CN110865336B - Laser tracking and positioning device - Google Patents
Laser tracking and positioning device Download PDFInfo
- Publication number
- CN110865336B CN110865336B CN201911190438.XA CN201911190438A CN110865336B CN 110865336 B CN110865336 B CN 110865336B CN 201911190438 A CN201911190438 A CN 201911190438A CN 110865336 B CN110865336 B CN 110865336B
- Authority
- CN
- China
- Prior art keywords
- laser
- transmitters
- scanning
- receiver
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-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
- G01S5/163—Determination of attitude
Landscapes
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a laser tracking and positioning device, which comprises four laser transmitters and a laser receiver, wherein an upper reflecting mirror group, a vertical long shaft and a lower reflecting mirror group which are driven by gears to rotate horizontally are sequentially arranged between the laser transmitters A and B from top to bottom; the upper reflector group comprises two reflectors which are obliquely arranged in the upper box and used for reflecting two laser beams emitted by the laser transmitters A and C by 90 degrees and emitting the laser beams to the right and the right rear of the upper box; the lower reflecting mirror group comprises a reflecting mirror which is obliquely arranged in the lower box and used for reflecting laser emitted by the laser emitters B and C by 90 degrees and emitting the laser to the right and left sides of the lower box, and four laser emitters are respectively provided with a line laser scanning device at the positions where the upper reflecting mirror group and the lower reflecting mirror group emit laser. The invention can solve the problems that the existing laser localizer has unreasonable structure, which causes jitter when the data refresh rate is high, influences the locating accuracy and is not movable.
Description
Technical Field
The invention relates to the technical field of space positioning of laser groups, in particular to a device for tracking and positioning by using a laser group.
Background
The existing laser positioner comprises two laser transmitters and a line laser scanning device for rotating and diverging laser emitted by the two laser transmitters into one line laser, and also comprises a laser receiver for receiving the two laser transmitters, wherein the rotation axes of the line laser scanning devices of the two laser transmitters are mutually vertical so as to emit two mutually vertical line lasers, namely, the rotation axis of the line laser scanning device of one laser transmitter rotates along the horizontal direction to form a vertical plane (also called one line laser) for scanning along the horizontal direction from sitting to right, the rotation axis of the line laser scanning device of the other laser transmitter rotates along the vertical direction to form a horizontal plane (also called one line laser) for scanning along the vertical direction from top to bottom, and the two line lasers sequentially perform two-period scanning on the laser receiver on a moving object to obtain the space coordinates of the laser receiver so as to achieve tracking and positioning of the object. In order to track and position the tracked object in real time, the laser transmitter is required to scan the high data refresh rate, so that the rotating speed of the laser transmitter scanning device is high, and the vibration in the vertical direction and the vibration in the horizontal direction can be mutually influenced at the high rotating speed, so that the vibration of the positioning coordinate is caused. Because the rotation axes of the two laser transmitters are mutually independent and vertically rotate, any point shakes and shakes to the axial rotation of one laser transmitter, so that the deviation of the vertical or horizontal axis positioning coordinates is caused, and the position coordinates of the object received by the laser receiver are inaccurate.
Disclosure of Invention
The invention aims to solve the problem of influencing positioning accuracy and being immovable due to jitter generated when the existing laser positioner is unreasonable in structure and high in data refresh rate.
In order to solve the problems, the technical scheme of the invention is as follows: the laser tracking and positioning device comprises four laser transmitters, a line laser scanning device and a laser receiver, wherein the four laser transmitters are sequentially and coaxially and vertically arranged into a downward-emitting laser transmitter A, an upward-emitting laser transmitter D, a downward-emitting laser transmitter C and an upward-emitting laser transmitter B, an upper reflector group, a vertical long shaft and a lower reflector group which are driven by gears, horizontally rotate along the horizontal direction and are coaxial with the four laser transmitters are sequentially arranged between the laser transmitter A and the laser transmitter B from top to bottom, and the laser transmitter D and the laser transmitter C are arranged in the long shaft and are sequentially arranged from top to bottom;
the upper reflector group comprises two reflectors which are obliquely arranged in an upper box and are used for reflecting two laser beams emitted by the laser transmitter A and the laser transmitter Ding Fa by 90 degrees and emitting the laser beams to the right and the right rear of the upper box, and the upper box is provided with one line laser scanning device at the laser positions emitted by the laser transmitter A and the laser transmitter C;
the lower reflector group comprises a reflector which is obliquely arranged in a lower box and is used for reflecting laser emitted by the laser emitter B and the laser emitter C by 90 degrees and emitting the laser to the right and the left of the lower box, and the lower box is provided with a linear laser scanning device at the laser emitted by the laser emitter B and the laser emitter C;
the laser receiver comprises a control unit for receiving the electric signals and recording time intervals, and calculating the rotation angular velocity information of the four laser transmitters, and the laser receiver is also provided with an infrared photosensitive diode.
