CN205826857U - A kind of location equipment, locating base station, space positioning system - Google Patents
A kind of location equipment, locating base station, space positioning system Download PDFInfo
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- CN205826857U CN205826857U CN201620694794.0U CN201620694794U CN205826857U CN 205826857 U CN205826857 U CN 205826857U CN 201620694794 U CN201620694794 U CN 201620694794U CN 205826857 U CN205826857 U CN 205826857U
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Abstract
The utility model discloses a kind of location equipment, locating base station, space positioning system, described location equipment includes: housing；Light sensor, is arranged on described housing；Ultrasonic receiver, is arranged on described housing, and the position of described ultrasonic receiver differs with the position of described light sensor.Technical scheme in this utility model embodiment determines the location equipment direction relative to locating base station according to laser scanning signal, and the ultrasonic signal sent according to locating base station, determine the location equipment distance relative to locating base station, owing to the precision of laser scanning location and the precision of ultrasonic ranging are all at grade, and locating speed is all at Millisecond, so locating speed is very fast, it is achieved that quickly and accurately realize sterically defined technique effect.
Description
Technical field
This utility model relates to space orientation field, particularly relates to a kind of location equipment, locating base station, space orientation system
System.
Background technology
Space orientation is the specific bit equipment position in space, for example, it is possible to (English: Global by GPS
Positioning System；Chinese: global positioning system) technology determines the position of equipment.But, along with people are to location
The requirement of precision is more and more higher, and the meter accuracy that GPS technology provides cannot meet the needs of people, and specific at some
Space such as indoor, basement etc., owing to the barriers such as wall can block gps signal, so GPS technology also cannot be applied
These specific spaces.
At present, in the specific space such as indoor, basement, typically positioned by wireless location technology, specifically
Wireless aps known to multiple position is received (English: Access Point according to equipment；Chinese: access point, be otherwise known as heat
Point) signal intensity, then utilize signal attenuation model to estimate the mobile device distance apart from each AP, finally utilize triangle
Location algorithm determines the position at this equipment place.But, the precision that wireless location technology provides is still at meter level, it is impossible to meet
The requirement that people are the highest to spatial positioning accuracy.
Along with becoming increasingly prosperous of field of virtual reality, virtual game starts appearance, and the immersion provided at virtual game is handed over
In experiencing mutually, accurate space orientation tracer technique seems particularly critical, the most quickly and accurately realizes space orientation,
Become one of problem demanding prompt solution.
Utility model content
The purpose of this utility model is to provide a kind of location equipment, locating base station, space positioning system, with quick and accurate
Realize space orientation.
In order to realize above-mentioned utility model purpose, this utility model embodiment first aspect provides a kind of location equipment, bag
Include:
Housing；
Light sensor, is arranged on described housing；
Ultrasonic receiver, is arranged on described housing, the position of described ultrasonic receiver and described light sensor
Position differ.
Alternatively, described housing is specially spherical shell.
Alternatively, the orientation range of described location equipment is A；
The beam reception scope of each described light sensor is B, at least provided with M described photosensitive biography on described housing
Sensor, M obtains for rounding up A/B；
The beam angle range of receiving of each described ultrasonic receiver is C, at least provided with N number of described on described housing
Light sensor, N obtains for rounding up A/C.
Alternatively, M the receiving plane of described light sensor and the receiving plane of N number of described ultrasonic receiver are uniformly distributed
On the housing.
Alternatively, described light sensor is additionally provided with optical filter.
Alternatively, described light sensor is light sensitive diode, phototriode or silicon cell.
Alternatively, described location equipment also includes that rf signal reception device, described rf signal reception device are arranged at
In described housing, described rf signal reception device is used for receiving synchronizing signal.
Alternatively, described location equipment also includes motion sensor.
This utility model embodiment second aspect provides a kind of locating base station, including:
Base；
Rotary shaft, is arranged on described base；
First laser scanner, is arranged at the primary importance of described rotary shaft；
Second laser scanner, is arranged at the second position of described rotary shaft, the second position and primary importance and differs, institute
State the second plane of scanning motion scanning that first plane of scanning motion corresponding to the first laser scanner is corresponding with described second laser scanner
Straight line can be intersected during same point in space, and described first plane of scanning motion and described second plane of scanning motion out of plumb
In described rotary shaft；
Ultrasonic transmitter, is arranged on described base.
Alternatively, the wavelength of the laser scanning signal that described first laser scanner sends is first wave length, described second
The wavelength of the laser scanning signal that laser scanner sends is second wave length, described first wave length and described second wave length not phase
With.
Alternatively, the light source of described first laser scanner and described second laser scanner is same LASER Light Source,
The laser that described LASER Light Source generates is swashed by conduction to described first laser scanner and described second respectively by light-dividing device
Photoscanner.
Alternatively, described locating base station also includes that synchronizer, described synchronizer are arranged on described base, described same
Step device is used for sending synchronizing signal.
Alternatively, described synchronizer is specially LED array and/or radio-frequency signal generator.
