used for indoor scenarios,
In this kind of occasion, due to can not almost receive satellite-signal, indoor positioning is generally realized by other means, such as pass through
The radiofrequency signals such as WiFi or bluetooth realize the positioning to equipment or user, and the precision of existing indoor positioning technologies can only generally do
To 1~2m, theoretically positioning accuracy can be improved by increasing transmitter in the same region, it might even be possible to reach 0.5m
Interior precision, but cause actual use precision at most to can only achieve 1m due to the variability of indoor environment in practical application
Left and right.
The positioning methods such as above-mentioned WiFi or bluetooth all use radiofrequency signal to realize the positioning to equipment or personnel, still
Implement the accuracy requirement for being difficult to meet indoor positioning.
Summary of the invention
The problem of for background technique, the present invention provides a kind of System and method fors based on laser positioning.
To achieve the above object, the invention provides the following technical scheme: a kind of system based on laser positioning, the system packet
Include laser reflection component and laser pick-off component；The Laser emission component include light source generator, vibration mirror, processor a with
And RF transceiver a, the vibration mirror are used to reflect the laser signal that the light source generator generates, which is equipped with energy
Make the rotating base of its continuous rotation, the RF transceiver a is electrically connected processor a, and the processor a is for controlling the rotation
Turn the rotation of pedestal；The laser pick-off component includes optical sensor, processor b and RF transceiver b, the optical sensor
For receiving the laser signal of the vibration mirror reflection, the processor b is electrically connected the optical sensor and the radio-frequency receiving-transmitting
Device b.
Radio frequency as a preferred technical solution of the present invention, in the RF transceiver a and the RF transceiver b
Technology uses bluetooth or WiFi.
The invention also provides a kind of methods based on laser positioning, this method comprises:
S10: starting light source generator generates laser signal, and laser signal irradiation vibration mirror will be swashed by the vibration mirror
Optical signal is reflected；
S20: vibration mirror continuous rotation under the drive of rotating base finally realizes the laser signal of vibration mirror reflection
Continuously it is scanned in a region；
S30: processor b captures the optical sensor being placed in the scanning area after receiving the laser signal of reflection
Signal intensity, and control RF transceiver b and emit signal to RF transceiver a；
S40: RF transceiver a, which receives after signal transmission signal, passes through scanning convergence algorithm to processor a, processor a
The approximate region where the optical sensor is estimated, by controlling the rotational angle of rotating base to change reflection laser scanning area
Size, and persistently scanned in the new region；
S50: repeating the above steps, until scanning area to be reduced to required accurate range.
As a preferred technical solution of the present invention, the steps included are as follows for the algorithm:
A, control vibration mirror rotational angle is until RF transceiver a receives feedback signal；
If b, RF transceiver a does not receive feedback signal, the laser signal scanning of vibration mirror reflection is re-evaluated
Region, and rotating base is controlled by processor a and being turned an angle, until the feedback letter that RF transceiver a is received
Number intensity reaches requirement；
C, constantly reduce laser scanning range in the feedback signal strength claimed range that RF transceiver a is received, directly
To reaching the required accuracy.
Compared with prior art, the beneficial effects of the present invention are: the present invention passes through the closed loop feedback machine of laser combination radio frequency
System, for laser as a kind of unifrequent light, feature is exactly that hot spot will not be spread, therefore have locating speed in positioning
Fastly, feature with high accuracy, in addition the present invention can also have the characteristics that while position multiple equipment or personnel, whole design operation side
Just, accurate positioning is rapid, has more vast market prospect, convenient for promoting.
Detailed description of the invention
Fig. 1 is laser positioning method flow schematic diagram of the present invention；
Fig. 2 is laser orientation system structural schematic diagram of the present invention；
Fig. 3 is present invention scanning convergence algorithm flow diagram；
In figure: 10- laser reflection component；101- light source generator；102- shakes mirror；103- processor a；104- radio frequency is received
Send out device a；105- rotating base；20- laser pick-off component；201- optical sensor；202- processor b；203- RF transceiver b.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment:
Referring to Fig. 2, the present invention provides a kind of system based on laser positioning, the system include laser reflection component 10 with
Laser pick-off component 20；The Laser emission component includes light source generator 101, vibration mirror 102, processor a103 and radio frequency
Transceiver a104, the vibration mirror 102 are used to reflect the laser signal that the light source generator 101 generates, the vibration mirror 102 dress
Equipped with the rotating base 105 that can make its continuous rotation, the RF transceiver a104 is electrically connected processor a103, the processor
A103 is used to control the rotation of the rotating base 105；The laser pick-off component 20 includes optical sensor 201, processor
B202 and RF transceiver b203, the optical sensor 201 are used to receive the laser signal that the vibration mirror 102 reflects, institute
It states processor b202 and is electrically connected the optical sensor 201 and RF transceiver b203.