Among the above technical schemes, more specific schemes may be: the control unit comprises the following steps to obtain accurate tracking and positioning information:
step A, a long shaft drives four laser transmitters to continuously rotate in space for scanning, four lasers emitted by four laser transmitters of a laser sensor Ding Bingyi continuously scan the laser receiver in a circumferential scanning mode to form a cylindrical surface formed by the four laser transmitters by taking the horizontal distance from the laser receiver to the axis of the four laser transmitters as the radius;
step B, two oblique 45-degree linear laser scanning laser receivers emitted by a laser transmitter B and a laser transmitter A generate two receiving signals with time intervals, so that the angle of the two laser scanning laser receivers can be calculated, the linear distance of the two laser scanning laser receivers corresponding to the angle on a cylindrical surface is equal to the fixed length of the upper and lower distances between the two laser beams emitted from a linear laser scanning device after the laser transmitter A and the laser transmitter B reflect, the horizontal distance from the two laser transmitters to the cylindrical surface where the laser receivers are positioned is two waists, the top angle is the angle of the two laser scanning laser receivers, the bottom angle is an isosceles triangle of the linear distance of the two laser scanning laser receivers on the cylindrical surface, and the horizontal distance from the cylindrical surface where the laser receivers are positioned to a laser positioning device can be obtained according to the geometric relationship;
step C, a vertical one-word line laser and a diagonal one-word line laser emitted by a laser emitter C and a laser emitter B scan an over laser receiver to generate two receiving signals with time intervals, so that the angle of the over laser receiver can be calculated; if the angle of the second laser transmitter and the third laser transmitter, which are scanned by the laser receiver, minus the angle of the two laser transmitters which are separated by a half rotation period is positive, the laser receiver is arranged above the laser positioning device, and conversely is arranged below the laser positioning device;
step D, scanning the laser receiver by two adjacent scanning periods of the laser transmitter and generating a receiving signal with a time interval, thereby calculating the rotating angle of the laser after scanning the laser receiver, wherein the rotating angle is the difference angle between the last scanning position and the current scanning position; setting the last scanning position as an initial position, wherein the laser receiver position in the current scanning is the position after the last position is rotated for changing the angle, and the horizontal distance and the vertical distance of the axes of the laser receiver and the four laser transmitters are obtained by the above; the data are converted into space three-dimensional coordinates, the center of superposition of the four laser transmitters is taken as zero coordinates, the initialization position is taken as an x-axis position, and the three-dimensional coordinates of the laser receiver relative to the axes of the four laser transmitters in space can be converted by geometric relations.
Further: a linear cylindrical lens is arranged in the linear laser scanning device, and the control unit is a micro control unit.
Further: all of the laser emitters emit invisible laser light at a wavelength of 980 nm.