Alternatively, also to include that positioner for rotation shaft, described positioner for rotation shaft are arranged at described for described locating base station
On base, described shaft positioning device sets the turned position for detecting described rotary shaft.
This utility model embodiment third aspect also provides for a kind of space positioning system, including locating base station, location equipment
And data handling equipment；
The location equipment provided such as first aspect；
The locating base station provided such as second aspect；
Described data handling equipment is specifically for the laser scanning signal sent according to described locating base station, and it is described fixed to determine
Position equipment is relative to the direction of described locating base station, and the ultrasonic signal sent according to described locating base station, and it is described fixed to determine
Position equipment is relative to the distance of described locating base station, so that it is determined that the position that described location equipment is in space.
This utility model embodiment fourth aspect also provides for a kind of space-location method, including:
Locating base station drives the first laser scanner and the second laser scanner to rotate, concurrently by a rotary shaft
Go out the first laser scanning signal, the second laser scanning signal and ultrasonic signal, described first laser scanner corresponding first
Second plane of scanning motion that the plane of scanning motion is corresponding with described second laser scanner can intersect when scanning same point in space
Straight line, and second sweeping of sending of the first scan line of sending of described first laser scanner and described second laser scanner
Retouch line and be all not orthogonal to described rotary shaft；
Location equipment passes through light sensor and ultrasonic receiver, receive described first laser scanning signal, described the
Dual-laser scanning signal and described ultrasonic signal；
Data handling equipment is according to described first laser scanning signal, described second laser scanning signal and described ultrasound wave
The transmission time point of signal and reception time point, determine the described location equipment position relative to described locating base station.
Alternatively, the first laser scanner and the second laser scanner are driven in described locating base station by a rotary shaft
Rotate, and before sending the first laser scanning signal, the second laser scanning signal and ultrasonic signal, described method is also wrapped
Include:
Described locating base station sends synchronizable optical signal to described location equipment and synchronizes radiofrequency signal；
Described location equipment is when receiving synchronizable optical signal, if being simultaneously received described synchronization radiofrequency signal, then by institute
State the rising edge of synchronizable optical signal as synchronization point.
One or more technical scheme in this utility model embodiment, at least has the following technical effect that or excellent
Point:
Technical scheme in this utility model embodiment make use of the characteristic that light is linearly propagated, according to laser scanning signal
Determine the location equipment direction relative to locating base station, and make use of the principle of ultrasonic ranging, send according to locating base station
Ultrasonic signal, determine the location equipment distance relative to locating base station such that it is able to determine the location equipment position in space
Putting, owing to the precision of laser scanning location and the precision of ultrasonic ranging are all at grade, and locating speed is all at Millisecond,
So locating speed is very fast, it is achieved that quickly and accurately realize sterically defined technique effect.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, the accompanying drawing in describing below is only
It is embodiments more of the present utility model, for those of ordinary skill in the art, before not paying creative work
Put, it is also possible to obtain other accompanying drawing according to these accompanying drawings:
The module map of the space positioning system that Fig. 1 provides for this utility model embodiment；
The front view of the location equipment 10 that Fig. 2 provides for this utility model embodiment；
The schematic diagram of the orientation range of the location equipment that Fig. 3 provides for the present embodiment；
The internal structure schematic diagram of the location equipment 10 that Fig. 4 provides for the present embodiment；
The circuit diagram of the location equipment 10 that Fig. 5 provides for this utility model embodiment；
The front view of the locating base station that Fig. 6 A provides for embodiment；
The axonometric chart of the locating base station that Fig. 6 B provides for embodiment；
Fig. 7 sends the schematic diagram of laser scanning signal for the locating base station 20 that the present embodiment provides.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole
Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under making creative work premise
The every other embodiment obtained, broadly falls into the scope of this utility model protection.
Present embodiments provide a kind of space positioning system, refer to what Fig. 1, Fig. 1 provided for this utility model embodiment
The module map of space positioning system, as it is shown in figure 1, this space positioning system includes location equipment 10, locating base station 20 and data
Processing equipment 30, the laser scanning signal that data handling equipment 30 can send according to locating base station 20, determine location equipment 10
Relative to the direction of locating base station 20, and the ultrasonic signal sent according to locating base station 20, determine location equipment 10 relative to
The distance of locating base station 20, so that it is determined that equipment 10 position in space, location.
It can be seen that the technical scheme in the present embodiment make use of the characteristic that light is linearly propagated, believe according to laser scanning
Number determine the location equipment 10 direction relative to locating base station 20, and make use of the principle of ultrasonic ranging, according to location base
Stand 20 ultrasonic signals sent, determine the location equipment 10 distance relative to locating base station 20 such that it is able to determine that location sets
Standby 10 in the position in space, owing to the precision of laser scanning location and the precision of ultrasonic ranging are all at grade, and positions
Speed is all at Millisecond, so locating speed is very fast, it is achieved that quickly and accurately realize sterically defined technique effect.
In ensuing part, will be described in detail technique scheme.
