CN206223965U - A kind of location equipment, locating base station and space positioning system - Google Patents
A kind of location equipment, locating base station and space positioning system Download PDFInfo
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- CN206223965U CN206223965U CN201620681274.6U CN201620681274U CN206223965U CN 206223965 U CN206223965 U CN 206223965U CN 201620681274 U CN201620681274 U CN 201620681274U CN 206223965 U CN206223965 U CN 206223965U
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Abstract
The utility model discloses a kind of location equipment, locating base station and space positioning system, the location equipment includes：Housing；Light sensor, is arranged on the housing.Technical scheme in the utility model embodiment determines position of the location equipment relative to locating base station according to three laser scanning signals, because the precision of laser measurement is in grade, and locating speed is in Millisecond, so positioning precision and locating speed are all greatly improved compared to prior art, realize precisely and rapidly realize sterically defined technique effect.
Description
Technical field
The utility model is related to space orientation field, more particularly to a kind of location equipment, locating base station and space orientation system
System.
Background technology
Space orientation refers to position of the location equipment in space, for example, can be by GPS (English：Global
Positioning System；Chinese：Global positioning system) technology determines the position of equipment.But, as people are to positioning
The requirement more and more higher of precision is the need for the meter accuracy that GPS technology is provided cannot meet people and specific at some
Space is such as indoor, basement, because the barriers such as wall can block gps signal, so GPS technology cannot also be applied
These specific spaces.
At present, indoors, the specific space such as basement, typically positioned by wireless location technology, specifically
Wireless aps (the English according to known to equipment receives multiple positions：Access Point；Chinese：Access point, be otherwise known as heat
Point) signal intensity, then distance of the mobile device apart from each AP is estimated using signal attenuation model, finally using triangle
Location algorithm determine the equipment where position.But, the precision that wireless location technology is provided is still in meter level, it is impossible to meet
People are to the higher and higher requirement of spatial positioning accuracy.
With becoming increasingly prosperous for field of virtual reality, virtual game starts appearance, and the immersion provided in virtual game is handed over
Mutually experience in, accurate space orientation tracer technique seems particularly critical, thus how precisely and rapidly realize space orientation,
As 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 and space positioning system, with accurate and fast
Space orientation is realized fastly.
In order to realize above-mentioned utility model purpose, the utility model embodiment first aspect provides a kind of location equipment, bag
Include：
Housing；
Light sensor, is arranged on the housing.
Alternatively, the housing is specially spherical shell.
Alternatively, the orientation range of the location equipment is A；
The beam reception scope of each light sensor is B, at least provided with the M photosensitive biography on the housing
Sensor, M is obtained to be rounded up to A/B.
Alternatively, the receiving plane of the M light sensor is uniformly distributed on the housing.
Alternatively, it is additionally provided with optical filter on the light sensor.
Alternatively, the light sensor is photodiode, phototriode or silicon photocell.
Alternatively, the location equipment also includes rf signal reception device, and the rf signal reception device is arranged at
In the housing, the rf signal reception device is used to receive synchronizing signal.
Alternatively, the location equipment also includes motion sensor.
The utility model embodiment second aspect provides a kind of locating base station, including：
Base；
Rotary shaft, is arranged on the base；
First laser scanner, is arranged at the first position of the rotary shaft, the of the first laser scanner outgoing
Scan line forms first plane of scanning motion；
Second laser scanner, is arranged at the second place of the rotary shaft, the of the second laser scanner outgoing
Two scan lines form second plane of scanning motion；
3rd laser scanner, is arranged at the 3rd position of the rotary shaft, the of the 3rd laser scanner outgoing
Three scan line forms the 3rd plane of scanning motion；
Wherein, first plane of scanning motion, second plane of scanning motion and the 3rd plane of scanning motion do not intersect at described
Same point in rotary shaft, and first scan line, second scan line and the three scan line are not orthogonal to institute
State rotary shaft.
Alternatively, the wavelength of the laser scanning signal that the 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, the laser scanning that the 3rd laser scanner sends
The wavelength of signal is the 3rd wavelength, and the first wave length, the second wave length and the 3rd wavelength are different between two.
Alternatively, the light of the first laser scanner, the second laser scanner and the 3rd laser scanner
Source is same LASER Light Source, and the laser of the LASER Light Source generation is scanned by light-dividing device by beam splitting to the first laser
Device, the second laser scanner and the 3rd laser scanner.
