CN1325929C - Infrared positioning system and method - Google Patents
Infrared positioning system and method Download PDFInfo
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- CN1325929C CN1325929C CNB2003101135510A CN200310113551A CN1325929C CN 1325929 C CN1325929 C CN 1325929C CN B2003101135510 A CNB2003101135510 A CN B2003101135510A CN 200310113551 A CN200310113551 A CN 200310113551A CN 1325929 C CN1325929 C CN 1325929C
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- infrared
- infrared light
- micro computer
- reference signal
- receiving trap
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Abstract
The present invention discloses an infrared positioning system and an infrared positioning method. The infrared positioning method comprises that: infrared light in the X direction scans, when a scanning light band can just scan the null boundary of a scanned surface in the X direction, an X position sensor sends out a sensing pulse signal and informs a scanner micro computer, and a scanner sends out an X time reference signal by using a time reference signal transmitter and drives an X infrared transmitting device to transmit the infrared light; a timer is cleared, and time keeping process is started; when a scanning line scans a positioned object, an infrared receiver of a receiving device receives the illumination of the infrared light and transmits the pulse signal to inform a receiving device micro computer, the micro computer causes the timer to stop counting, a time keeping value at the time is recorded, and according to the time keeping value, the information of an X coordinate is obtained; in a similar way, the information of a Y coordinate is obtained. The positioning process of the infrared positioning system and the infrared positioning method is rapid, and the infrared positioning system can be conveniently arranged on the object needing positioning service. The infrared positioning system and the infrared positioning method have the advantages of simple structure, convenient mounting and low cost.
Description
Technical field
The present invention relates to the location positioning technical field, particularly relate to a kind of infrared location system and method, the present invention is applicable to that the object that movable fixture, metope crawling device etc. earthward are positioned at a specific rectangle plane zone provides position, velocity information.
Background technology
Along with rapid development of national economy,, by means of location technology, can know the positional information of the object that is positioned exactly, and relevant navigation Service is provided the also increase thereupon of positioning service of various objects.In the prior art, mainly contain following several targeting scheme:
Draw markings on the ground
Be positioned device mainly by the strength investigation markings of Photoelectric Detection background return, carry out coarse localization.Drawing markings can only play extremely limited booster action to the location on the ground, such as, connect in the management system, to the vehicle alkalescence position monitor that makes a dash across the red light, but vehicle can not be determined the definite position of oneself by it.
Utilize devices such as electronic eyes and sonac to obtain azimuth information
In real time data are handled by powerful digital signal processing unit, differentiated the orientation of object on every side, thereby obtain the relative position of self.This is a kind of emulation of human and other animals being passed through eye location, perhaps be the final mode of robot location technology development, if this technology maturation, will obtain using very widely, but present this technology prematurity still, no matter be that hardware or software are all very complicated, effect neither be fine, still can not be promoted.
Regional overhead fixed cameras is positioned
The information that collects is carried out object identification, coordinate Calculation by corresponding software after passing to computing machine, the coordinate of the target of determining to be positioned, and coordinate is passed to terrain object or directly target is controlled by the mode of radio communication.This locator meams and scheme two are similar, but simpler than scheme two (mainly being on the software) on the principle, but can only be worth use at some special occasions, cost a lot of money on this scheme hardware and can only be to the object localization of several precognition shapes and color.
In some special occasion, such as certain specific among a small circle in, above-mentioned location technology can't be suitable for preferably, at present, does not retrieve the corresponding techniques document that is suitable for position more decided at the higher level but not officially announced as yet.
Summary of the invention
The technical problem to be solved in the present invention is to propose a kind of infrared location system and method that is fit among a small circle, and the present invention locatees rapidly, accurately reliable, simple in structure, easy for installation, with low cost.
