CN109143250B - System and method based on laser positioning - Google Patents
System and method based on laser positioning Download PDFInfo
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- CN109143250B CN109143250B CN201810744919.XA CN201810744919A CN109143250B CN 109143250 B CN109143250 B CN 109143250B CN 201810744919 A CN201810744919 A CN 201810744919A CN 109143250 B CN109143250 B CN 109143250B
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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
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- 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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Abstract
The invention discloses a system based on laser positioning.A laser emitting component of the system comprises a light source generator, a vibration mirror, a processor a and a radio frequency transceiver a, wherein the vibration mirror is connected with a rotating base; the invention also provides a method based on laser positioning, which comprises the steps of starting a light source generator to generate a laser signal and reflecting the laser signal through a vibrating mirror; the vibration mirror is driven by the rotary base to enable the laser to continuously scan in one area; the processor b captures the signal change of the optical sensor and controls the radio frequency transceiver b to transmit a signal to the radio frequency transceiver a; after receiving the signal, the radio frequency transceiver a estimates the approximate area where the optical sensor is located through a scanning convergence algorithm by a processor a and continuously scans in the new area; repeating the steps until the accurate range is positioned; the invention has the advantages of rapid and accurate positioning and can carry out multi-point positioning simultaneously.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a system and a method based on laser positioning.
Background
Current positioning technologies include two broad categories: one is used in outdoor open occasions, and mainly utilizes a GPS system or a Beidou system to position the approximate position of the current equipment or user, and the general precision can be about 5 m; the other type is used in indoor occasions, in such occasions, since satellite signals can hardly be received, indoor positioning is generally realized by other means, for example, positioning of equipment or users is realized by radio frequency signals such as WiFi or bluetooth, the accuracy of the existing indoor positioning technology can only be 1-2 m, theoretically, positioning accuracy can be improved by adding a transmitter in the same area, and even can reach the accuracy within 0.5m, but in practical application occasions, the practical use accuracy can only reach about 1m at most due to the variability of indoor environment.
The positioning modes such as WiFi or Bluetooth and the like adopt radio frequency signals to position equipment or personnel, but the precision requirement of indoor positioning is difficult to meet when the positioning modes are realized.
Disclosure of Invention
In view of the problems in the background art, the present invention provides a system and method based on laser positioning.
In order to achieve the purpose, the invention provides the following technical scheme: a system based on laser positioning comprises a laser emitting component and a laser receiving component; the laser emission component comprises a light source generator, a vibration mirror, a processor a and a radio frequency transceiver a, wherein the vibration mirror is used for reflecting laser signals generated by the light source generator, the vibration mirror is provided with a rotating base capable of enabling the vibration mirror to rotate continuously, the radio frequency transceiver a is electrically connected with the processor a, and the processor a is used for controlling the rotation of the rotating base; the laser receiving assembly comprises an optical sensor, a processor b and a radio frequency transceiver b, the optical sensor is used for receiving laser signals reflected by the vibrating mirror, and the processor b is electrically connected with the optical sensor and the radio frequency transceiver b.
As a preferred technical solution of the present invention, the radio frequency technologies in the radio frequency transceiver a and the radio frequency transceiver b adopt bluetooth or WiFi.
The invention also provides a method based on laser positioning, which comprises the following steps:
s10: starting a light source generator to generate a laser signal, wherein the laser signal irradiates a vibrating mirror and reflects the laser signal through the vibrating mirror;
s20: the vibrating mirror is driven by the rotary base to continuously rotate, and finally laser signals reflected by the vibrating mirror are continuously scanned in an area;
s30: the processor b captures the signal change of the optical sensor placed in the scanning area after receiving the reflected laser signal and controls the radio frequency transceiver b to transmit a signal to the radio frequency transceiver a;
s40: the radio frequency transceiver a transmits a signal to the processor a after receiving the signal, the processor a predicts the approximate area where the optical sensor is located through a scanning convergence algorithm, changes the size of a reflected laser scanning area by controlling the rotation angle of the rotating base, and continuously scans in the new area;
s50: and repeating the steps until the scanning area is reduced to the required accurate range.
As a preferred technical solution of the present invention, the algorithm includes the steps of:
a. controlling the rotation angle of the vibration mirror until the radio frequency transceiver a receives a feedback signal;
b. if the radio frequency transceiver a does not receive the feedback signal, re-estimating the area scanned by the laser signal reflected by the vibrating mirror, and controlling the rotating base to rotate for a certain angle through the processor a until the intensity of the feedback signal received by the radio frequency transceiver a meets the requirement;
c. and continuously reducing the laser scanning range within the required range of the intensity of the feedback signal received by the radio frequency transceiver a until the required precision is reached.
Compared with the prior art, the invention has the beneficial effects that: the invention combines the laser with the radio frequency closed loop feedback mechanism, the laser is a single-frequency light, and the invention has the characteristics that the facula can not be diffused, thereby having the characteristics of high positioning speed and high precision when positioning.
Drawings
FIG. 1 is a schematic flow chart of a laser positioning method according to the present invention;
FIG. 2 is a schematic diagram of a laser positioning system according to the present invention;
FIG. 3 is a schematic flow chart of a scan convergence algorithm of the present invention;
in the figure: 10-a laser emitting assembly; 101-a light source generator; 102-a vibrating mirror; 103-processor a; 104-radio frequency transceiver a; 105-a rotating base; 20-a laser receiving assembly; 201-a light sensor; 202-processor b; 203-radio frequency transceiver b.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b):
referring to fig. 2, the present invention provides a system based on laser positioning, which includes a laser emitting assembly 10 and a laser receiving assembly 20; the laser emission component comprises a light source generator 101, a vibrating mirror 102, a processor a103 and a radio frequency transceiver a104, wherein the vibrating mirror 102 is used for reflecting laser signals generated by the light source generator 101, the vibrating mirror 102 is provided with a rotating base 105 capable of enabling the vibrating mirror to continuously rotate, the radio frequency transceiver a104 is electrically connected with the processor a103, and the processor a103 is used for controlling the rotation of the rotating base 105; the laser receiving assembly 20 comprises a light sensor 201, a processor b202 and a radio frequency transceiver b203, wherein the light sensor 201 is used for receiving the laser signal reflected by the vibration mirror 102, and the processor b202 is electrically connected with the light sensor 201 and the radio frequency transceiver b203.
In a specific implementation, the rf technologies of the rf transceiver a104 and the rf transceiver b203 are bluetooth or WiFi.
Referring to fig. 1, the present invention further provides a method based on laser positioning, which includes:
s10: starting a light source generator 101 to generate a laser signal, wherein the laser signal irradiates a vibrating mirror 102 and is reflected by the vibrating mirror 102;
s20: the vibrating mirror 102 is driven by the rotating base 105 to continuously rotate, and finally laser signals reflected by the vibrating mirror 102 are continuously scanned in one area;
s30: the processor b202 captures the signal change of the optical sensor 201 placed in the scanning area after receiving the reflected laser signal, the optical sensor 201 can feed back the change of voltage or current after receiving the light source irradiation, the change can be rapidly captured by the processor b202, and then the processor b202 controls the radio frequency transceiver b203 to transmit a signal to the radio frequency transceiver a104;
s40: the radio frequency transceiver a104 transmits a signal to the processor a103 after receiving the signal, the processor a103 estimates the approximate area where the optical sensor is located through a scanning convergence algorithm, changes the size of the scanning area of the reflected laser by controlling the rotation angle of the rotating base 105, and continuously scans in the new area;
s50: and repeating the steps until the scanning area is reduced to the required accurate range.
Referring to fig. 3, the specific algorithm includes the following steps:
a. controlling the rotation angle of the vibration mirror 102 until the radio frequency transceiver a104 receives a feedback signal;
b. if the radio-frequency transceiver a104 does not receive the feedback signal, re-estimating the scanning area of the laser signal reflected by the vibration mirror 102, and controlling the rotation of the rotating base 105 by a certain angle through the processor a103 until the intensity of the feedback signal received by the radio-frequency transceiver a104 meets the requirement;
c. and continuously reducing the laser scanning range within the required range of the intensity of the feedback signal received by the radio frequency transceiver a until the required precision is reached.
Based on the above, the invention has the advantages that: the invention combines the laser with the radio frequency closed loop feedback mechanism, the laser is a single-frequency light, and the invention has the characteristics that the facula can not be diffused, thereby having the characteristics of high positioning speed and high precision when positioning.