Alternatively, the locating base station also includes sychronisation, and the sychronisation is arranged on the base, described
Sychronisation is used to send synchronizing signal.
Alternatively, the sychronisation is specially LED array and/or radio-frequency signal generator.
Alternatively, the locating base station also includes positioner for rotation shaft, and the positioner for rotation shaft is arranged at described
On base, the shaft positioning device sets the turned position for detecting the rotary shaft.
The utility model embodiment third aspect provides a kind of space positioning system, including：
Location equipment as described in any claim in claim 1-8；
Locating base station as described in any claim in claim 9-14；
Data processing equipment, for the three laser scanning signals sent according to the locating base station, determines the positioning
Position of the equipment relative to the locating base station.
The utility model embodiment fourth aspect provides a kind of space-location method, including：
Locating base station drives first laser scanner, second laser scanner and the 3rd laser scanning by a rotary shaft
Device is rotated, and sends first laser scanning signal, second laser scanning signal and the 3rd laser scanning signal, described first
Corresponding first scan line of laser scanning signal, corresponding second scan line of the second laser scanning signal and the described 3rd swash
The corresponding three scan line of optical scanning signal is not orthogonal to the rotary shaft, and the first scanning that first scan line is formed
The 3rd plane of scanning motion that second plane of scanning motion and the three scan line that plane, second scan line are formed are formed is non-intersect
Same point in the rotary shaft；
Location equipment receives the first laser scanning signal, the second laser scanning signal by light sensor
With the 3rd laser scanning signal；
Data processing equipment swashs according to the first laser scanning signal, the second laser scanning signal and the described 3rd
At the transmission time point and reception time point of optical scanning signal, determine position of the location equipment relative to the locating base station
Put.
Alternatively, first laser scanner, second laser scanner are driven by a rotary shaft in the locating base station
Rotated with the 3rd laser scanner, and sent first laser scanning signal, second laser scanning signal and the 3rd laser and swept
Before retouching signal, methods described also includes：
The locating base station sends synchronous optical signal and synchronous radiofrequency signal to the location equipment；
The location equipment is when synchronous optical signal is received, if receiving the synchronous radiofrequency signal simultaneously, by institute
The rising edge of synchronous optical signal is stated as synchronization point.
One or more technical scheme in the utility model embodiment, at least has the following technical effect that or excellent
Point：
Technical scheme in the present embodiment make use of light along the characteristic of straightline propagation, according to three laser scanning signals come really
Determine position of the location equipment relative to locating base station, because the precision of laser measurement is in grade, and locating speed is in millisecond
Level, so positioning precision and locating speed are all greatly improved compared to prior art, realizes precisely and rapidly realizes space
The technique effect of positioning.
Brief description of the drawings
In order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the accompanying drawing to be used needed for description of the prior art is briefly described, it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, before creative labor is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings：
The module map of the space positioning system that Fig. 1 is provided for the utility model embodiment；
The front view of the location equipment 10 that Fig. 2 is provided for the utility model embodiment；
The schematic diagram of the orientation range of the location equipment that Fig. 3 is provided for the present embodiment；
The internal structure schematic diagram of the location equipment 10 that Fig. 4 is provided for the present embodiment；
The circuit diagram of the location equipment 10 that Fig. 5 is provided for the utility model embodiment；
The front view of the locating base station that Fig. 6 A are provided for the present embodiment, the locating base station that Fig. 6 B are provided for the present embodiment it is vertical
Body figure；
Fig. 7 sends the schematic diagram of laser scanning signal for locating base station 20 that the present embodiment is provided.
Specific embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment for being obtained, belongs to the scope of the utility model protection.
A kind of space positioning system is present embodiments provided, Fig. 1 is refer to, Fig. 1 is provided for the utility model embodiment
The module map of space positioning system, as shown in figure 1, the space positioning system includes location equipment 10, locating base station 20 and data
Processing equipment 30, data processing equipment 30 can send three laser scanning signals according to locating base station 20, determine location equipment
10 relative to locating base station 20 position.
As can be seen that the technical scheme in the present embodiment make use of light along the characteristic of straightline propagation, swept according to three laser
Signal is retouched to determine position of the location equipment 10 relative to locating base station 20, because the precision of laser measurement is in grade, and
Locating speed is in Millisecond, so positioning precision and locating speed are all greatly improved compared to prior art, realize precisely and
Rapidly realize sterically defined technique effect.
In ensuing part, above-mentioned technical proposal is will be described in detail.