Infrared location system of the present invention comprises scanister and receiving trap;
In the described scanister, comprising:
Scanister micro computer, directions X infrared light emitter, X rotating cylinder position transducer, Y direction infrared light emitter; Y rotating cylinder position transducer; The time reference signal transmitter;
Described scanister micro computer is used to receive the rotating cylinder position sensor signal, control time reference signal transmitter and infrared light emitter;
Described directions X infrared light emitter is used to produce infrared light, to the directions X scanning on the plane that is positioned;
Described X rotating cylinder position transducer makes the infrared scan light belt sweeping to when being scanned face X border, produces an X pulse signal;
Described Y direction infrared light emitter is used to produce infrared light, to the Y scanning direction on the plane that is positioned;
Described Y rotating cylinder position transducer makes the infrared scan light belt sweeping to when being scanned face Y border, produces a Y pulse signal;
Described time reference signal transmitter is used for the generation time reference signal, to being scanned surface launching X, Y time reference signal;
Described receiving trap comprises: the receiving trap micro computer; The time reference signal receiver; The infrared light receiver; Storer;
Described time reference signal receiver is used to receive X, the Y time reference signal that scanister sends, and notice receiving trap micro computer;
Described infrared light receiver is used to receive the infrared scan signal that scanister sends;
Described receiving trap micro computer has timer function, is used for reference signal and mistiming of infrared scan signal computing time, draws position coordinates.
Aforesaid system, described receiving trap also comprises a communication interface, is responsible for the data transmission between described receiving trap micro computer and the coordinate data party in request.
Aforesaid system, described receiving trap comprises described storer, the conversion table of memory scanning time and position corresponding relation is for the inquiry of receiving trap micro computer.
Aforesaid system, in the described scanister, described X or Y direction infrared light emitter are installed in respectively in two rotating cylinders, make its periodic motion by driving; Be carved with slit on the described rotating cylinder, infrared light sees through slit and penetrates, and shines to become a branch of light belt on the zone that is positioned.
Aforesaid system, the installation site of described two rotating cylinders is vertical mutually.
Aforesaid system, described X or Y rotating cylinder position transducer are installed in a side of corresponding rotating cylinder.
The method of infrared location of the present invention comprises the steps:
The directions X infrared light scans, when the scanning light belt can just be swept to the directions X null boundary of the face of being scanned, X rotating cylinder position transducer sends sensing pulse signal notice scanister micro computer, scanister sends the X time reference signal by the time reference signal transmitter to the face of being scanned, and drives X infrared launcher emission infrared light; Ground receiving wastewater facility makes the timer zero clearing and starts timing;
When sweep trace is swept to when being positioned object, the infrared remote receiver of receiving trap receives the infrared light irradiation, and transponder pulse signalisation receiving trap micro computer, micro computer make timer stop counting, and record value of clocking this moment is worth the X coordinate information according to clocking;
Then, carry out Y direction infrared light scanning, draw the Y coordinate information by as above process.
Aforesaid method, described basis clocks is worth the coordinate information of X or Y, can carry out real-time operation by the receiving trap micro computer and draw, also can be by precalculated conversion table inquiry.
The present invention compares with traditional targeting scheme, and following advantage is arranged:
The location is rapid, and per second can provide repeatedly above coordinate information continuously.The object that is positioned is not limit quantity and profile, as long as be in the face of being positioned, the receiver location can be installed separately all.The precision height.Volume is little, and the volume of scanister can be controlled in the 20cm*20cm*10cm, and the volume of receiving trap can be installed on the object that needs positioning service in 4cm*3cm*3cm easily.The present invention is simple in structure, is convenient to install.Cost is extremely low.
Description of drawings
Fig. 1 is a system architecture synoptic diagram of the present invention;
Fig. 2 is the scanister structural representation;
Fig. 3 is the synoptic diagram of the scanning process of localization method of the present invention;
The synoptic diagram that Fig. 4 position transducer and receiving trap timing cooperate;
The synoptic diagram that Fig. 5 is an infrared light scanning to the infrared sensor of receiving trap;
Fig. 6 is the synoptic diagram of infrared light to Y scanning direction process.