Further: the laser emitted by the laser emitter is conical laser with a divergence angle of 3 degrees.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following beneficial effects:
the laser tracking and positioning device adopts a single-axis rotation mode, the horizontal or vertical coordinates are not affected by vibration, and the laser scanning device is used for arranging the upper and lower scanning devices to realize transverse scanning by fixed length, so that a single rotation shaft can obtain three coordinates of a space xyz of the receiving device in a rotation scanning period, high-precision positioning can be realized under the condition of high rotation speed, and higher data refresh rate is obtained;
when the existing two-axis linear laser scanning device is moved or rotated, one of the vertical or horizontal axes of the device can change the angle, the time sequence of the two-axis rotary scanning is changed, and error data is caused, but the time sequence between each scanning line is fixed, the influence of the data caused by the change of the position and the posture of the scanning device can not be caused during the scanning, so that the relative position coordinate information of a scanned object can be obtained (because the scanning device can be moved, the relative position coordinate information can be obtained when the scanning device and the receiving device are both in motion);
the laser tracking positioning device can be used as a high-precision space positioner for virtual reality space positioning, space holographic image display, accurate three-dimensional positioning of an unmanned aerial vehicle, space positioning of an intelligent logistics system and the like.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the invention;
FIG. 2 is a laser scan of four laser transmitters of an embodiment of the invention;
FIG. 3 is a cross-sectional view of a laser scan of four laser transmitters of an embodiment of the invention;
FIG. 4 is a schematic diagram of horizontal distances between a laser receiver and four laser transmitters according to an embodiment of the invention;
FIG. 5 is a schematic diagram of the cylinder distance achieved by the laser receiver of the present embodiment;
FIG. 6 is a schematic height view of a laser receiver relative to a laser positioning device according to an embodiment of the invention;
FIG. 7 is an equivalent diagram of an angle of 180 from the laser scanning laser receiver of an embodiment of the invention;
FIG. 8 is a schematic diagram of the horizontal and vertical distances of a laser receiver from a laser transmitter of an embodiment of the invention;
FIG. 9 is a schematic diagram of an inventive embodiment of a laser receiver receiving a laser transmitter and twice the distance and angle of a scan;
fig. 10 is a three-dimensional graph obtained by the laser receiver of the inventive embodiment receiving four laser transmitters.
Detailed Description
Embodiments of the invention are described in further detail below with reference to the attached drawing figures:
the laser tracking and positioning device shown in fig. 1 comprises four laser transmitters 1, invisible laser with 980 nm emission wavelength of each laser transmitter, a line laser scanning device and a laser receiver, wherein the four laser transmitters are coaxially and vertically arranged into a laser transmitter A1-1 which emits downwards, a laser transmitter D1-4 which emits upwards, a laser transmitter C1-3 which emits downwards and a laser transmitter B1-2 which emits upwards, an upper reflector group 2 and a vertical long shaft 5 and a lower reflector group 6 which are driven by a gear 4 and rotate horizontally and are coaxial with the four laser transmitters are sequentially arranged between the laser transmitters A1-1 and the laser transmitters B1-2 from top to bottom, and the laser transmitters A1-4 and the laser transmitters C1-3 are arranged in the long shaft 5 and are sequentially arranged one by one.
The upper mirror group 2 includes two mirrors for reflecting two laser beams emitted from the laser transmitter A1-1 and the laser transmitter B1-4 by 90 DEG and emitted from the right and the right rear of the upper box 2-1, namely, a mirror 2-2 for reflecting the laser beams emitted from the laser transmitter A1-1 by 90 DEG and emitted from the right and the right of the upper box 2-1, the mirror 2-2 being disposed obliquely by 45 DEG in the counterclockwise direction, and a mirror 2-3 for reflecting the laser beams emitted from the laser transmitter B1-4 by 90 DEG and emitted from the right rear of the upper box 2-1, the mirror 2-3 being disposed obliquely below the mirror 2-2 and rearward. The upper box 2-1 is provided with a line laser scanning device 3 at the laser emitted by the laser emitter A1-1 and the laser emitter C1-3.
The lower reflecting mirror group 6 comprises a reflecting mirror 6-2 which is obliquely arranged in the lower box 6-1 and is used for reflecting laser emitted by the laser emitter B1-2 and the laser emitter C1-3 by 90 degrees and emitting the laser to the right left and the right of the lower box 6-1, the reflecting mirror 6-2 is reflected by two sides and is obliquely arranged in the diagonal of the lower box 6-1 by 45 degrees along the anticlockwise direction, and the front side and the back side simultaneously reflect the light rays of the laser emitter C1-3 and the laser emitter B1-2 respectively; the lower box 6-1 is provided with a line laser scanning device 3 at the laser emitted by the laser emitter B1-2 and the laser emitter C1-3.
A linear cylindrical lens is provided in the linear laser scanning device 3.