Refer to Fig. 2, the front view of the location equipment 10 that Fig. 2 is provided for the utility model embodiment, as shown in Fig. 2 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 the surface of housing 101
Reception window be hexagon or circle.
In specific implementation process, as shown in Fig. 2 housing 101 is specially spherical shell.Certainly, in other embodiments,
Housing 101 could be arranged to housing, the housing of ellipsoid shape, the shell of centrum shape of cubic shaped according to actual conditions
Body etc., to meet actual conditions the need for, just repeat no more herein.
In specific implementation process, refer to Fig. 3, the orientation range of the location equipment that Fig. 3 is provided for the present embodiment shows
It is intended to, as shown in figure 3, such as in the present embodiment, the orientation range of location equipment is A, and A can be 300 °；
The beam reception scope for setting each light sensor 102 is B, and such as B can be 25 ° or 30 ° etc., housing
At least provided with M light sensor 102 on 101, M is obtained to be rounded up to A/B；
Specifically, the beam reception of light sensor 102 may range from the twice of beam half angle (half angle),
Specially one cone shape, so, in order to ensure that light sensor 102 can be collected in the orientation range A of location equipment
All of laser scanning signal, it is therefore desirable at least provided with M light sensor on housing 101, M is that A/B is carried out upwards
Round and obtain, for example, in the present embodiment, M is 12, in another embodiment, if A is 300 °, B is 35 °, then M is right
(300 °/35 °=8.5714) are rounded up and are 9, are just repeated no more herein.
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, if specifically, the laser scanning signal sent in locating base station 20 only includes 1 signal of wavelength, light sensor 102
Quantity be at least M, if the laser scanning signal sent in locating base station 20 includes 3 signals of wavelength, light sensor
The quantity of device 102 is at least 3M.
Of course, in actual applications, in order to the laser scanning for guaranteeing accurately to receive the transmission of locating base station 20 is believed
Number, more light sensors can be set on the housing 101 of location equipment 10, it is not limited herein.
In the present embodiment, in order to guarantee accurately to receive the laser scanning signal that locating base station 20 sends, such as Fig. 2
Shown, the receiving plane of M light sensor 102 is evenly distributed on housing 101.
Certainly, in another embodiment, the technical staff belonging to this area can suitably adjust M according to actual conditions
The position of the receiving plane of individual light sensor 102 so that the receiving plane of M light sensor 102 is non-uniformly distributed in housing
On 101, to meet the demand of actual conditions, for example, positioned in location equipment 10 and more photosensitive biography is set in the range of frequently
Sensor 102, and less light sensor 102, etc. is set in less scope positioning, just it is not limited herein.
In specific implementation process, the interference in order to avoid external environment light to light sensor 102, light sensor
Optical filter is additionally provided with 102, optical filter is used to filter off ambient light so that light sensor is merely able to receive locating base station 20
The laser scanning light for sending, just repeats no more herein.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 the LED array sends.
Refer to Fig. 4, the internal structure schematic diagram of the location equipment 10 that Fig. 4 is provided for the present embodiment, as shown in figure 4, fixed
Cylinder inside the housing 101 of position equipment 10 is light sensor 102, and certainly, light sensor 102 is also needed to by certain
Circuit be connected to inside process chip, just repeat no more herein.
As before, if the laser scanning signal that sends of locating base station 20 includes 3 wavelength, each hexagon or circle
3 light sensors of corresponding wavelength 102 can be set in hollow cylinder where receiving plane, so that the laser for receiving 3 wavelength is swept
Signal is retouched, is just repeated no more herein.
Refer to Fig. 5, the circuit diagram of the location equipment 10 that Fig. 5 is provided for the utility model embodiment, as shown in figure 5, M
To be arranged in parallel, so, all light sensors only need to signal processing circuit all the way to light sensor 102, circuit cost and
Processing cost is substantially reduced.
In specific implementation process, light sensor 102 is photodiode, phototriode or silicon photocell etc.,
It is not limited herein.
In specific implementation process, location equipment 10 also includes rf signal reception device, and rf signal reception device sets
It is placed in housing 101, rf signal reception device is used to receive synchronizing signal.
In specific implementation process, location equipment 10 can also include motion sensor, and motion sensor senses positioning is eventually
The exercise data at end, is modified calculating to the locus of positioning terminal and makes up using exercise data.Motion sensor can
Think inertial sensor (English：Inertial measurement unit；Referred to as：IMU), in acceleration transducer, gyroscope
One or more.When the location equipment 10 of the present embodiment is installed in be used on other intelligent terminals, the motion sensor
The motion sensor on intelligent terminal can be borrowed, is just repeated no more herein.