Refer to the front view of the location equipment 10 that Fig. 2, Fig. 2 provide for this utility model embodiment, as in figure 2 it is shown, fixed
Position equipment 10 includes:
Housing 101；
Light sensor 102, is arranged on housing 101, and in the present embodiment, light sensor 102 is on housing 101 surface
Reception window be hexagon；
Ultrasonic receiver 103, is arranged on housing 101, the position of ultrasonic receiver 103 and light sensor 102
Position differ, in the present embodiment, the ultrasonic receiver 103 reception window on housing 101 surface is circular.
In specific implementation process, as in figure 2 it is shown, housing 101 is specially spherical shell.Certainly, in other embodiments,
Housing 101, according to practical situation, could be arranged to the housing of cubic shaped, the housing of spheroid shape, the shell of vertebral body shape
Body etc., to meet the needs of practical situation, just repeats no more at this.
In specific implementation process, refer to the showing of orientation range of the location equipment that Fig. 3, Fig. 3 provide for the present embodiment
Being intended to, as it is shown on figure 3, in the present embodiment, the orientation range of location equipment is that A, such as A can be 300 °；
Setting the beam reception scope of each light sensor 102 as B, such as B can be 25 ° or 30 ° etc., housing
At least provided with M light sensor 102 on 101, M obtains for rounding up A/B；
Specifically, the beam reception of light sensor 102 may range from the two of beam half angle (half angle)
Times, specially one cone shape, so, in order to ensure that light sensor 102 can collect the orientation range A of location equipment
In all of laser scanning signal, it is therefore desirable at least provided with M light sensor on housing 101, M be A/B carried out to
On round and obtain, such as, in the present embodiment, M is 12, and in another embodiment, if A is 300 °, B is 35 °, then M is right
(300 °/35 °=8.5714) carry out rounding up and being 9, just repeat no more at this.
It should be noted that the quantity of light sensor 102 also has with the laser scanning signal that sends in locating base station 20
Close, concrete, if the laser scanning signal sent in locating base station 20 only includes the signal of 1 wavelength, then light sensor 102
Quantity be at least M, if the laser scanning signal sent in locating base station 20 only includes the signal of 2 wavelength, the most photosensitive biography
The quantity of sensor 102 is at least 2M.
Set beam angle (the total beam angle) range of receiving of each ultrasonic receiver 103 as C, such as C
Can be 40 ° or 50 ° etc., at least provided with N number of light sensor 102 on housing 101, N for A/C is rounded up and
Obtain.The quantity of ultrasonic receiver 103 arranges consistent with the principle of light sensor 102, just repeats no more at this.
Of course, in another embodiment, in order to guarantee accurately to receive the laser scanning that locating base station 20 sends
Signal and ultrasonic signal, can arrange more light sensor and supersonic sensing on the housing 101 of location equipment 10
Device, does not limits at this.
In the present embodiment, in order to guarantee accurately to receive laser scanning signal that locating base station 20 sends and ultrasonic
Ripple signal, as in figure 2 it is shown, the receiving plane of the receiving plane of M light sensor 102 and N number of ultrasonic receiver 103 is uniformly distributed
On housing 101.
Certainly, in another embodiment, the technical staff belonging to this area can adjust M suitably according to practical situation
The receiving plane of individual light sensor 102 and the position of the receiving plane of N number of ultrasonic receiver 103 so that M light sensor
The receiving plane of 102 and the receiving plane of N number of ultrasonic receiver 103 are non-uniformly distributed on housing 101, to meet practical situation
Demand, such as more light sensor 102 and ultrasound wave are set in the range of positioning frequently on location equipment 10 and receive
Device 103, and less light sensor 102 and ultrasonic receiver 103 are set in positioning less scope, etc., at this
Do not limit.
In specific implementation process, in order to avoid the interference to light sensor 102 of the external environment light, light sensor
Being additionally provided with optical filter on 102, optical filter is used for filtering off ambient light so that light sensor is merely able to receive locating base station 20
The laser scanning light sent, just repeats no more at this.Of course, if the light that locating base station 20 is sent by LED array
Carry out synchronous signal transmission, then optical filter can not filter off the light that this LED array sends.
Refer to the internal structure schematic diagram of the location equipment 10 that Fig. 4, Fig. 4 provide for the present embodiment, as shown in Figure 4, fixed
The cylinder within housing 101 of position equipment 10 is light sensor 102 or ultrasonic receiver 103, certainly, light sensor
102 ultrasonic receivers 103 also need to be connected to the process chip of inside by certain circuit, just repeat no more at this.
If as before, the laser scanning signal that locating base station 20 sends includes two wavelength, the most each hexagonal receiving plane
Place hollow cylinder can arrange the light sensor 102 of two corresponding wavelength, in order to receive the laser scanning letter of two wavelength
Number, just repeat no more at this.
Refer to the circuit diagram of the location equipment 10 that Fig. 5, Fig. 5 provide for this utility model embodiment, as it is shown in figure 5, M
The parallel connection respectively of light sensor 102 and N number of ultrasonic receiver 103, so, all light sensors and ultrasonic receiver are total
Only need two paths of signals to process circuit altogether, have only to laser scanning signal and ultrasonic signal process the signal received the earliest i.e.