The linear laser scanning device 3 after the reflection of the output laser transmitter 1-4 selects the laser with the divergence angle of 3 degrees, so that the laser transmitted by the laser transmitter 1-4 is conical laser with the divergence angle of 3 degrees, and the laser is changed into vertical strip laser 7-4 after passing through the linear laser scanning device; the laser transmitters A1-1, B1-2 and C1-3 reflect the word line laser 7-1 which is inclined by 45 degrees to the rear side, the word line laser 7-2 which is inclined by 45 degrees to the rear side and the vertical word line laser 7-3 which are emitted by the respective one-line laser scanning devices 3 in sequence. The distance between the linear laser scanning device 3 reflected by the laser transmitter A1-1 and the linear laser scanning device reflected by the laser transmitter B1-2 is a fixed length d.
The laser receiver 8 comprises a control unit 10 for receiving the electric signals and recording time intervals, and calculating the rotation angular velocity information of the four laser transmitters, and the laser receiver 8 is also provided with an infrared photosensitive diode 9; the control unit 10 here is a microprocessor unit.
The control unit comprises the following steps to obtain accurate tracking and positioning information:
step A, enabling the emitted laser to continuously rotate in a space where a scanning device is located by four laser transmitters to form a cylindrical surface formed by the four laser transmitters by taking the horizontal distance from the laser receiver to the axis where the four laser transmitters are located as a radius, and obtaining a laser scanning chart, wherein the laser sequencing of the chart is from left to right as 1-laser transmitter D, 2-laser transmitter B, 3-laser transmitter A and 4-laser transmitter C as shown in figure 2;
taking a section in space, the laser pattern of the above figure is captured periodically, as shown in fig. 3.
When the strip laser is scanned, two or more laser receivers simultaneously receive laser signals, which is the starting signal of one scanning period.
When the laser tracking and positioning device is initialized, the control unit records time when more than two laser receivers receive signals, and records time again when the signals are received again, so that the scanning period T and the rotation angular velocity omega of the device are obtained, and the motor rotates at a constant speed, so that the T and the omega are unchanged.
Step B, determining the space position:
the horizontal distances between the laser receiver 8 and the four laser transmitters in the step B1 are as shown in fig. 4, and the arrows indicate four coincident laser transmitters.
Two oblique 45-degree lasers scan the laser receiver (line 2 and line 3) to generate two receiving signals with time intervals, so that the angle of the two laser scanning laser receivers can be calculated, the laser distance of the laser scanning laser receiver corresponding to the angle is equal to the fixed length of the vertical distance of the two laser transmitters, the length of the cylindrical surface distance from the laser transmitter to the laser receiver is two waists, the vertex angle is the angle of the two laser scanning laser receivers, the bottom angle is an isosceles triangle with the fixed length of the vertical distance of the two laser transmitters, the horizontal distance from the cylindrical surface of the laser receiver to the laser positioning device can be obtained according to the geometric relationship, and the vertical distance is L1.
As the vertical distance of two parallel oblique 45 ° lasers is b, as shown in fig. 1, the horizontal distance of two lasers in space is also b; the time t1 from the scanning of the two lines 2 and 3 to the laser receiver can obtain < beta 1=omega×t1, and the included angle is the rotation angle of the two 45-degree oblique line laser scanning laser receiver; the opposite side length of the angle beta 1 is b, the triangle is an isosceles triangle, the horizontal distance from the laser receiver to the laser transmitter is L1 according to the sine theorem, L1=b/sin & lt beta 1×sin ((180- & lt beta 1)/2), and the L1 distance can be obtained once in each rotation period; thus, the distance L1 between the cylindrical surface where the laser receiver is positioned and the laser transmitter can be obtained; as in fig. 5.
Step B2, after obtaining the distance from the laser transmitter, the height of the laser receiver relative to the laser positioning device is obtained, as shown in fig. 6.
The line 2 and the line 4 scan the laser receiver to generate two receiving signals, the time interval is t2, the angle of the laser receiver can be calculated to be +.β2, the line 2 and the line 4 are the laser transmitter B and the laser transmitter C, the angle is 180 degrees, the equivalent angle +.β2' = = β2-180 degrees, the equivalent and lower graph form an isosceles triangle with the distance d1 of the laser transmitter to the cylindrical surface of the laser receiver being two waists and the apex angle being β2', the known L1, β2' obtains the distance d1 of the laser transmitter being scanned by the two lasers 24 from the geometric relationship, the included angle of the line 2 and the line 4 is 45 degrees, so the vertical height h of the laser receiver and the laser transmitter is equal to d1., because = β2' = = β2-180 degrees, when the angle β2' <0, the laser receiver is above the laser transmitter, and the laser receiver is below the laser transmitter.