In actual applications, location equipment 10 can be integrated on handheld device, helmet, be not limited herein.
In ensuing part, the concrete structure and running of locating base station 20 will be introduced.
The front view of the locating base station that Fig. 6 A and Fig. 6 B, Fig. 6 A are provided for the present embodiment is refer to, Fig. 6 B are the present embodiment
The stereogram of the locating base station of offer, 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, can by one or more motor come
Axle 202 is rotated to be rotated, is not limited herein；
First laser scanner 203, is arranged at the first position of rotary shaft 202, the of the outgoing of first laser scanner 203
Scan line forms first plane of scanning motion；
Second laser scanner 204, is arranged at the second place of rotary shaft 202, the second of second laser scanner outgoing
Scan line forms second plane of scanning motion；
3rd laser scanner 205, is arranged at the 3rd position of rotary shaft 202, the of the outgoing of the 3rd laser scanner 205
Three scan line forms the 3rd plane of scanning motion；
Wherein, first plane of scanning motion, second plane of scanning motion and the 3rd plane of scanning motion do not intersect at the same point in rotary shaft,
And first scan line, the second scan line and three scan line are not orthogonal to rotary shaft.
In the present embodiment, first laser scanner 203 can send dot laser by a laser generator, then pass through
Dot laser is shaped as a wordline laser by one wordline lens such as post lens, Bao Weier prism or a wordline wave prism etc., so,
A wordline laser by the outgoing of first laser scanner 203 is to form the first laser plane of scanning motion, then by rotary shaft 202
Rotation, it is achieved thereby that the scanning to space.In another embodiment, first laser scanner 203 can also directly pass through one
Word line laser device sends a wordline laser, just repeats no more herein.
The scan mode of the laser scanner 205 of second laser scanner 204 and the 3rd and first laser scanner 203 1
Cause, just repeat no more herein.
Certainly, in another embodiment, can also be improved by setting more laser scanners in rotary shaft 202
Accuracy when being positioned to location equipment 10, but its positioning principle will not change, and just repeat no more herein.
It should be noted that in the present embodiment, first laser scanner 203 and second laser scanner 204 are vertical
Highly identical on direction, in other embodiments, first laser scanner 203 and second laser scanner 204 are in Vertical Square
Upward height can also be differed, namely first laser scanner 203 and second laser scanner 204 are in rotary shaft 202
In relative position one on the other, it is not limited herein.
Refer to Fig. 7, Fig. 7 sends the schematic diagram of laser scanning signal, such as Fig. 7 for locating base station 20 that the present embodiment is provided
Shown, in the present embodiment, corresponding first plane of scanning motion 701 of first laser scanner 203 is the plane of vertical direction, second
Corresponding second plane of scanning motion 702 of laser scanner 204 is in 135 ° of plane, the 3rd laser scanner 205 with vertical direction
Corresponding 3rd plane of scanning motion 703 is in 45 ° of plane with vertical direction.
In specific implementation process, in order to distinguish laser scanning signal, second laser that first laser scanner 203 sends
The laser scanning signal that the laser scanner 205 of scanner 204 and the 3rd sends, the laser that first laser scanner 203 sends is swept
The wavelength of signal is retouched for first wave length, the wavelength of the laser scanning signal that second laser scanner 204 sends is second wave length, the
The wavelength of the laser scanning signal that three laser scanners 205 send is the 3rd wavelength, first wave length, second wave length and the 3rd wavelength
It is different between two.
In actual applications, by three laser generators, the laser of the different wave length for generating respectively, and can for example pass
It is delivered in first laser scanner 203, the laser scanner 205 of second laser scanner 204 and the 3rd.
Certainly, in another embodiment, the light source of first laser scanner and second laser scanner can be same
LASER Light Source, the laser of LASER Light Source generation can be by light-dividing device such as optical splitter etc., beam splitting to first laser scanner
203rd, in the laser scanner 205 of second laser scanner 204 and the 3rd, then by way of sequential come distinguish first laser scanning
Laser scanning signal and the 3rd laser scanner that laser scanning signal that device 203 sends, second laser scanner 204 send
The 205 laser scanning signals for sending, for example, locating base station 20 can also include sychronisation, first send synchronization by sychronisation
Signal, further according to first laser scanner 203, the scanning sequency of the laser scanner 205 of second laser scanner 204 and the 3rd,
So as to the laser scanning for distinguishing first laser scanner 203, the laser scanner 205 of second laser scanner 204 and the 3rd sends
Signal.