Embodiment
System of the present invention is divided into scanister and receiving trap two parts.Scanister utilize two the bundle infrared lights respectively on mutually perpendicular direction uniform rotation scan a rectangle plane zone, when sweeping on the two mutually perpendicular borders, ground when infrared light, send two kinds of different time reference signals (for sake of convenience respectively, to call these two mutually perpendicular directions in the following text is X, the Y direction, in the system corresponding two the cover with base part all with X, Y distinguishes mutually).Ground receiving trap is taken leave of the distance on circle, both sides (being horizontal ordinate) by calculating the mistiming between arriving from the time of receipt (T of R) reference signal to infrared light and converting thereof into the receiving trap branch.
The structural representation of system of the present invention as shown in Figure 1, the structural representation of scanister as shown in Figure 2, each component function is as follows:
Support: be used for installing and scanning constant mechanism and miscellaneous part.
The rotating cylinder of X, Y direction: each rotating cylinder the inside is equipped with infrared transmitter, is carved with slit on the rotating cylinder.Infrared light sees through slit and penetrates, and shines to become a light belt on the ground.Light belt be scanned plane parallel, be used for the scanning plane that is positioned.Rotating cylinder is driven by mechanical moving element and makes circular motion (also can select periodicity mode of motion such as to-and-fro movement).Slit on the rotating cylinder is along with rotating cylinder moves, and infrared light scans in the plane through the light belt that it shines the plane that is positioned.
Time reference signal transmitter, receiver: be used for the transmission of time reference signal, can use transmission means such as infrared or wireless.
Rotating cylinder position transducer: the installation site of adjusting the rotating cylinder position transducer, the infrared scan light belt can just swept to when being scanned the face border, produce a sensing pulse signal (note " and can just " the triliteral meaning is meant if send infrared light in the rotating cylinder this moment, so infrared light belt will be in and be scanned on the face border, in fact infrared light is just to begin to launch after scanister receives the pulse signal that X rotating cylinder position transducer transmits, this paper occur later on " can just " three words all should be understood in this way).
As shown in Figure 3, seeing through X infrared scan light belt that the X rotating cylinder penetrates can just scan when being scanned in the rectangular area border AB on the directions X, be installed in the other X rotating cylinder position transducer of X rotating cylinder and produce an X sensing pulse signal, after micro computer on the scanister receives this transducing signal, send the X time reference signal to being scanned face by the time reference signal transmitter.After being in the receiving trap that is scanned in the plane and receiving the X time reference signal by the time reference signal receiver, send pulse signal and give the receiving trap micro computer, micro computer is to the timer zero clearing and begin to clock.In like manner, when Y rotating cylinder position transducer can just scan AC border on the Y direction of the face of being scanned at the Y infrared scan light belt that sees through the Y rotating cylinder, send sensing pulse signal notice scanister micro computer, micro computer sends the Y time reference signal by the time reference signal transmitter to being scanned face.After being in the receiving trap that is scanned in the plane and receiving the Y time reference signal by the time reference signal receiver, send pulse signal and give the receiving trap micro computer, micro computer is also to the timer zero clearing and begin to clock.It should be noted that because system X of the present invention scanning on the Y direction is that in turn rather than simultaneously so micro computer can only use a timer, this point will further be explained in to the elaboration of system work process of the present invention.
The infrared light emitter: scanister is after receiving X rotating cylinder position transducer sensing pulse signal, when being scanned surface launching X time reference signal, drive the X infrared launcher and continue emission a period of time, length during this period of time is slightly larger than the infrared light belt of X and sweeps to the time on CD border along directions X from being scanned face AB border.In like manner, scanister drives the Y infrared launcher and continues emission infrared light a period of time when receiving Y rotating cylinder position sensor signal.Length during this period of time also be slightly larger than the infrared light belt of Y along the Y direction from being scanned the time of face AC border to the BD border.
The infrared light receiver: infrared light scanning is during to receiving trap, and the infrared remote receiver on the receiving trap sends the pulse signal notice and passes to the receiving trap micro computer, and micro computer stops timer and record clocking value this moment.
Storer: can extrapolate infrared light belt in the characteristics of motion that is scanned on the face according to the characteristics of motion of rotating cylinder, thereby can obtain the clocking value of ground receiving wastewater facility timer and the corresponding relation of coordinate.This corresponding relation can become corresponding tables to leave in the storer of receiving trap by computing mechanism.Micro computer is tabled look-up with clocking value can draw coordinate figure immediately.Certainly receiving trap also can calculate coordinate according to the characteristics of motion of scanning light belt and needs storer not in real time, but this can increase the computational burden of micro computer.
Communication interface: according to different needs, communication interface is responsible for coordinate data is transferred to coordinate data party in request.If to the mobile robot location, then communication interface is responsible for data are passed to micro computer or its commanding agency of robot.If to the non-electronic installations such as barrier in the livestock in the farm, the zone, communication interface is responsible for sending the data to center management system, in order to livestock, barrier are monitored.
The principle of the method for the invention is as follows:
As shown in Figure 4, when X infrared scan light belt can just be swept to the directions X null boundary of the face of being scanned, when (being the AB line of face ABCD), X rotating cylinder position transducer sends sensing pulse signal notice scanister micro computer, scanister sends the X time reference signal by the time reference signal transmitter to the face of being scanned, and drives X infrared launcher emission infrared light.Ground receiving wastewater facility receives this X time reference signal relief timer zero clearing and starts timing.
When the X sweep trace is swept to as Fig. 5 position, the infrared remote receiver of receiving trap receives the infrared light irradiation, and transponder pulse signalisation receiving trap micro computer, micro computer make timer stop counting, the value of clocking and was tabled look-up according to this time value and to be drawn the X coordinate record this moment.
X infrared scan light belt shifts out the face of being positioned along the inswept border CD of directions X.Scanister stops the emission of X infrared light.According to the characteristics of motion of scanister rotating cylinder, can extrapolate X infrared scan light belt and sweep to the required time T of border CD 1 along directions X from border AB, scanister only need make the fluorescent lifetime of X infrared launcher be slightly larger than time T 1 and get final product.
Next scanister is waited for the pulse signal of Y position transducer, and when Y infrared scan light belt can just be swept to the Y direction null boundary of the face of being scanned, when (being the AC line of face ABCD), Y rotating cylinder position transducer sent the sensing pulse signal.Scanister sends the Y time reference signal by the time reference signal transmitter to the face of being scanned, and the lasting emission of driving Y infrared launcher infrared light is swept to boundary B D along the Y direction from border AC up to Y infrared scan light belt.Ground receiving wastewater facility receives this Y time reference signal relief timer zero clearing and starts timing.
When the Y sweep trace is swept to as Fig. 6 position, the infrared remote receiver of receiving trap receives the infrared light irradiation, and transponder pulse signalisation receiving trap micro computer, micro computer make timer stop counting, the value of clocking and was tabled look-up according to this time value and just can be drawn the Y coordinate record this moment.
Y infrared scan light belt shifts out the face of being positioned along the inswept boundary B D of directions X.Scanister stops the emission of Y infrared light.According to the characteristics of motion of scanister rotating cylinder, can extrapolate Y infrared scan light belt and sweep to the required time T of boundary B D 2 along directions X from border AC, scanister only need make the fluorescent lifetime of Y infrared launcher be slightly larger than time T 2 and get final product.
By as above step, receiving trap has just obtained X, Y coordinate information.According to above rule, the scanning that scanister does not stop, the coordinate information that the acquisition that receiving trap just can not stop is current.
Above-mentioned basis clocks is worth the coordinate information of X or Y, can carry out real-time operation by the receiving trap micro computer and draw, also can be by precalculated conversion table inquiry.
Enumerate two object lessons of the present invention below:
Scanister is contained in the top that needs locating surface
Need positioning object or movable fixture that the receiving trap of system of the present invention is installed on the ground.Receiving trap just can provide coordinate information to the coordinate information take over party in real time, thereby can carry out various Based Intelligent Control.As the walking of control robot, installing and locating receiving trap on the robot head, the alternative traditional positioning system of system then of the present invention provides rapider to robot, and is more accurate, more direct positional information.System of the present invention also can be applicable to non-electronic installation, as livestock, and barrier etc.Receiving trap can be with livestock, and the position of barrier sends to center management system or other need the place of these positional informations to do further application.
The occasion that needs to use large screen projection in meeting room, multi-media classroom etc.
Scanister can scan projection screen.Receiving trap is installed in the teacher's pointer top, and the position of teacher's pointer top with respect to projection screen can be provided.The corresponding driving program is installed on the computing machine.Computing machine passes through and the receiving trap communication, and mouse beacon moves to the position of teacher's pointer indication in real time.Two buttons can be installed on the teacher's pointer, replace the mouse right and left key, then can replace the mouse action computing machine fully, finish similar touch screen functionality, suitable practical value is arranged.
It should be noted last that: above embodiment is the unrestricted technical scheme of the present invention in order to explanation only, although the present invention is had been described in detail with reference to the foregoing description, those of ordinary skill in the art is to be understood that: still can make amendment or be equal to replacement the present invention, and not breaking away from any modification or partial replacement of the spirit and scope of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (8)
1, a kind of infrared location system comprises scanister and receiving trap; It is characterized in that, in the described scanister, comprising:
Scanister micro computer, directions X infrared light emitter, X rotating cylinder position transducer, Y direction infrared light emitter; Y rotating cylinder position transducer; The time reference signal transmitter;
Described scanister micro computer is used to receive the rotating cylinder position sensor signal, control time reference signal transmitter and infrared light emitter;
Described directions X infrared light emitter is used to produce infrared light, to the directions X scanning on the plane that is positioned;
Described X rotating cylinder position transducer makes the infrared scan light belt sweeping to when being scanned face X border, produces an X pulse signal;
Described Y direction infrared light emitter is used to produce infrared light, to the Y scanning direction on the plane that is positioned;
Described Y rotating cylinder position transducer makes the infrared scan light belt sweeping to when being scanned face Y border, produces a Y pulse signal;
Described time reference signal transmitter is used for the generation time reference signal, to being scanned surface launching X, Y time reference signal;
Described receiving trap comprises: the receiving trap micro computer; The time reference signal receiver; The infrared light receiver; Storer;
Described time reference signal receiver is used to receive X, the Y time reference signal that scanister sends, and notice receiving trap micro computer;
Described infrared light receiver is used to receive the infrared scan signal that scanister sends;
Described receiving trap micro computer has timer function, is used for reference signal and mistiming of infrared scan signal computing time, draws position coordinates.
2, infrared location system according to claim 1 is characterized in that, described receiving trap also comprises a communication interface, is responsible for the data transmission between described receiving trap micro computer and the coordinate data party in request.
3, infrared location system according to claim 1 and 2 is characterized in that, the described storer that described receiving trap comprises, and the conversion table of memory scanning time and position corresponding relation is for the inquiry of receiving trap micro computer.
4, infrared location system according to claim 3 is characterized in that, in the described scanister, described X or Y direction infrared light emitter are installed in respectively in two rotating cylinders, make its periodic motion by driving; Be carved with slit on the described rotating cylinder, infrared light sees through slit and penetrates, and shines to become a branch of light belt on the zone that is positioned.
5, infrared location system according to claim 4 is characterized in that, the installation site of described two rotating cylinders is vertical mutually.
6, infrared location system according to claim 5 is characterized in that, described X or Y rotating cylinder position transducer are installed in a side of corresponding rotating cylinder.
7, a kind of method of infrared location is characterized in that, comprises the steps:
At first, the directions X infrared light scans, when the scanning light belt can just be swept to the directions X null boundary of the face of being scanned, X rotating cylinder position transducer sends sensing pulse signal notice scanister micro computer, scanister sends the X time reference signal by the time reference signal transmitter to the face of being scanned, and drives X infrared launcher emission infrared light; Ground receiving wastewater facility makes the timer zero clearing and starts timing;
When sweep trace is swept to when being positioned object, the infrared remote receiver of receiving trap receives the infrared light irradiation, and transponder pulse signalisation receiving trap micro computer, micro computer make timer stop counting, and record value of clocking this moment is worth the X coordinate information according to clocking;
Then, carry out Y direction infrared light scanning, draw the Y coordinate information by as above process.
8, infrared positioning method according to claim 7 is characterized in that, described basis clocks is worth the coordinate information of X or Y, can carry out real-time operation by the receiving trap micro computer and draw, also can be by precalculated conversion table inquiry.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2003101135510A CN1325929C (en) | 2003-11-17 | 2003-11-17 | Infrared positioning system and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2003101135510A CN1325929C (en) | 2003-11-17 | 2003-11-17 | Infrared positioning system and method |
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| CN1619330A CN1619330A (en) | 2005-05-25 |
| CN1325929C true CN1325929C (en) | 2007-07-11 |
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| CNB2003101135510A Expired - Fee Related CN1325929C (en) | 2003-11-17 | 2003-11-17 | Infrared positioning system and method |
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| CN101676746B (en) * | 2008-09-18 | 2012-06-27 | 财团法人工业技术研究院 | Infrared ray location system and location method |
| CN101488030A (en) * | 2009-02-10 | 2009-07-22 | 深圳Tcl新技术有限公司 | Display screen adjustment device and method |
| CN103207149A (en) * | 2013-04-16 | 2013-07-17 | 无锡优创生物科技有限公司 | Infrared gel positioning device and gel imaging system utilizing same |
| CN104122529B (en) * | 2014-07-24 | 2016-08-17 | 深圳超多维光电子有限公司 | The location device of infrared heat source, system and method |
| CN104363054B (en) * | 2014-10-30 | 2017-07-21 | 北京智谷睿拓技术服务有限公司 | Visible light signal emission control method, control device, transmitting equipment and mobile device |
| CN105652279A (en) * | 2016-03-11 | 2016-06-08 | 北京维阿时代科技有限公司 | Real-time spatial positioning system and method and virtual reality device comprising system |
| CN107238815B (en) * | 2016-03-28 | 2021-06-01 | 吴一稷 | Light scanning type positioning device based on LCD characteristics |
| CN106980108A (en) * | 2016-06-02 | 2017-07-25 | 上海拆名晃信息科技有限公司 | The virtual reality device space-location method scanned based on light field |
| CN107561493B (en) * | 2016-06-30 | 2021-06-01 | 吴一稷 | Light scanning type positioning device based on annular LCD characteristics |
| CN106781252A (en) * | 2016-12-28 | 2017-05-31 | 苏州寅初信息科技有限公司 | A kind of outdoor monitoring system based on Internet of Things |
| CN108619715A (en) * | 2017-03-23 | 2018-10-09 | 广州骏霖文化科技有限公司 | A kind of method and device of more people's light gun consecutive trackings |
| CN108303024A (en) * | 2018-03-02 | 2018-07-20 | 徐皓 | A kind of full-automatic forging on-line detecting system and implementation method |
| CN109358774B (en) * | 2018-11-15 | 2021-06-22 | 广州华欣电子科技有限公司 | Infrared touch screen scanning method, device, equipment and medium |
| CN109793648A (en) * | 2019-03-22 | 2019-05-24 | 丁问原 | A kind of ultrasonic scanning formula blind person's distance measuring spectacles |
| CN110130227B (en) * | 2019-05-21 | 2021-04-27 | 中交三公局桥梁隧道工程有限公司 | Special-shaped component positioning method based on infrared cross emission |
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