A vertical line and a diagonal line scan the laser receiver (line 2, line 4) to generate two receiving signals with time interval, thus the angle of the laser receiver can be calculated, because the line 2 and the line 4 are emitted by the laser emitter B and the laser emitter C, and two laser scanning lines which are equally intersected are obtained after subtracting the half rotation period of the two laser emitters from each other, the angle scanned by the two laser lines is a vertex angle, the vertical distance from the cylindrical surface of the laser receiver to the emitter is two waists, the horizontal distance of the two laser lines scan the isosceles triangle with the horizontal distance of the laser receiver as the bottom, because the line 2 is a 45-degree oblique laser line, the bottom length of the isosceles triangle formed by the geometric relationship is equal to the vertical height of the laser receiver to the laser positioning device, and if the angle of the line 2 and the line 4 scanned by the laser emitter is subtracted by half rotation period is a positive number, the laser receiver is above the laser positioning device, and the laser receiver is below.
The line 2 and the line 4 scan the laser receiver, the interval angle between the line 2 and the line 4 is 180 degrees, the included angle of the laser scanning the laser receiver is less than beta 2=omega×t2, which is obtained by the time t2 from the scanning of the line 2 and the line 4 to the laser receiver, and the angle is reduced by 180 degrees, which is equivalent to the following figures 7, d1 and d2, and the angle is equal to form a square; the angle β2 '= β2-180 °, because the included angle=45°, the vertical distance h=d1=d2 between the laser receiver and the laser emitter, d2=l1/sin ((180 ° - & β2')/2) ×sin (& lt β2 ') is obtained by sine theorem, h=d2, because line 2 is a word line laser inclined by 45 °, angle β2' = β2-180 °, when angle β2'<0, the laser receiver is above the emitter, and when angle β2' >0, the laser receiver is below the emitter, thus the horizontal distance L1, the vertical distance h, of the laser receiver from the laser emitter can be obtained, as shown in fig. 8.
And B3, recording the position obtained by the last scanning, wherein the angle of the laser receiver relative to the last scanning position can be obtained by the time t3 from the two line scanning of the line 4 and the line 4' in two periods to the laser receiver, and the angle is as follows: the angle β3=360- ω×t3, as shown in fig. 9.
The line 4 and the lower periodic line 4' scan the laser receiver to generate two receiving signals, wherein the time interval is t3, so that the included angle of the laser scanning laser receiver, which is the included angle between the last scanning position and the current scanning position, can be calculated. If the last scanning position is the initial position, the included angle between the laser receiver position of the current scanning and the last position is +.β3, the horizontal distance is L1, and the vertical distance is h. The laser tracking and positioning device rotates anticlockwise, so the scanning position is right of the last scanning position when the angle is beta 3>0, and left of the last scanning position when the angle is beta 3<0.
The laser tracking and positioning device rotates anticlockwise, so that the right side of the last scanning position is the scanning position when the angle is beta 3>0, the left side of the last scanning position is the scanning position when the angle is beta 3<0, and finally, the horizontal distance L1, the vertical distance h and the position of the laser receiver position at the emitter position can be obtained through each scanning, and an included angle is beta 3 between the laser receiver position and the last scanning position.
If the three-dimensional coordinate is converted into the space three-dimensional coordinate, the emitter is taken as a zero coordinate, the initialization position is taken as an x-axis position, and the three-dimensional coordinate is as follows: xyz: (L1 cos < beta 3, L1sin < beta 3, h) as shown in FIG. 10.
The laser tracking and positioning device adopts a single-axis rotation mode, the horizontal or vertical coordinates are not affected by vibration, and the laser scanning device is used for arranging the upper and lower scanning devices to realize transverse scanning by a fixed length d, so that a single rotation shaft can obtain three coordinates of a space xyz of the receiving device in a rotation scanning period, high-precision positioning can be realized under the condition of high rotation speed, and higher data refreshing rate is obtained; as a high-precision space positioner, the three-dimensional positioning device can be used for the aspects such as virtual reality space positioning, space hologram display, unmanned aerial vehicle accurate three-dimensional positioning, intelligent logistics system space positioning and the like.