In specific implementation process, sychronisation is specifically as follows LED array and/or radio-frequency signal generator, for example, logical
Cross LED array and send synchronous optical signal, synchronous optical signal can be for example infrared signal etc., and location equipment 10 is by photosensitive
After sensor 102 receives synchronous optical signal, i.e., can be using current point in time as synchronizing time point；Similarly, radiofrequency signal hair
After the synchronous radiofrequency signal of generating apparatus generation and transmission, location equipment 10 receives synchronous radio frequency by rf signal reception device
After signal, it is also possible to using current point in time as synchronizing time point, just repeat no more herein.
It should be noted that sychronisation be LED array when, location equipment 10 can by light sensor 102 come
Receive the synchronous optical signal that LED array sends, it is also possible to specially set extra light sensor to receive what LED array sent
Synchronous optical signal, is not limited herein.
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 set the optional position in locating base station 20, not shown in figure.
It should be noted that Fig. 6 A and Fig. 6 B are schematic diagram, in another embodiment, base 201 can be according to reality
Situation, is set to other suitable shapes, LED array 2061 it can also be provided that suitable quantity, to meet actual conditions
Need, just repeat no more herein.
When LED array transmission synchronization optical signal is used alone, can be because of the light in LED array and location equipment 10
The distance between dependent sensor 102 distance, angle problem and cause the pulsewidth of light sensor 102 to change, and also meeting
Clutter is produced because of ambient, individually judges that the rising edge of synchronous optical signal easily malfunctions, cannot so obtained accurately
Synchronization point, error is likely to result in so LED array being used alone and sending synchronizing signal.
When radiofrequency signal generating means is used alone to send synchronous radiofrequency signal, because circuit characteristic can cause
The time that synchronous radiofrequency signal reaches the radio frequency signal receiver in location equipment does not know, and there is certain time delay, such nothing
Method obtains accurate synchronization point, so radiofrequency signal generating means is used alone to be also possible to lead sending synchronous radiofrequency signal
Cause error.
Therefore, send same in order to avoid LED array and/or radiofrequency signal generating means are used alone in practical application
Step signal is likely to result in the defect of error, and the present embodiment is specific as follows by the way of both are combined：
When synchronization point is reached, namely when needing the moment for sending synchronizing signal to reach, locating base station 20 is simultaneously logical
Cross LED array and send synchronous optical signal and the synchronous radiofrequency signal of radiofrequency signal generating means transmission, it is photosensitive in location equipment 10
When sensor 102 receives synchronous optical signal, judge whether while have received synchronous radiofrequency signal, if having received synchronous radio frequency letter
Number, specifically, for example, detect whether to receive synchronous radiofrequency signal of the duration more than preset value, then show that this signal is
Effectively synchronizing signal, can be using the rising edge of synchronous optical signal as synchronization point.
As can be seen that having by way of LED array sends synchronous optical signal, synchronous optical signal can be accurately determined
The time of reception advantage, but jitter can be caused because of practical situations or external interference, and pass through radiofrequency signal
The mode that generating means sends synchronous radiofrequency signal has the advantages that the reliability for sending signal is high, but because of reasons such as circuit characteristics
And certain time delay can be caused, after the scheme in the present embodiment combines both, can retain and synchronizable optical is sent by LED array
The advantage of the accurate determination time of reception that the mode of signal has and synchronous radio frequency is sent by radiofrequency signal generating means believe
Number the reliability of signal that has of mode advantage high, while avoiding by way of LED array sends synchronous optical signal
The shortcoming of the jitter having, it also avoid radiofrequency signal generating means and sends the mode of synchronous radiofrequency signal with certain
Time delay shortcoming.
Synchronizing signal is sent in sychronisation, after location equipment 10 receives synchronizing signal, according to the rotation of rotary shaft 202
Direction, sets and first sends laser scanning signal by first laser scanner 203, then send laser by second laser scanner 204
Scanning signal, finally sends laser scanning signal by the 3rd laser scanner 205, so, that is, can determine location equipment 10
The laser scanning signal for once receiving is what first laser scanner 203 sent, and determines second reception of location equipment 10
To laser scanning signal send for second laser scanner 204, and determine the laser that the third time of location equipment 10 is received
Scanning signal is what second laser scanner 205 sent, is just repeated no more herein.