Can, circuit cost and processing cost are substantially reduced.
In specific implementation process, light sensor 102 is light sensitive diode, phototriode or silicon cell etc.,
Do not limit at this.
In specific implementation process, location equipment 10 also includes that rf signal reception device, rf signal reception device set
Being placed in housing 101, rf signal reception device is used for receiving synchronizing signal.
In specific implementation process, location equipment 10 can also include motion sensor, and motion sensor senses location is eventually
The exercise data of end, utilizes exercise data to be modified calculating and making up to the locus of location terminal.Motion sensor can
Think that inertial sensor is (English: Inertial measurement unit；It is called for short: IMU), in acceleration transducer, gyroscope
One or more.When the location equipment 10 of the present embodiment is installed in and uses on other intelligent terminal, this motion sensor
The motion sensor on intelligent terminal can be used, just repeat no more at this.
In actual applications, location equipment 10 can be integrated on handheld device, helmet, does not limits at this.
In ensuing part, concrete structure and the running of locating base station 20 will be introduced.
Refer to Fig. 6 A and Fig. 6 B, the front view of the locating base station that Fig. 6 A provides for the present embodiment, Fig. 6 B is the present embodiment
The axonometric chart of the locating base station provided, as shown in Figure 6 A and 6 B, locating base station 20 includes:
Base 201；
Rotary shaft 202, is arranged on base 201；In specific implementation process, one or more motor can be passed through
Axle 202 is rotated rotate, does not limits at this；
First laser scanner 203, is arranged at the primary importance of rotary shaft 202；
Second laser scanner 204, is arranged at the second position of rotary shaft 202, the second position and primary importance and differs,
First plane of scanning motion of the first laser scanner 203 correspondence and the second plane of scanning motion scanning of the second laser scanner 204 correspondence
Straight line can be intersected during same point in space, and the first scan line of sending of the first laser scanner 203 and described
The second scan line that second laser scanner 204 sends all is not orthogonal to described rotary shaft；
Ultrasonic transmitter 205, is arranged on base 201；In the present embodiment, ultrasonic transmitter 205 be one complete
To ultrasonic transmitter.
In the present embodiment, the first laser scanner 203 can send a laser by a laser generator, then passes through
A laser shaping is a wordline laser by one wordline lens such as post lens, Bao Weier prism or a wordline wave prism etc., so,
The first laser scanning plane is i.e. defined by a wordline laser of the first laser scanner 203 outgoing, then by rotary shaft 202
Rotate, it is achieved that the scanning to space.In another embodiment, the first laser scanner 203 can also directly pass through a wordline
Laser instrument sends a wordline laser, just repeats no more at this.
Concrete structure and first laser scanner 203 of the second laser scanner 204 are consistent, just repeat no more at this.
Certainly, in another embodiment, it is also possible to improve by arranging more laser scanner in rotary shaft 202
The accuracy that the direction of location equipment 10 is positioned, but its principle will not change, and just repeats no more at this.
It should be noted that in the present embodiment, the first laser scanner 203 and the second laser scanner 204 are vertically
Height on direction is identical, and in other embodiments, the first laser scanner 203 and the second laser scanner 204 are at Vertical Square
Height upwards can also differ, namely the first laser scanner 203 and the second laser scanner 204 can be in rotary shafts
In relative position one on the other on 202, do not limit at this.
Refer to Fig. 7, Fig. 7 and send the schematic diagram of laser scanning signal for the locating base station 20 that the present embodiment provides, such as Fig. 7
Shown in, in the present embodiment, first plane of scanning motion 701 of the first laser scanner 203 correspondence is the plane of vertical direction, second
Second plane of scanning motion 702 of laser scanner 204 correspondence is to be the plane of 45 ° with vertical direction.
In specific implementation process, the laser scanning signal and second sent to distinguish the first laser scanner 203 swashs
The laser scanning signal that photoscanner 204 sends, the wavelength of the laser scanning signal that the first laser scanner 203 sends is
One wavelength, the wavelength of the laser scanning signal that the second laser scanner 204 sends is second wave length, first wave length and second wave length
Differ.
In actual applications, such as can pass through two laser generators, the laser of the different wave length generated respectively, and pass
It is delivered in the first laser scanner 203 and the second laser scanner 204.
Certainly, in another embodiment, the light source of described first laser scanner and described second laser scanner is permissible
For same LASER Light Source, the laser that this LASER Light Source generates can be by light-dividing device such as beam splitter etc., and beam splitting to first swashs
In photoscanner 203 and the second laser scanner 204, then by the way of sequential, distinguish the first laser scanner 203 send
Laser scanning signal and the laser scanning signal that sends of the second laser scanner 204, such as, locating base station 20 can also include
Synchronizer, is first sent synchronizing signal by synchronizer, further according to the first laser scanner 203 and the second laser scanner 204
Scanning sequency, thus distinguish laser scanning signal that the first laser scanner 203 sends and the second laser scanner 204 sends
Laser scanning signal.