In the specific implementation process, the radio-frequency technique in the RF transceiver a104 and RF transceiver b203
Using bluetooth or WiFi.
Referring to Fig. 1, the present invention also provides a kind of methods based on laser positioning, this method comprises:
S10: starting light source generator 101 generates laser signal, and laser signal irradiation vibration mirror 102 passes through the vibration
Mirror 102 reflects laser signal；
S20: the vibration mirror 102 continuous rotation under the drive of rotating base 105 finally realizes that the vibration mirror 102 reflects
Laser signal be continuously scanned in a region；
S30: processor b202 captures the optical sensor 201 being placed in the scanning area in the laser for receiving reflection
Signal intensity after signal, optical sensor 201 can feed back the variation of voltage out or electric current, the variation after receiving light source irradiation
It will be dealt with device b202 to capture rapidly, then processor b202 can control RF transceiver b203 transmitting signal to RF transceiver
a104；
S40: RF transceiver a104, which receives after signal transmission signal, passes through scanning to processor a103, processor a103
Convergence algorithm estimates the approximate region where the optical sensor, by controlling the rotational angle of rotating base 105 to change reflection
The size in laser scanning region, and persistently scanned in the new region；
S50: repeating the above steps, until scanning area to be reduced to required accurate range.
Referring to Fig. 3, the steps included are as follows for the specific algorithm:
A, control vibration 102 rotational angle of mirror is until RF transceiver a104 receives feedback signal；
If b, RF transceiver a104 does not receive feedback signal, the laser letter that vibration mirror 102 reflects is re-evaluated
The region of number scanning, and rotating base 105 is controlled by processor a103 and being turned an angle, until RF transceiver a104
The feedback signal strength received reaches requirement；
C, constantly reduce laser scanning range in the feedback signal strength claimed range that RF transceiver a is received, directly
To reaching the required accuracy.
Based on above-mentioned, present invention has the advantage that: the present invention passes through the closed-loop feedback mechanism of laser combination radio frequency, sharp
For light as a kind of unifrequent light, feature is exactly that hot spot will not be spread, therefore has in positioning that locating speed is fast, precision
High feature, in addition the present invention can also have the characteristics that while position multiple equipment or personnel, and whole design is easy to operate, positioning
It is accurate that there is more vast market prospect rapidly, convenient for promoting.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (4)
1. a kind of system based on laser positioning, it is characterised in that: the system includes laser reflection component (10) and laser pick-off
Component (20)；
The Laser emission component includes light source generator (101), vibration mirror (102), processor a (103) and radio-frequency receiving-transmitting
Device a (104), vibration mirror (102) are used to reflect the laser signal of the light source generator (101) generation, the vibration mirror
(102) it is equipped with the rotating base (105) that can make its continuous rotation, the RF transceiver a (104) is electrically connected processor a
(103), the processor a (103) is used to control the rotation of the rotating base (105)；
The laser pick-off component (20) includes optical sensor (201), processor b (202) and RF transceiver b (203), institute
It states optical sensor (201) and is electrically connected institute for receiving the laser signal of vibration mirror (102) reflection, the processor b (202)
State optical sensor (201) and the RF transceiver b (203).
2. a kind of System and method for based on laser positioning according to claim 1, it is characterised in that: the radio-frequency receiving-transmitting
Radio-frequency technique in device a (104) and the RF transceiver b (203) uses bluetooth or WiFi.
3. a kind of method based on laser positioning, it is characterised in that this method comprises:
S10: starting light source generator (101) generates laser signal, and laser signal irradiation vibration mirror (102) passes through the vibration
Mirror (102) reflects laser signal；
S20: vibration mirror (102) continuous rotation under the drive of rotating base (105) finally realizes that the vibration mirror (102) is anti-
The laser signal penetrated continuously is scanned in a region；
S30: processor b (202) captures the optical sensor (201) being placed in the scanning area in the laser for receiving reflection
Signal intensity after signal, and control RF transceiver b (203) and emit signal to RF transceiver a (104)；
S40: RF transceiver a (104) receives after signal that transmission signal is to processor a (103), and processor a (103) is by sweeping
Retouch convergence algorithm and estimate approximate region where the optical sensor (201), by control the rotational angle of rotating base (105) with
Change the size of reflection laser scanning area, and is persistently scanned in the new region；
S50: repeating the above steps, until scanning area to be reduced to required accurate range.
4. a kind of method based on laser positioning according to claim 3, it is characterised in that the algorithm is included the steps that such as
Under:
A, control vibration mirror (102) rotational angle is until RF transceiver a (104) receive feedback signal；
If b, RF transceiver a (104) does not receive feedback signal, the laser letter of vibration mirror (102) reflection is re-evaluated
The region of number scanning, and being turned an angle by processor a (103) control rotating base (105), until RF transceiver
The feedback signal strength that a (104) is received reaches requirement；
C, constantly reduce laser scanning range in the feedback signal strength claimed range that RF transceiver a is received, until reaching
To the required accuracy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810744919.XA CN109143250B (en) | 2018-07-09 | 2018-07-09 | System and method based on laser positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810744919.XA CN109143250B (en) | 2018-07-09 | 2018-07-09 | System and method based on laser positioning |
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| Publication Number | Publication Date |
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| CN109143250A true CN109143250A (en) | 2019-01-04 |
| CN109143250B CN109143250B (en) | 2023-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810744919.XA Active CN109143250B (en) | 2018-07-09 | 2018-07-09 | System and method based on laser positioning |
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Citations (9)
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|---|---|---|---|---|
| EP0744627A1 (en) * | 1995-05-25 | 1996-11-27 | Palomar Technologies Corporation | Transponder system for the remote communication of a physical condition |
| CN101035647A (en) * | 2004-06-07 | 2007-09-12 | 电子科学工业公司 | AOM modulation techniques for improving laser system performance |
| CN102135620A (en) * | 2010-01-21 | 2011-07-27 | 郭瑞 | Geometric statistical characteristic-based global scan matching method |
| US20150168535A1 (en) * | 2012-07-06 | 2015-06-18 | Siemens Aktiengesellschaft | Method and Arrangement for the Relative Position Detection of Stations by Means of Radio Location |
| US20170131398A1 (en) * | 2014-08-25 | 2017-05-11 | Younis Technologies, Inc. | Indoor position location using delayed scanned directional reflectors |
| US20170237487A1 (en) * | 2016-02-11 | 2017-08-17 | Morgan State University | System and method for lighting and building occupant tracking |
| US20180176731A1 (en) * | 2016-12-16 | 2018-06-21 | Here Global B.V. | Positioning mobile devices with positioning support devices |
| CN110440812A (en) * | 2019-09-25 | 2019-11-12 | 李宏达 | A kind of interior unmanned plane high-precision three-dimensional positioning navigation device |
| CN210346713U (en) * | 2019-09-25 | 2020-04-17 | 南京英尼格玛工业自动化技术有限公司 | Indoor unmanned aerial vehicle high accuracy three-dimensional positioning navigation head |
-
2018
- 2018-07-09 CN CN201810744919.XA patent/CN109143250B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0744627A1 (en) * | 1995-05-25 | 1996-11-27 | Palomar Technologies Corporation | Transponder system for the remote communication of a physical condition |
| CN101035647A (en) * | 2004-06-07 | 2007-09-12 | 电子科学工业公司 | AOM modulation techniques for improving laser system performance |
| CN102135620A (en) * | 2010-01-21 | 2011-07-27 | 郭瑞 | Geometric statistical characteristic-based global scan matching method |
| US20150168535A1 (en) * | 2012-07-06 | 2015-06-18 | Siemens Aktiengesellschaft | Method and Arrangement for the Relative Position Detection of Stations by Means of Radio Location |
| US20170131398A1 (en) * | 2014-08-25 | 2017-05-11 | Younis Technologies, Inc. | Indoor position location using delayed scanned directional reflectors |
| US20170237487A1 (en) * | 2016-02-11 | 2017-08-17 | Morgan State University | System and method for lighting and building occupant tracking |
| US20180176731A1 (en) * | 2016-12-16 | 2018-06-21 | Here Global B.V. | Positioning mobile devices with positioning support devices |
| CN110440812A (en) * | 2019-09-25 | 2019-11-12 | 李宏达 | A kind of interior unmanned plane high-precision three-dimensional positioning navigation device |
| CN210346713U (en) * | 2019-09-25 | 2020-04-17 | 南京英尼格玛工业自动化技术有限公司 | Indoor unmanned aerial vehicle high accuracy three-dimensional positioning navigation head |
Non-Patent Citations (1)
| Title |
|---|
| JAN KOKERT等: ""Indoor Localization System based on Galvanometer-Laser-Scanning for numerous Mobile Tags (GaLocate)"", 《2012 INTERNATIONAL CONFERENCE ON INDOOR POSITIONING AND INDOOR NAVIGATION》 * |
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| CN109143250B (en) | 2023-04-07 |
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