In specific implementation process, locating base station 20 also include positioner for rotation shaft, positioner for rotation shaft set for
Detect the turned position of rotary shaft.In actual applications, positioner for rotation shaft can be made up of Hall sensor 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 Hall sensor and magnet is introduced：Magnet can be arranged on rotation
Fixed position in rotating shaft 202, Hall sensor is arranged near the motion path of the upper magnet of base 201, so, in rotary shaft
When 202 rotation, magnet causes the changes of magnetic field near Hall sensor by the position where Hall sensor, therefore
Hall sensor can export a pulse signal, and the control device in locating base station 20 such as single-chip microcomputer, process chip etc. are received
After the pulse signal, i.e., sychronisation can be controlled to send synchronizing signal, and rotary shaft 202 can drive first laser scanner 203
It is scanned with second laser scanner 204, magnet after rotary shaft 202 rotates a circle where Hall sensor is again passed by
During position, i.e., Hall sensor output pulse signal can be again triggered, just repeated no more herein.
Certainly, in actual applications, it is also possible to after being set in the pulse signal of Hall sensor output preset times, for example
Hall sensor output can be set twice after 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 actual conditions, to meet actual conditions
Need, just repeat no more herein.
Then, the situation that positioner for rotation shaft is made up of laser generator and light sensor is introduced：Light sensor
Can be arranged in rotary shaft 202, laser generator can be arranged on base 201, so, light sensor is in rotary shaft
Under 202 drive, when light sensor is by position where laser generator, the laser that will be sent in laser generator
Electric signal is generated under triggering, after the electric signal is positioned the control device reception in base station 20, i.e., sychronisation can be controlled to send out
Go out synchronizing signal, and rotary shaft 202 can drive first laser scanner 203 and second laser scanner 204 to be scanned, it is photosensitive
Sensor can again trigger photosensitive biography at the position where again passing by laser generator after rotary shaft 202 rotates a circle
Sensor exports electric signal, just repeats no more herein.
Certainly, in actual applications, the position of laser generator and light sensor is not limited to aforesaid way, for example can be with
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 arranged on rotary shaft 202 or base 201 simultaneously, and the corresponding position on base 201 or rotary shaft 202
Put and stick reflecting strips or reflective mirror, or infrared integrated transceiver is arranged in rotary shaft 202 or base 201, and the bottom of at
Reflecting strips or reflective mirror, etc. are sticked in corresponding position on seat 201 or rotary shaft 202, just repeat no more herein.
It should be noted that the light sensor and laser generator in positioner for rotation shaft need and location equipment 10
In light sensor and the optical scanner in locating base station 20 make a distinction, with avoid to location equipment 10 and positioning base
Laser positioning data in 20 of standing are interfered, can for example be made a distinction by way of different wave length is set etc..
Finally, the situation that positioner for rotation shaft is made up of code-disc is introduced：Code-disc (English：Encoding disk) it is to survey
The digital encoder of angulation displacement, including contact encoder and the class of optical encoder two, 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 corresponding signal is generated, the control device in locating base station 20 can control sychronisation to generate according to the signal and send same
Step signal, just repeats no more herein.
Certainly, at one ideally, if time all same in location equipment 10 and locating base station 20, need not
Locating base station 20 generates synchronizing signal, and three transmission time points of laser scanning signal, Yi Jiding are sent according to locating base station 20
Position equipment receives the reception time point of laser scanning signal, that is, can determine position of the location equipment 10 relative to locating base station 20
Put, just repeat no more herein.