In specific implementation process, synchronizer is specifically as follows LED array and/or radio-frequency signal generator, such as, logical
Crossing LED array and send synchronizable optical signal, synchronizable optical signal can be such as infrared signal etc., and location equipment 10 is by photosensitive
After sensor 102 receives synchronizable optical signal, i.e. can be using current point in time as synchronizing time point；In like manner, radiofrequency signal is sent out
Generating apparatus generates after synchronizing radiofrequency signal and sending, and location equipment 10 receives synchronization radio frequency by rf signal reception device to be believed
After number, it is also possible to using current point in time as synchronizing time point, just repeat no more at this.
It should be noted that when synchronizer is LED array, location equipment 10 can be by light sensor 102
Receive the synchronizable optical signal that LED array sends, it is also possible to extra light sensor is set specially to receive what LED array sent
Synchronizable optical signal, does not limits at this.
Please continue to refer to Fig. 6 A and Fig. 6 B, as shown in Figure 6 A and 6 B, in the present embodiment, LED array 2061 includes many
Individual subarray, radio-frequency signal generator can arrange the optional position in locating base station 20, not shown in figure.
It should be noted that Fig. 6 A and Fig. 6 B is schematic diagram, in another embodiment, base 201 can be according to reality
Situation, is set to other suitable shapes, and LED array 2061 is it can also be provided that suitable quantity, to meet practical situation
Need, just repeat no more at this.
Being used alone LED array transmission synchronizable optical signal when, can be because of the light on LED array and location equipment 10
Distance, angle problem between dependent sensor 102 and cause the pulsewidth of light sensor 102 to change, and also meeting
Produce clutter because of ambient, individually judge that the rising edge of synchronizable optical signal is easily made mistakes, so cannot obtain accurately
Synchronization point, so being used alone LED array transmission synchronizing signal to be likely to result in error.
Be used alone radiofrequency signal generating means send synchronization radiofrequency signal when because circuit characteristic can cause
The time that synchronization radiofrequency signal arrives the rf signal reception device on the equipment of location is uncertain, there is certain time delay, so
Synchronization point accurately cannot be obtained, thus be used alone radiofrequency signal generating means send synchronization radiofrequency signal be also possible to
Cause error.
Therefore, in order to avoid be used alone LED array when reality is applied and/or radiofrequency signal generating means send with
Step signal is likely to result in the defect of error, and the present embodiment uses the mode both being combined, specific as follows:
When synchronization point arrives, namely when needing the moment sending synchronizing signal to arrive, locating base station 20 is led to simultaneously
Cross LED array to send synchronizable optical signal and radiofrequency signal generating means and send and synchronize radiofrequency signal, photosensitive in the equipment 10 of location
When sensor 102 receives synchronizable optical signal, it may be judged whether have received synchronization radiofrequency signal, if having received synchronization radio frequency letter simultaneously
Number, specifically, such as, detect whether that receiving duration exceedes the synchronization radiofrequency signal of preset value, then show that this signal is
Synchronizing signal effectively, can be using the rising edge of synchronizable optical signal as synchronization point.
Synchronizable optical signal can be accurately determined it can be seen that have by the way of LED array sends synchronizable optical signal
The advantage of the time of reception, but jitter can be caused because of practical situations or external interference, and pass through radiofrequency signal
Generating means sends and synchronizes the mode of radiofrequency signal and have and send the advantage that the reliability of signal is high, but because of reasons such as circuit characteristics
And certain time delay can be caused, after both are combined by the scheme in the present embodiment, it is possible to retain and send synchronizable optical by LED array
The advantage accurately determining the time of reception that the mode of signal has and sent by radiofrequency signal generating means and synchronize radio frequency and believe
Number the high advantage of the reliability of signal that has of mode, avoid by the way of LED array sends synchronizable optical signal simultaneously
The shortcoming of the jitter having, the mode that it also avoid radiofrequency signal generating means transmission synchronization radiofrequency signal has necessarily
The shortcoming of time delay.
Synchronizing signal is sent, after location equipment 10 receives synchronizing signal, according to the rotation of rotary shaft 202 in synchronizer
Direction, arranges and is first sent laser scanning signal by the first laser scanner 203, then sent laser by the second laser scanner 204
Scanning signal, such that can determine that the laser scanning signal that location equipment 10 receives for the first time is the first laser scanner
203 send, and determine that the laser scanning signal that location equipment 10 second time receives is the second laser scanner 204 sends
's.
In specific implementation process, locating base station 20 also includes positioner for rotation shaft, positioner for rotation shaft set for
The turned position of detection rotary shaft.In actual applications, positioner for rotation shaft can be made up of Hall element and magnet, or
Person can be made up of laser generator and light sensor, or can be made up of code-disc.