The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (4)
1. A system based on laser positioning, characterized by: the system comprises a laser emitting component (10) and a laser receiving component (20);
the laser emission assembly comprises a light source generator (101), a vibrating mirror (102), a processor a (103) and a radio frequency transceiver a (104), wherein the vibrating mirror (102) is used for reflecting a laser signal generated by the light source generator (101), the vibrating mirror (102) is provided with a rotating base (105) which enables the vibrating mirror to continuously rotate, the radio frequency transceiver a (104) is electrically connected with the processor a (103), and the processor a (103) is used for controlling the rotation of the rotating base (105);
the laser receiving assembly (20) comprises a light sensor (201), a processor b (202) and a radio frequency transceiver b (203), wherein the light sensor (201) is used for receiving laser signals reflected by the vibration mirror (102), and the processor b (202) is electrically connected with the light sensor (201) and the radio frequency transceiver b (203).
2. A system and method based on laser positioning as claimed in claim 1, wherein: the rf technologies in the rf transceiver a (104) and the rf transceiver b (203) are bluetooth or WiFi.
3. A method based on laser positioning, the method comprising:
s10: starting a light source generator (101) to generate a laser signal, wherein the laser signal irradiates a vibrating mirror (102), and the laser signal is reflected by the vibrating mirror (102);
s20: the vibrating mirror (102) is driven by the rotating base (105) to continuously rotate, and finally laser signals reflected by the vibrating mirror (102) are continuously scanned in one area;
s30: the processor b (202) captures the signal change of the optical sensor (201) placed in the scanning area after receiving the reflected laser signal and controls the radio frequency transceiver b (203) to transmit a signal to the radio frequency transceiver a (104);
s40: the radio frequency transceiver a (104) transmits a signal to the processor a (103) after receiving the signal, the processor a (103) estimates the approximate area where the optical sensor (201) is located through a scanning convergence algorithm, changes the size of a reflected laser scanning area by controlling the rotation angle of the rotating base (105), and continuously scans in the new area;
s50: and repeating the steps until the scanning area is reduced to the required accurate range.
4. A method based on laser positioning according to claim 3, characterized in that the algorithm comprises the following steps:
a. controlling the rotation angle of the vibration mirror (102) until the radio frequency transceiver a (104) receives a feedback signal;
b. if the radio frequency transceiver a (104) does not receive the feedback signal, re-estimating the area scanned by the laser signal reflected by the vibration mirror (102), and controlling the rotation of the rotating base (105) by a certain angle through the processor a (103) until the intensity of the feedback signal received by the radio frequency transceiver a (104) meets the requirement;
c. and continuously reducing the laser scanning range within the required range of the intensity of the feedback signal received by the radio frequency transceiver a until the required precision is reached.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810744919.XA CN109143250B (en) | 2018-07-09 | 2018-07-09 | System and method based on laser positioning |
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| CN201810744919.XA CN109143250B (en) | 2018-07-09 | 2018-07-09 | System and method based on laser positioning |
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| CN109143250A CN109143250A (en) | 2019-01-04 |
| CN109143250B true CN109143250B (en) | 2023-04-07 |
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|---|---|---|---|---|
| DE102012211809A1 (en) * | 2012-07-06 | 2014-01-09 | Siemens Aktiengesellschaft | Method and arrangement for relative position detection of stations by means of radio location |
| AU2015306699A1 (en) * | 2014-08-25 | 2017-03-16 | Lonprox Corporation | Indoor position location using delayed scanned directional reflectors |
| US9973275B2 (en) * | 2016-02-11 | 2018-05-15 | Morgan State University | System and method for lighting and building occupant tracking |
| US10285007B2 (en) * | 2016-12-16 | 2019-05-07 | Here Global B.V. | Positioning mobile devices with positioning support devices |
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2018
- 2018-07-09 CN CN201810744919.XA patent/CN109143250B/en active Active
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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 |
| 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)
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| "Indoor Localization System based on Galvanometer-Laser-Scanning for numerous Mobile Tags (GaLocate)";Jan Kokert等;《2012 International Conference on Indoor Positioning and Indoor Navigation》;20121115;第1-7页 * |
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