After location equipment 10 and locating base station 20 has been introduced, in ensuing part, the present embodiment will be introduced and carried
How the space positioning system of confession is specifically positioned, and the data processing equipment 30 in the present embodiment passes through laser scanning principle
Positioned：
Laser Measuring orientation principle：Assuming that laser scanning signal presses θ/second angular speed scan, the timing since position is started, from
It is t second that laser scanning signal enabling is positioned the time that equipment 10 receives to laser scanning signal, then from laser scanning letter
The original position of number corresponding plane of scanning motion touches the deflection angle δ=θ * t of location equipment 10 to the plane of scanning motion.By two
Individual direction laser is strafed, you can accurate to determine direction vector of the positioning terminal relative to base station；
Specifically, by taking No. 01 infrared light sensor in location equipment 10 as an example, if the point is p0, it is assumed that positioning base
The rotary shaft 202 on 20 of standing is constant to be carried out rotation and strafes with θ angular speed, determines the calculating of positions of the p0 relative to locating base station 20
Method is as follows：
First laser scanner 203 sends first laser scanning signal after synchronizing signal is received, when recording transmission
Between point, until No. 01 light sensor in location equipment 10 is swept by corresponding first plane of scanning motion of first laser scanner 203
Retouch, namely location equipment 10 receives the first laser scanning signal, records reception time point, setting first laser scanning
The difference for sending time point and receiving between time point of signal is t1, then the deflection angle α for obtaining=θ * t1 are to be swept from first
The original position for retouching plane touches the deflection angle of p0 points to first plane of scanning motion；
When similarly, by recording the transmission time point of the second scanning signal that second laser scanner 204 sends and receiving
Between point, set second laser scanning signal transmission time point and receive time point between difference be t2, the deflection angle of acquisition
Degree β=θ * t2 are the deflection angle for touching p0 points to second plane of scanning motion from the original position of second plane of scanning motion；
When similarly, by recording the transmission time point of the 3rd scanning signal that the 3rd laser scanner 205 sends and receiving
Between point, set the 3rd laser scanning signal send time point and receive time point between difference as t3, the deflection angle of acquisition
Degree γ=θ * t3 are the deflection angle for touching p0 points to the 3rd plane of scanning motion from the original position of the 3rd plane of scanning motion.
So, it is known that p0 points are relative to three the three of the original position of laser scanning plane azimuths, while three are swashed
Optical scanning plane does not intersect at the same point in rotary shaft, using three azimuths as constraint, you can in the hope of p0 points relative to
The position of locating base station 20, specific mathematic calculation has various, just repeats no more herein.
As can be seen that because the precision of laser measurement is in grade, and locating speed is in Millisecond, so positioning precision
All greatly improved compared to prior art with locating speed, realize precisely and rapidly realize sterically defined technique effect.
In actual applications, data processing equipment 30 can physically be integrated in location equipment 10 or locating base station 20
On, or be individually present, it is not limited herein.
Knowable to introduction based on preceding sections, by a locating base station 20 in the present embodiment, i.e., omnidirectional can be realized
The effect of positioning, namely in a space, by single locating base station 20, it becomes possible to realize to location equipment 10 within this space
Positioning.
The present embodiment also provides a kind of space-location method, and the method includes：
First, locating base station drives first laser scanner, second laser scanner and the 3rd to swash by a rotary shaft
Optical scanner is rotated, and sends first laser scanning signal, second laser scanning signal and the 3rd laser scanning signal, the
Corresponding first scan line of one laser scanning signal, corresponding second scan line of second laser scanning signal and the 3rd laser scanning
The corresponding three scan line of signal is not orthogonal to rotary shaft, and first plane of scanning motion, the second scanning that the first scan line is formed
The same point that the 3rd plane of scanning motion that second plane of scanning motion and three scan line that line is formed are formed is not intersected in rotary shaft；
Location equipment is received first laser scanning signal, second laser scanning signal and the 3rd and is swashed by light sensor
Optical scanning signal；
Data processing equipment is according to first laser scanning signal, second laser scanning signal and the 3rd laser scanning signal
Send time point and receive time point, determine position of the location equipment relative to locating base station.
In specific implementation process, first laser scanner, second laser are driven by a rotary shaft in locating base station
Scanner and the 3rd laser scanner are rotated, and send first laser scanning signal, second laser scanning signal and the 3rd
Before laser scanning signal, method also includes：
Locating base station sends synchronous optical signal and synchronous radiofrequency signal to location equipment；
Location equipment is when synchronous optical signal is received, if receiving synchronous radiofrequency signal simultaneously, by synchronous optical signal
Rising edge as synchronization point.
The carrying out practically process of the space-location method that the present embodiment is provided has been carried out detailed in preceding sections
Introduce, it is succinct for specification herein, just repeat no more.
One or more technical scheme in the utility model embodiment, at least has the following technical effect that or excellent
Point：
Technical scheme in the present embodiment make use of light along the characteristic of straightline propagation, according to three laser scanning signals come really
Position of the location equipment 10 relative to locating base station 20 is determined, because the precision of laser measurement exists in grade, and locating speed
Millisecond, so positioning precision and locating speed are all greatly improved compared to prior art, realizes precisely and rapidly realizes
Sterically defined technique effect.
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine by any way.
Any feature disclosed in this specification (including any accessory claim, summary and accompanying drawing), except non-specifically is chatted
State, can alternative features equivalent by other or with similar purpose replaced.I.e., unless specifically stated otherwise, each feature
It is an example in a series of equivalent or similar characteristics.
The utility model is not limited to foregoing specific embodiment.The utility model expands to any in this specification
The new feature of middle disclosure or any new combination, and disclose any new method or process the step of or any new group
Close.
Claims (15)
1. a kind of location equipment, it is characterised in that including：
Housing；
Light sensor, is arranged on the housing.
2. location equipment as claimed in claim 1, it is characterised in that the housing is specially spherical shell.
3. location equipment as claimed in claim 1, it is characterised in that the orientation range of the location equipment is A；
The beam reception scope of each light sensor is B, at least provided with the M light sensor on the housing
Device, M is obtained to be rounded up to A/B.
4. location equipment as claimed in claim 3, it is characterised in that the receiving plane of the M light sensor is evenly distributed on
On the housing.
5. location equipment as claimed in claim 1, it is characterised in that be additionally provided with optical filter on the light sensor.
6. location equipment as claimed in claim 1, it is characterised in that the light sensor is photodiode, photosensitive three pole
Pipe or silicon photocell.
7. location equipment as claimed in claim 1, it is characterised in that the location equipment also includes rf signal reception device,
The rf signal reception device is arranged in the housing.
8. location equipment as claimed in claim 1, it is characterised in that the location equipment also includes motion sensor.
9. a kind of locating base station, it is characterised in that including：
Base；
Rotary shaft, is arranged on the base；
First laser scanner, is arranged at the first position of the rotary shaft, and the first of the first laser scanner outgoing sweeps
Retouch line and form first plane of scanning motion；
Second laser scanner, is arranged at the second place of the rotary shaft, and the second of the second laser scanner outgoing sweeps
Retouch line and form second plane of scanning motion；
3rd laser scanner, is arranged at the 3rd position of the rotary shaft, and the 3rd of the 3rd laser scanner outgoing sweeps
Retouch line and form the 3rd plane of scanning motion；
Wherein, first plane of scanning motion, second plane of scanning motion and the 3rd plane of scanning motion do not intersect at the rotation
Same point on axle, and first scan line, second scan line and the three scan line are not orthogonal to the rotation
Rotating shaft.
10. locating base station as claimed in claim 9, it is characterised in that the laser scanning that the first laser scanner sends
The wavelength of signal is first wave length, and the wavelength of the laser scanning signal that the second laser scanner sends is second wave length, institute
The wavelength of the laser scanning signal that the 3rd laser scanner sends is stated for the 3rd wavelength, the first wave length, the second wave length
It is different between two with the 3rd wavelength.
11. locating base stations as claimed in claim 9, it is characterised in that the first laser scanner, the second laser are swept
It is same LASER Light Source to retouch the light source of device and the 3rd laser scanner, and the laser of the LASER Light Source generation passes through light splitting
Device is by beam splitting to the first laser scanner, the second laser scanner and the 3rd laser scanner.
12. locating base stations as claimed in claim 9, it is characterised in that the locating base station also includes sychronisation, described same
Step device is arranged on the base, and the sychronisation is used to send synchronizing signal.
13. locating base stations as claimed in claim 12, it is characterised in that the sychronisation is specially LED array and/or penetrates
Frequency signal generator.
14. locating base stations as claimed in claim 9, it is characterised in that the locating base station also includes positioner for rotation shaft,
The positioner for rotation shaft is arranged on the base.
A kind of 15. space positioning systems, it is characterised in that including：
Location equipment as described in any claim in claim 1-8；
Locating base station as described in any claim in claim 9-14；
Data processing equipment, for the three laser scanning signals sent according to the locating base station, determines the location equipment
Relative to the position of the locating base station.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620681274.6U CN206223965U (en) | 2016-06-30 | 2016-06-30 | A kind of location equipment, locating base station and space positioning system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620681274.6U CN206223965U (en) | 2016-06-30 | 2016-06-30 | A kind of location equipment, locating base station and space positioning system |
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| CN206223965U true CN206223965U (en) | 2017-06-06 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106199517A (en) * | 2016-06-30 | 2016-12-07 | 成都理想境界科技有限公司 | A kind of location equipment, locating base station, space positioning system and method |
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2016
- 2016-06-30 CN CN201620681274.6U patent/CN206223965U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106199517A (en) * | 2016-06-30 | 2016-12-07 | 成都理想境界科技有限公司 | A kind of location equipment, locating base station, space positioning system and method |
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