First, the situation that positioner for rotation shaft is made up of is introduced Hall element and magnet: magnet can be arranged on rotation
Fixed position in rotating shaft 202, Hall element is arranged near the motion path of base 201 upper magnet, so, in rotary shaft
The when of 202 rotation, magnet, through the position at Hall element place, causes the changes of magnetic field near Hall element, therefore
Hall element can export a pulse signal, control device such as single-chip microcomputer in locating base station 20, processes chip etc. and receives
After this pulse signal, i.e. can control synchronizer and send synchronizing signal, and rotary shaft 202 can drive the first laser scanner 203
Being scanned with the second laser scanner 204, magnet again passes by Hall element place after rotary shaft 202 rotates a circle
During position, i.e. can again trigger Hall element output pulse signal, just repeat no more at this.
Certainly, in actual applications, it is also possible to after being set in the pulse signal of Hall element output preset times, such as
Can set after Hall element exports twice pulse signal, namely rotary shaft 202 often rotates twice, the control in locating base station 20
Device processed just exports synchronizing signal, and the concrete numerical value of preset times can determine according to practical situation, to meet practical situation
Need, just repeat no more at this.
Then, the situation that positioner for rotation shaft is made up of is introduced laser generator and light sensor: light sensor
Can be arranged in rotary shaft 202, laser generator can be arranged on base 201, and so, light sensor is in rotary shaft
Under the drive of 202, light sensor through the position at laser generator place, the laser that will send at laser generator
Trigger lower and generate the signal of telecommunication, after the control device that this signal of telecommunication is positioned in base station 20 receives, i.e. can control synchronizer and send out
Go out synchronizing signal, and rotary shaft 202 can drive the first laser scanner 203 and the second laser scanner 204 to be scanned, photosensitive
When sensor again passes by the position at laser generator place after rotary shaft 202 rotates a circle, i.e. can again trigger photosensitive biography
The sensor output signal of telecommunication, just repeats no more at this.
Certainly, in actual applications, the position of laser generator and light sensor is not limited to aforesaid way, the most permissible
Laser generator is arranged in rotary shaft 202, and light sensor is arranged on base 201, or laser is occurred
Device and light sensor are simultaneously located on rotary shaft 202 or base 201, and position corresponding on base 201 or rotary shaft 202
Put and stick reflecting strips or illuminator, or infrared integrated transceiver is arranged on rotary shaft 202 or base 201, and the end of at
Reflecting strips or illuminator are sticked in position corresponding on seat 201 or rotary shaft 202, etc., just repeat no more at this.
It should be noted that light sensor in positioner for rotation shaft and laser generator need and location equipment
Light sensor in 10 and the photoscanner in locating base station 20 make a distinction, to avoid location equipment 10 and location
In base station 20, laser positioning data interfere, such as, can make a distinction etc. by the way of arranging different wave length.
Finally, the situation that positioner for rotation shaft is made up of is introduced code-disc: code-disc is (English: to be encoding disk) to survey
The digital encoder of angulation displacement, including contact encoder and optical encoder two class, contact encoder or optical encoder can
To be arranged in rotary shaft 202 such that it is able to accurately measure the position of rotary shaft 202 during rotary shaft 202 rotates,
And generating corresponding signal, the control device in locating base station 20 i.e. can control synchronizer generation and send same according to this signal
Step signal, just repeats no more at this.
Certainly, at one ideally, if location equipment 10 the most identical with the time in locating base station 20, then without
Locating base station 20 generates synchronizing signal, sends the transmission time point of laser scanning signal and ultrasonic signal according to locating base station,
And location equipment receives laser scanning signal and the reception time point of ultrasonic signal, i.e. can determine the position of location equipment
Put, just repeat no more at this.
After having introduced location equipment 10 and locating base station 20, in ensuing part, carry introducing the present embodiment
The most how the space positioning system of confession positions, and the data handling equipment 30 in the present embodiment is by Laser Measuring orientation principle
Combine with ultrasound distance principle and position:
1, Laser Measuring orientation principle: assume that laser scanning signal, by θ/second angular velocity scanning, starts timing from starting position,
Start to laser scanning signal to be positioned the time that equipment 10 receives from location light beam be the t second, then equipment 10 place, location
Orientation and the startup position angle α=θ * t of laser scanning signal.So, strafed by both direction laser, can be accurately
Determine the location terminal direction vector relative to base station；
Specifically, as a example by positioning No. 01 light sensor on equipment 10, if this point is p0, it is assumed that locating base station 20
On rotary shaft 202 constant rotate with θ angular velocity, then locating base station 20 point to p0 point direction vector computational methods such as
Under:
First laser scanner 203 sends the first laser scanning signal after receiving synchronizing signal, when recording transmission
Between point, until location equipment 10 on No. 01 light sensor swept by first plane of scanning motion of the first laser scanner 203 correspondence
Retouch, namely location equipment 10 receives this first laser scanning signal, records reception time point, sets the first laser scanning
The difference sent between time point and reception time point of signal is t1, then the deflection angle α obtained=θ * t1 is that p0 point is relative
Deflection angle in first plane of scanning motion；
In like manner, by recording the transmission time point of the second scanning signal that the second laser scanner 204 sends and receiving time
Between point, set the second laser scanning signal sends time point and the difference that receives between time point as t2, it is thus achieved that deflection angle
Degree β=θ * t2 is the p0 point deflection angle relative to second plane of scanning motion；
So, it is known that two azimuths, as constraint, the direction vector of p0 point can be pointed in the hope of initial point, i.e. position
The direction vector of p0 point is pointed in base station 20, and concrete mathematic calculation has multiple, just repeats no more at this.
2, ultrasound distance principle: the aerial spread speed of ultrasonic signal is V, then sending out from ultrasonic signal
Going out to being positioned the time that equipment 10 receives is the t3 second, then the citing d=V*t3 between location equipment 10 and locating base station 20.
Certainly, in Practical Calculation, owing to, under different temperatures, the transmission speed of ultrasound wave is different, accordingly, it would be desirable to according to Current Temperatures pair
V is adjusted, and to ensure the accuracy of result of calculation, just repeats no more at this.
In specific implementation process, data handling equipment 30 can be passed through wired or wirelessly obtain location equipment
10 and locating base station 20 in data, just repeat no more at this.
Certainly, in actual applications, in order to avoid the echo interference of ultrasound wave, can set and send twice ultrasonic signal
Between time interval sufficiently large, further, since the signal strength values of the echo interference of ultrasound wave is less, it is also possible to set filter
The ultrasonic signal that intensity level is too small, so ensures to measure the accuracy of gained distance.
As a example by the accurate positioning distance of locating base station 20 is as 5m, the time spent by ultrasonic signal propagation 5m is about
15ms, is set to 20ms between therefore, it can twice ultrasonic signal, certainly, as long as going up in theory more than 15ms
?；Furthermore it is possible to using intensity level that the distance away from locating base station 20 is ultrasonic signal at 5m as normal intensity value, filter
Except the signal less than this normal intensity value.By any one in both modes or combination, can preferably avoid surpassing
The interference of sound echo signal, just repeats no more at this.
Owing to the precision of laser measurement and ultrasonic measurement is at grade, and locating speed is at Millisecond, so location
Precision and locating speed are all greatly improved compared to prior art, it is achieved that quickly and accurately realize sterically defined technology effect
Really.
In actual applications, data handling equipment 30 can be integrated in location equipment 10 or locating base station 20 physically
On, or be individually present, do not limit at this.
Introduction based on preceding sections understands, and by a locating base station 20 in the present embodiment, is i.e. capable of omnidirectional
The effect of location, namely in a space, by single locating base station 20, it becomes possible to realize to location equipment 10 within this space
Location.
The present embodiment also provides for a kind of space-location method, and the method includes:
First, locating base station drives the first laser scanner and the second laser scanner to revolve by a rotary shaft
Turn, and send the first laser scanning signal, the second laser scanning signal and ultrasonic signal, the first laser scanner corresponding the
One scan plane second plane of scanning motion corresponding with the second laser scanner can intersect one when scanning same point in space
Bar straight line, and first plane of scanning motion and second plane of scanning motion be all not orthogonal to rotary shaft；
Then, location equipment by light sensor and ultrasonic receiver, receives the first laser scanning signal, second swashs
Photoscanning signal and ultrasonic signal；
Finally, data handling equipment is according to the first laser scanning signal, the second laser scanning signal and ultrasonic signal
Send time point and receive time point, determining the location equipment position relative to locating base station.
In specific implementation process, drive the first laser scanner and the second laser in locating base station by a rotary shaft
Scanning device rotates, and before sending the first laser scanning signal, the second laser scanning signal and ultrasonic signal, method is also
Including:
Locating base station sends synchronizable optical signal to location equipment and synchronizes radiofrequency signal；
Location equipment is when receiving synchronizable optical signal, if being simultaneously received synchronization radiofrequency signal, then by synchronizable optical signal
Rising edge as synchronization point.
The carrying out practically process of the space-location method that the present embodiment provides has been carried out detailed in preceding sections
Introduce, succinct for description at this, just repeat no more.
One or more technical scheme in this utility model embodiment, at least has the following technical effect that or excellent
Point:
Technical scheme in this utility model embodiment make use of the characteristic that light is linearly propagated, according to laser scanning signal
Determine the location equipment 10 direction relative to locating base station 20, and make use of the principle of ultrasonic ranging, according to locating base station
20 ultrasonic signals sent, determine the location equipment 10 distance relative to locating base station 20 such that it is able to determine location equipment
10 in the position in space, owing to the precision of laser scanning location and the precision of ultrasonic ranging are all at grade, and positions speed
Degree is all at Millisecond, so locating speed is very fast, it is achieved that quickly and accurately realize sterically defined technique effect.
All features disclosed in this specification, or disclosed all methods or during step, except mutually exclusive
Feature and/or step beyond, all can combine by any way.
Any feature disclosed in this specification (including any accessory claim, summary and accompanying drawing), unless chatted especially
State, all can be by other equivalences or there is the alternative features of similar purpose replaced.I.e., unless specifically stated otherwise, each feature is only
It it is an example in a series of equivalence or similar characteristics.
This utility model is not limited to aforesaid detailed description of the invention.This utility model expands to any in this explanation
The new feature disclosed in book or any new combination, and the arbitrary new method that discloses or the step of process or any new group
Close.
Claims (15)
1. a location equipment, it is characterised in that including:
Housing；
Light sensor, is arranged on described housing；
Ultrasonic receiver, is arranged on described housing, the position of described ultrasonic receiver and the position of described light sensor
Put and differ.
Position equipment the most as claimed in claim 1, it is characterised in that described housing is specially spherical shell.
Position equipment the most as claimed in claim 1, it is characterised in that the orientation range of described location equipment is A；
The beam reception scope of each described light sensor is B, at least provided with M described light sensor on described housing
Device, M obtains for rounding up A/B；
The beam angle range of receiving of each described ultrasonic receiver is C, at least provided with N number of described photosensitive on described housing
Sensor, N obtains for rounding up A/C.
Position equipment the most as claimed in claim 3, it is characterised in that the receiving plane of M described light sensor and N number of described super
The receiving plane of acoustic receiver is uniformly distributed on the housing.
Position equipment the most as claimed in claim 1, it is characterised in that on described light sensor, be additionally provided with optical filter.
Position equipment the most as claimed in claim 1, it is characterised in that described light sensor is light sensitive diode, photosensitive three poles
Pipe or silicon cell.
Position equipment the most as claimed in claim 1, it is characterised in that described location equipment also includes rf signal reception device,
Described rf signal reception device is arranged in described housing.
Position equipment the most as claimed in claim 1, it is characterised in that described location equipment also includes motion sensor.
9. a locating base station, it is characterised in that including:
Base；
Rotary shaft, is arranged on described base；
First laser scanner, is arranged at the primary importance of described rotary shaft；
Second laser scanner, is arranged at the second position of described rotary shaft, the described second position and described primary importance not phase
With, second plane of scanning motion that first plane of scanning motion that described first laser scanner is corresponding is corresponding with described second laser scanner
Can intersect straight line when scanning same point in space, and the first scan line of sending of described first laser scanner and
The second scan line that described second laser scanner sends all is not orthogonal to described rotary shaft；
Ultrasonic transmitter, is arranged on described base.
10. locating base station as claimed in claim 9, it is characterised in that the laser scanning that described first laser scanner sends
The wavelength of signal is first wave length, and the wavelength of the laser scanning signal that described second laser scanner sends is second wave length, institute
State first wave length to differ with described second wave length.
11. locating base station as claimed in claim 9, it is characterised in that described first laser scanner and described second laser
The light source of scanning device is same LASER Light Source, the laser that described LASER Light Source generates by light-dividing device by beam splitting to the most described the
One laser scanner and described second laser scanner.
12. locating base station as claimed in claim 9, it is characterised in that described locating base station also includes synchronizer, described same
Step device is arranged on described base.
13. locating base station as claimed in claim 12, it is characterised in that described synchronizer specially LED array and/or penetrate
Frequently signal generator.
14. locating base station as claimed in claim 9, it is characterised in that described locating base station also includes positioner for rotation shaft,
Described positioner for rotation shaft is arranged on described base.
15. 1 kinds of space positioning systems, it is characterised in that include locating base station, location equipment and data handling equipment；
Location equipment as described in claim arbitrary in claim 1-8；
Locating base station as described in claim arbitrary in claim 9-14；
Described data handling equipment, specifically for the laser scanning signal sent according to described locating base station, determines that described location sets
The standby direction relative to described locating base station, and the ultrasonic signal sent according to described locating base station, determine that described location sets
The standby distance relative to described locating base station, so that it is determined that the position that described location equipment is in space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620694794.0U CN205826857U (en) | 2016-06-30 | 2016-06-30 | A kind of location equipment, locating base station, space positioning system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620694794.0U CN205826857U (en) | 2016-06-30 | 2016-06-30 | A kind of location equipment, locating base station, space positioning system |
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| CN205826857U true CN205826857U (en) | 2016-12-21 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105974359A (en) * | 2016-06-30 | 2016-09-28 | 成都理想境界科技有限公司 | Positioning device, positioning base station, spatial positioning system and method |
| CN107144848A (en) * | 2017-03-31 | 2017-09-08 | 成都理想境界科技有限公司 | A kind of locating base station and alignment system |
-
2016
- 2016-06-30 CN CN201620694794.0U patent/CN205826857U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105974359A (en) * | 2016-06-30 | 2016-09-28 | 成都理想境界科技有限公司 | Positioning device, positioning base station, spatial positioning system and method |
| CN105974359B (en) * | 2016-06-30 | 2020-04-24 | 成都理想境界科技有限公司 | Positioning equipment, positioning base station, space positioning system and method |
| CN107144848A (en) * | 2017-03-31 | 2017-09-08 | 成都理想境界科技有限公司 | A kind of locating base station and alignment system |
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