Claims (4)
1. The utility model provides a positioner is tracked to laser, includes laser emitter, a line laser scanning device and laser receiver, its characterized in that: the laser transmitters are provided with four laser transmitters A, laser transmitters D, laser transmitters C and laser transmitters B, wherein the laser transmitters A, the laser transmitters D, the laser transmitters C and the laser transmitters B are coaxially and vertically arranged in sequence, an upper reflecting mirror group, a vertical long shaft and a lower reflecting mirror group which are driven by gears to rotate horizontally and are coaxial with the four laser transmitters are sequentially arranged between the laser transmitters A and the laser transmitters B from top to bottom, and the laser transmitters D and the laser transmitters C are arranged in the long shaft and are sequentially arranged from top to bottom;
the upper reflector group comprises two reflectors which are obliquely arranged in an upper box and are used for reflecting two laser beams emitted by the laser transmitter A and the laser transmitter Ding Fa by 90 degrees and emitting the laser beams to the right and the right rear of the upper box, and the upper box is provided with one line laser scanning device at the laser positions emitted by the laser transmitter A and the laser transmitter C;
the lower reflector group comprises a reflector which is obliquely arranged in a lower box and is used for reflecting laser emitted by the laser emitter B and the laser emitter C by 90 degrees and emitting the laser to the right and the left of the lower box, and the lower box is provided with a linear laser scanning device at the laser emitted by the laser emitter B and the laser emitter C;
the laser receiver comprises a control unit for receiving the electric signals, recording time intervals and calculating rotation angular velocity information of four laser transmitters, and an infrared photosensitive diode is arranged on the laser receiver;
the control unit comprises the following steps to obtain accurate tracking and positioning information:
step A, a long shaft drives four laser transmitters to continuously rotate in space for scanning, four lasers emitted by four laser transmitters of a laser sensor Ding Bingyi continuously scan the laser receiver in a circumferential scanning mode to form a cylindrical surface formed by the four laser transmitters by taking the horizontal distance from the laser receiver to the axis of the four laser transmitters as the radius;
step B, two oblique 45-degree linear laser scanning laser receivers emitted by a laser transmitter B and a laser transmitter A generate two receiving signals with time intervals, so that the angle of the two laser scanning laser receivers can be calculated, the linear distance of the two laser scanning laser receivers corresponding to the angle on a cylindrical surface is equal to the fixed length of the upper and lower distances between the two laser beams emitted from a linear laser scanning device after the laser transmitter A and the laser transmitter B reflect, the horizontal distance from the two laser transmitters to the cylindrical surface where the laser receivers are positioned is two waists, the top angle is the angle of the two laser scanning laser receivers, the bottom angle is an isosceles triangle of the linear distance of the two laser scanning laser receivers on the cylindrical surface, and the horizontal distance from the cylindrical surface where the laser receivers are positioned to a laser positioning device can be obtained according to the geometric relationship;
step C, a vertical one-word line laser and a diagonal one-word line laser emitted by a laser emitter C and a laser emitter B scan an over laser receiver to generate two receiving signals with time intervals, so that the angle of the over laser receiver can be calculated; if the angle of the second laser transmitter and the third laser transmitter, which are scanned by the laser receiver, minus the angle of the two laser transmitters which are separated by a half rotation period is positive, the laser receiver is arranged above the laser positioning device, and conversely is arranged below the laser positioning device;
step D, scanning the laser receiver by two adjacent scanning periods of the laser transmitter and generating a receiving signal with a time interval, thereby calculating the rotating angle of the laser after scanning the laser receiver, wherein the rotating angle is the difference angle between the last scanning position and the current scanning position; setting the last scanning position as an initial position, wherein the laser receiver position in the current scanning is the position after the last position is rotated for changing the angle, and the horizontal distance and the vertical distance of the axes of the laser receiver and the four laser transmitters are obtained by the above; the data are converted into space three-dimensional coordinates, the center of superposition of the four laser transmitters is taken as zero coordinates, the initialization position is taken as an x-axis position, and the three-dimensional coordinates of the laser receiver relative to the axes of the four laser transmitters in space can be converted by geometric relations.
2. The laser tracking locating device of claim 1, wherein: a linear cylindrical lens is arranged in the linear laser scanning device, and the control unit is a micro control unit.
3. The laser tracking positioning device of claim 1 or 2, wherein: all of the laser emitters emit invisible laser light at a wavelength of 980 nm.
4. A laser tracking locating device as defined in claim 3, wherein: the laser emitted by the laser emitter is conical laser with a divergence angle of 3 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911190438.XA CN110865336B (en) | 2019-11-28 | 2019-11-28 | Laser tracking and positioning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911190438.XA CN110865336B (en) | 2019-11-28 | 2019-11-28 | Laser tracking and positioning device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110865336A CN110865336A (en) | 2020-03-06 |
| CN110865336B true CN110865336B (en) | 2023-05-23 |
Family
ID=69656723
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911190438.XA Active CN110865336B (en) | 2019-11-28 | 2019-11-28 | Laser tracking and positioning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110865336B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112946673B (en) * | 2021-01-29 | 2023-01-06 | 上海睿钰生物科技有限公司 | Laser ranging method, focusing method, laser ranging system and focusing system |
| CN112819805B (en) * | 2021-02-23 | 2024-05-10 | 北京布科思科技有限公司 | Object position identification method and device based on in-line laser |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1001251A1 (en) * | 1998-11-10 | 2000-05-17 | Leica Geosystems AG | Laser positioning system |
| CA2805701C (en) * | 2010-07-22 | 2018-02-13 | Renishaw Plc | Laser scanning apparatus and method of use |
| CN103760517B (en) * | 2014-01-14 | 2016-03-23 | 中国矿业大学 | Underground scanning satellite high-precision method for tracking and positioning and device |
| CN105629200B (en) * | 2016-03-16 | 2018-05-15 | 北京国承万通信息科技有限公司 | Position beam delivery system, method and indoor locating system |
| CN107024677B (en) * | 2016-11-15 | 2021-07-27 | 上海乐相科技有限公司 | Virtual reality positioning system |
| CN106814366B (en) * | 2017-03-23 | 2024-04-30 | 上海思岚科技有限公司 | Laser scanning range unit |
| CN107816944B (en) * | 2017-10-26 | 2019-11-08 | 重庆华渝电气集团有限公司 | Planar laser positioning measuring device and localization method |
| CN107885223B (en) * | 2017-10-31 | 2020-02-14 | 武汉大学 | Unmanned aerial vehicle retrieves bootstrap system based on laser |
-
2019
- 2019-11-28 CN CN201911190438.XA patent/CN110865336B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110865336A (en) | 2020-03-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110865337B (en) | Unmanned aerial vehicle laser positioning device | |
| CN107219532B (en) | Three-dimensional laser radar and distance measuring method based on MEMS micro scanning mirror | |
| JP7139052B2 (en) | surveying system | |
| CA2089662C (en) | Spatial positioning system | |
| US20080309949A1 (en) | Laser metrology system and method | |
| CN106104204B (en) | Distance measuring instrument with scanning function | |
| US8643828B2 (en) | Laser surveying instrument | |
| CN110865336B (en) | Laser tracking and positioning device | |
| CN105652279A (en) | Real-time spatial positioning system and method and virtual reality device comprising system | |
| CN106772314B (en) | The airborne mapping laser radar broom type scanning system of one kind and its scan method | |
| CN101750012A (en) | Device for measuring six-dimensional position poses of object | |
| CN205450268U (en) | Real -time space positioning system and contain virtual reality equipment of this system | |
| CN212008926U (en) | Laser radar | |
| CA2956782C (en) | Tracking method and tracking system | |
| CN105319536A (en) | Radar three-dimensional scanning control method and system | |
| JP2018128291A (en) | Surveying system | |
| CN104808192A (en) | Three-dimensional laser scanning swing device and coordinate conversion method thereof | |
| US20170038581A1 (en) | Optical monitoring of scan parameters | |
| US20230314571A1 (en) | Detection apparatus, scanning unit, movable platform, and control method of detection apparatus | |
| CN109061667A (en) | A kind of four sides revolving mirror laser radar | |
| CN208737000U (en) | A kind of four sides revolving mirror laser radar | |
| CN109490909A (en) | Laser radar scanning detection device and its detection method | |
| JPH1114357A (en) | Automatic tracking device of surveying equipment | |
| JP7085888B2 (en) | Surveying system | |
| WO2023035326A1 (en) | Hybrid solid-state lidar and scanning method therefor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |