CN206258572U - A kind of signal receiving device - Google Patents

A kind of signal receiving device Download PDF

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Publication number
CN206258572U
CN206258572U CN201621143121.2U CN201621143121U CN206258572U CN 206258572 U CN206258572 U CN 206258572U CN 201621143121 U CN201621143121 U CN 201621143121U CN 206258572 U CN206258572 U CN 206258572U
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CN
China
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signal
moment
laser
computation subunit
receiving
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CN201621143121.2U
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Chinese (zh)
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张道宁
赵曦
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北京凌宇智控科技有限公司
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Priority to CN201621143121.2U priority Critical patent/CN206258572U/en
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Abstract

A kind of signal receiving device, uses with sender unit collocation, and sender unit is used to send distance measuring signal, first laser planed signal is sent around the rotation of the first rotary shaft and send second laser planed signal around the rotation of the second rotary shaft;The signal receiving device includes:Ranging signal reception unit, laser plane signal receiving unit and signal processing unit;Signal processing unit connects ranging signal reception unit and laser plane signal receiving unit;Ranging signal reception unit, for detecting distance measuring signal;Laser plane signal receiving unit, for detecting first laser planed signal and second laser planed signal.

Description

A kind of signal receiving device

Technical field

The utility model is related to location technology, espespecially a kind of signal receiving device.

Background technology

With the development of mobile device and network technology, location-based service is more and more important in the life of people.Current Positioning can be divided into outdoor positioning and indoor positioning according to the difference of positioning region.Wherein, outdoor positioning mainly passes through satellite Alignment system realizes that current outdoor positioning technology can well meet the demand of outdoor positioning.However, being determined indoors During position, due to being limited by conditions such as positioning time, positioning precision and indoor complex environments, outdoor positioning technology is applied to room The demand of user cannot be met during interior positioning.

In order to realize indoor positioning, relevant programme for example passes through indoor GPS (GPS, Global Positioning System), infrared ray, bluetooth positioning, WIFI positioning, RFID (Radio Frequency Identification, radio frequency identification) positioning, binocular positioning etc. technology carry out location aware.However, related indoor positioning scheme It is relatively costly, device configuration is complicated and positioning precision is not enough, it is impossible to meet people virtual reality interaction, augmented reality hand over Mutually, the demand of the aspect such as Indoor Robot navigation.

Utility model content

The following is the general introduction of the theme to describing in detail herein.This general introduction is not to limit the protection model of claim Enclose.

The utility model embodiment provides a kind of signal receiving device, can realize indoor accurate position.

The utility model embodiment provides a kind of signal receiving device, the signal receiving device and sender unit Collocation is used, and the sender unit is used to send distance measuring signal, sends first laser plane around the rotation of the first rotary shaft Signal and around the second rotary shaft rotation send second laser planed signal;The signal receiving device includes:Distance measuring signal Receiving unit, laser plane signal receiving unit and signal processing unit;Signal processing unit connects ranging signal reception list Unit and laser plane signal receiving unit;Ranging signal reception unit, for detecting distance measuring signal;Laser plane signal is received Unit, for detecting first laser planed signal and second laser planed signal.

Wherein, the signal receiving device also includes the first communication unit, and first is sent for obtaining sender unit The first of laser plane signal is put down with reference to moment, the second reference moment for sending second laser planed signal, the 3rd laser of transmission The 3rd of face signal refers to the moment.

Wherein, the signal processing unit, including:First computation subunit, the second computation subunit and the 3rd calculate Subelement, the 3rd computation subunit connection the first computation subunit and the second computation subunit;

First computation subunit, when being referred to for sending the first of first laser planed signal according to sender unit Second for carving, sending second laser planed signal detects the of first laser planed signal with reference to moment, signal receiving device One moment, the second moment for detecting second laser planed signal, determine first anglec of rotation and second anglec of rotation;

Second computation subunit, moment and signal are referred to for sending the 3rd of distance measuring signal according to sender unit Reception device detects the 3rd moment of distance measuring signal, determines the distance between signal receiving device and sender unit;

3rd computation subunit, for according to first anglec of rotation, second anglec of rotation and the distance, Determine three-dimensional coordinate of the signal receiving device in three-dimensional measurement coordinate system;

Wherein, first anglec of rotation is first laser planed signal described in first moment relative to the first rotation Axle and the second rotary shaft determine the angle of plane, and second anglec of rotation is second laser plane described in second moment Signal determines the angle of plane relative to the first rotary shaft and the second rotary shaft.

Wherein, the ranging signal reception unit, including multiple ranging signal reception devices;The laser plane signal is received Unit includes multiple photoelectric sensor circuits.

Wherein, the signal processing unit, including:First signal controller, first signal controller, including:

First record subelement, for each road distance measuring signal, every letter of first laser plane all the way respectively to receiving Number and processed per second laser planed signal all the way, record receive each road distance measuring signal moment, receive it is every The moment of first laser planed signal and receive moment per second laser planed signal all the way all the way;

4th computation subunit, for processing the moment for receiving each road first laser planed signal, obtains First moment;

5th computation subunit, for processing the moment for receiving each road second laser planed signal, obtains Second moment;

6th computation subunit, for processing the moment for receiving each road distance measuring signal, obtained for the 3rd moment;

7th computation subunit, for according to the first moment, the second moment and the 3rd moment, calculating signal receiving device Three-dimensional coordinate in three-dimensional measurement coordinate system;

First record subelement connects the 4th computation subunit, the 5th computation subunit and the 6th computation subunit;The Seven computation subunits connect the 4th computation subunit, the 5th computation subunit and the 6th computation subunit.

Wherein, the signal processing unit, including:Multiple signals process circuit and secondary signal controller, described Binary signal controller connects the multiple signals process circuit;

The multiple signals process circuit, for each road distance measuring signal, every first laser all the way respectively to receiving Planed signal and every second laser planed signal all the way are processed, and result is notified into the secondary signal is controlled Device;

The secondary signal controller, including:

Second record subelement, for the result notified according to the multiple signals process circuit, record is received At the moment of each road distance measuring signal, receive per moment of first laser planed signal all the way and receive and swash per all the way second The moment of optical plane signal;

8th computation subunit, for processing the moment for receiving each road first laser planed signal, obtains First moment;

9th computation subunit, for processing the moment for receiving each road second laser planed signal, obtains Second moment;

Tenth computation subunit, for processing the moment for receiving each road distance measuring signal, obtained for the 3rd moment;

11st computation subunit, dress is received for according to the first moment, the second moment and the 3rd moment, calculating signal Put the three-dimensional coordinate in three-dimensional measurement coordinate system;

Second record subelement connects the 8th computation subunit, the 9th computation subunit and the tenth computation subunit;The 11 computation subunits connect the 8th computation subunit, the 9th computation subunit and the tenth computation subunit.

Wherein, the multiple signals process circuit, including:Operational amplification circuit, filter circuit and voltage comparator circuit;

Input connection the ranging signal reception unit and the laser plane signal of the operational amplification circuit Receiving unit, for being input into distance measuring signal, all the way first laser planed signal or second laser planed signal all the way all the way;Institute The output end for stating operational amplification circuit connects the input of the filter circuit, and the output end of the filter circuit connects the electricity The output end of the input of comparison circuit, the voltage comparator circuit is pressed to connect the secondary signal controller.

The utility model embodiment also provides a kind of signal receiving device, including:

Telecommunication circuit, control circuit, one or more ranging signal reception devices, one or more photoelectric sensor circuits;Institute Ranging signal reception device is stated for detecting distance measuring signal, the photoelectric sensor circuit is used to detect laser plane signal;The control Circuit processed connects the ranging signal reception device, the photoelectric sensor circuit and the telecommunication circuit.

Wherein, the signal receiving device also includes carrier, and the carrier includes a receiver, outside the receiver Multiple receiving portions are provided with surface, for placing the multiple ranging signal reception device and multiple photoelectric sensor circuits;Institute State telecommunication circuit and the control circuit is arranged in the carrier.

Wherein, the receiver is coniform, hemispherical or spherical.

Compared with correlation technique, the signal receiving device that the utility model embodiment is provided includes:Ranging signal reception list Unit, laser plane signal receiving unit and signal processing unit;Signal processing unit connect ranging signal reception unit and Laser plane signal receiving unit;Ranging signal reception unit, for detecting distance measuring signal;Laser plane signal receiving unit, For detecting first laser planed signal and second laser planed signal.In this way, the utility model embodiment can be based on survey Indoor positioning is carried out away from signal, first laser planed signal and second laser planed signal, and positioning precision is higher, so that full Demand of the sufficient people at aspects such as virtual reality interaction, augmented reality interaction, Indoor Robot navigation.And, the present embodiment is carried The signal receiving device cost of confession is relatively low, be easily achieved miniaturization, expands application scenarios.

Further, in the utility model embodiment, signal receiving device can include multiple ranging signal reception devices with And multiple photoelectric sensor circuits, it is respectively used to detection multichannel distance measuring signal, multichannel first laser planed signal and multichannel second Laser plane signal, signal receiving device can carry out fusion treatment to the moment for detecting every road first laser planed signal, Obtained for the first moment, the moment to detecting every road second laser planed signal carries out fusion treatment, obtains for the second moment, to inspection The moment for measuring every road distance measuring signal carries out fusion treatment, obtains for the 3rd moment.In this way, by detect multiple signals when After quarter carries out fusion treatment, then location Calculation is carried out, realize that the omnidirectional of signal receives, reached the effective interior omnidirectional of stabilization and determine Position, it is to avoid positioning is lost.

Other features and advantages of the utility model will illustrate in the following description, also, partly from specification In become apparent, or understood by implementing the utility model.The purpose of this utility model and other advantages can pass through Specifically noted structure is realized and obtained in specification, claims and accompanying drawing.

Brief description of the drawings

Accompanying drawing is used for providing further understanding technical solutions of the utility model, and constitutes a part for specification, It is used to explain the technical solution of the utility model together with embodiment of the present utility model, does not constitute to the utility model technology The limitation of scheme.

Fig. 1 is the schematic diagram of the signal receiving device of the utility model embodiment one;

Fig. 2 (a) to Fig. 2 (c) is the alternative construction schematic diagram of the carrier of the signal receiving device of the utility model embodiment;

Fig. 3 is the schematic diagram of the three-dimensional fix system of the utility model embodiment two;

The schematic diagram that Fig. 4 is calculated for the three-dimensional coordinate of the utility model embodiment;

Fig. 5 is the workflow diagram of the signal receiving device of the utility model embodiment three.

Specific embodiment

Embodiment of the present utility model is described in detail below in conjunction with accompanying drawing, it will be appreciated that described below Embodiment be merely to illustrate and explain the utility model, be not used to limit the utility model.It should be noted that not rushing In the case of prominent, the feature in embodiment and embodiment in the utility model can mutually be combined.

Embodiment one

The signal receiving device that the present embodiment is provided, uses with sender unit collocation, and sender unit is used to send out Distance measuring signal is sent, first laser planed signal is sent around the rotation of the first rotary shaft and sends the around the rotation of the second rotary shaft Dual-laser planed signal.

It should be noted that the first rotary shaft includes situations below with plane determined by the second rotary shaft:When the first rotation When rotating shaft can intersect with the second rotary shaft in a plane, the first rotary shaft is with plane determined by the second rotary shaft The plane that first rotary shaft is uniquely determined with the second rotary shaft;When the first rotary shaft and the second rotary shaft can not be in a planes When intersecting, the first rotary shaft and plane determined by the second rotary shaft refer to a pair that the first rotary shaft and the second rotary shaft determine it is flat Row plane.

Wherein, in unique plane determined by the first rotary shaft and the second rotary shaft or a pair of parallel plane, the first rotation Angle between rotating shaft and the second rotary shaft is predetermined angle.Predetermined angle can be pre-set by user.It is preferred that first Rotary shaft is mutually perpendicular to the second rotary shaft.

As shown in figure 1, the signal receiving device that the present embodiment is provided, including:Ranging signal reception unit, laser plane letter Number receiving unit and signal processing unit;Signal processing unit connects ranging signal reception unit and laser plane signal connects Receive unit;

Ranging signal reception unit, for detecting distance measuring signal;Laser plane signal receiving unit, for detecting that first swashs Optical plane signal and second laser planed signal.

Wherein, signal processing unit, detects the first moment of first laser planed signal, detects second for basis Second moment of laser plane signal and the 3rd moment of distance measuring signal is detected, calculate signal receiving device in three-dimensional measurement Three-dimensional coordinate in coordinate system.

Wherein, signal receiving device also includes the first communication unit, and first laser is sent for obtaining sender unit The first of planed signal is with reference to moment, the second reference moment for sending second laser planed signal, transmission the 3rd laser plane letter Number the 3rd refer to the moment.

In some implementations, signal processing unit, for after with the sender unit synchronous base moment, root According to the first moment for detecting first laser planed signal, the second moment for detecting second laser planed signal and detect At 3rd moment of distance measuring signal, calculate three-dimensional coordinate of the signal receiving device in three-dimensional measurement coordinate system.

In some implementations, the first communication unit of signal receiving device receives the time that sender unit sends Synchronizing signal, will receive moment of time synchronizing signal as reference instant.Connect by synchronizing signal dispensing device and signal The reference instant of receiving apparatus, it is ensured that the clock synchronization of sender unit and signal receiving device, in terms of ensuring subsequently to carry out Calculate and be based on identical benchmark, so as to improve the accuracy of three-dimensional coordinate calculating.

In some implementations, signal processing unit, can be used for calculating signal receiving device in the following manner and exists Three-dimensional coordinate in three-dimensional measurement coordinate system:

Send first laser planed signal according to sender unit first is believed with reference to moment, transmission second laser plane Number second detect the first moment of first laser planed signal with reference to moment, signal receiving device, detect second laser At second moment of planed signal, determine first anglec of rotation and second anglec of rotation;

Send distance measuring signal according to sender unit the 3rd detects range finding with reference to moment and signal receiving device At 3rd moment of signal, determine the distance between signal receiving device and sender unit;

According to first anglec of rotation, second anglec of rotation and the distance, determine that signal receiving device exists Three-dimensional coordinate in three-dimensional measurement coordinate system;

Wherein, first anglec of rotation is first laser planed signal described in first moment relative to the first rotation Axle and the second rotary shaft determine the angle of plane, and second anglec of rotation is second laser plane described in second moment Signal determines the angle of plane relative to the first rotary shaft and the second rotary shaft.

In some implementations, signal processing unit, can include:First computation subunit, the second computation subunit And the 3rd computation subunit, the 3rd computation subunit connection the first computation subunit and the second computation subunit;

First computation subunit, when being referred to for sending the first of first laser planed signal according to sender unit Second for carving, sending second laser planed signal detects the of first laser planed signal with reference to moment, signal receiving device One moment, the second moment for detecting second laser planed signal, determine first anglec of rotation and second anglec of rotation;

Second computation subunit, moment and signal are referred to for sending the 3rd of distance measuring signal according to sender unit Reception device detects the 3rd moment of distance measuring signal, determines the distance between signal receiving device and sender unit;

3rd computation subunit, for according to first anglec of rotation, second anglec of rotation and the distance, Determine three-dimensional coordinate of the signal receiving device in three-dimensional measurement coordinate system;

Wherein, first anglec of rotation is first laser planed signal described in first moment relative to the first rotation Axle and the second rotary shaft determine the angle of plane, and second anglec of rotation is second laser plane described in second moment Signal determines the angle of plane relative to the first rotary shaft and the second rotary shaft.

Wherein, the moment is referred to described first, the first laser planed signal that sender unit sends is relative to first Rotary shaft determines the angle of plane for first refers to angle with the second rotary shaft, and the moment is referred to described second, and signal sends The second laser planed signal that device sends determines that the angle of plane is second relative to the first rotary shaft and the second rotary shaft With reference to angle.

In some implementations, the first computation subunit of the signal processing unit of signal receiving device can be used for leading to Cross in the following manner and determine first anglec of rotation and second anglec of rotation:

Send first laser planed signal according to sender unit first is examined with reference to moment and signal receiving device The first moment of first laser planed signal is measured, first moment and described first is determined with reference to the relation between the moment, According to first moment and first with reference to the relation between the moment and described first with reference to moment corresponding first reference angle Degree, determines first anglec of rotation;

Send second laser planed signal according to sender unit second is examined with reference to moment and signal receiving device The second moment of second laser planed signal is measured, second moment and described second is determined with reference to the relation between the moment, According to second moment and second with reference to the relation between the moment and described second with reference to moment corresponding second reference angle Degree, determines second anglec of rotation.

In some implementations, first angle can be referred to equal to second with reference to angle.However, the present embodiment to this simultaneously Do not limit.

In some implementations, the second computation subunit of the signal processing unit of signal receiving device can be used for leading to Cross in the following manner and determine the distance between signal receiving device and sender unit:

Send distance measuring signal according to sender unit the 3rd detects range finding with reference to moment and signal receiving device At 3rd moment of signal, transmission duration of the distance measuring signal from sender unit to signal receiving device is determined, according to the biography Defeated duration and the aerial transmission speed of distance measuring signal, determine between signal receiving device and sender unit away from From.

In some implementations, distance measuring signal can be ultrasonic signal.However, the utility model is not limited this It is fixed.In other implementations, distance measuring signal for example can be laser beam signal or infrared signal.

In some implementations, when the three-dimensional measurement coordinate system is cartesian coordinate system, with first rotary shaft It is X-axis, during with second rotary shaft as Y-axis, the 3rd computation subunit of signal processing unit can be solved according to following formula To three-dimensional coordinate of the signal receiving device in the three-dimensional measurement coordinate system:

X0 2+Y0 2+Z0 2=L2

Y0× tan α=X0× tan β=Z0,

Wherein, (X0, Y0, Z0) three-dimensional coordinate of the signal receiving device in three-dimensional measurement coordinate system is represented, L connects for signal The distance between receiving apparatus and sender unit, α are first anglec of rotation, and β is second anglec of rotation.

In some implementations, the ranging signal reception unit, can include multiple ranging signal reception devices;It is described Laser plane signal receiving unit includes multiple photoelectric sensor circuits.

In some implementations, the signal receiving device can also include:Carrier, for carrying the multiple range finding Signal receiver and the multiple photoelectric sensor circuit so that the multiple ranging signal reception device towards different directions and So that the multiple photoelectric sensor circuit is towards different directions.Below with ranging signal reception device as ultrasonic transducer, light inductance Circuit is answered for as a example by silicon photocell.Wherein, the structure of carrier can be as shown in Fig. 2 (a) it is coniform, as shown in Fig. 2 (b) It is hemispherical or spherical as shown in Fig. 2 (c).It should be noted that in Fig. 2 (a), Fig. 2 (b) and Fig. 2 (c), left hand view It is top view, right part of flg is stereogram, in figure, circular depressed position can for example place ultrasonic transducer, square recessed position Silicon photocell can for example be placed.So so that ultrasonic transducer and silicon photocell can be towards different directions, then by super The signal receiving angle configuration of sonic transducer and silicon photocell itself, realizes that ultrasonic signal and the omnidirectional of lasing area signal connect Receive.So, ultrasonic transducer can receive when signal receiving device is moved with any attitude super with silicon photocell Sound wave and lasing area signal.However, the utility model is not limited to the above-mentioned form enumerated for the structure of carrier.

In some implementations, the signal processing unit can include:First signal controller, the control of the first signal Device, including:

First record subelement, for each road distance measuring signal, every letter of first laser plane all the way respectively to receiving Number and processed per second laser planed signal all the way, record receive each road distance measuring signal moment, receive it is every The moment of first laser planed signal and receive moment per second laser planed signal all the way all the way;

4th computation subunit, for presetting amalgamation mode to receiving each road first laser planed signal according to first Moment processed, obtained for the first moment;5th computation subunit, for every to receiving according to the second default amalgamation mode All the way the moment of second laser planed signal processed, obtained for the second moment;6th computation subunit, for pre- according to the 3rd If amalgamation mode was processed the moment for receiving each road distance measuring signal, obtained for the 3rd moment;7th computation subunit, uses According to the first moment, the second moment and the 3rd moment, three-dimensional of the signal receiving device in three-dimensional measurement coordinate system is calculated Coordinate;

First record subelement connects the 4th computation subunit, the 5th computation subunit and the 6th computation subunit;The Seven computation subunits connect the 4th computation subunit, the 5th computation subunit and the 6th computation subunit.Wherein, the first signal Controller can be integrated digital circuit.

Wherein, the first default amalgamation mode, the second default amalgamation mode and the 3rd default amalgamation mode can with identical, or Person is identical two-by-two, or different.First default amalgamation mode, the second default amalgamation mode and the 3rd default amalgamation mode can be with Include but is not limited to respectively:Nearest-neighbor method, generalized correlation method, gaussian sum method, optimal Bayesian Method, probability data interconnection method, The filtering of symmetrical measurement equation, weighted average, geometric average, arithmetic average, square mean, harmonic average.

In some implementations, the signal processing unit can include:Multiple signals process circuit and the second letter Number controller, the secondary signal controller connects the multiple signals process circuit;

The multiple signals process circuit, for each road distance measuring signal, every first laser all the way respectively to receiving Planed signal and every second laser planed signal all the way are processed, and result is notified into the secondary signal is controlled Device;

The secondary signal controller, including:

Second record subelement, for the result notified according to the multiple signals process circuit, record is received At the moment of each road distance measuring signal, receive per moment of first laser planed signal all the way and receive and swash per all the way second The moment of optical plane signal;

8th computation subunit, for presetting amalgamation mode to receiving each road first laser planed signal according to first Moment processed, obtained for the first moment;

9th computation subunit, for presetting amalgamation mode to receiving each road second laser planed signal according to second Moment processed, obtained for the second moment;

Tenth computation subunit, for entering to the moment for receiving each road distance measuring signal according to the 3rd default amalgamation mode Row treatment, obtained for the 3rd moment;

11st computation subunit, dress is received for according to the first moment, the second moment and the 3rd moment, calculating signal Put the three-dimensional coordinate in three-dimensional measurement coordinate system;

Second record subelement connects the 8th computation subunit, the 9th computation subunit and the tenth computation subunit;The 11 computation subunits connect the 8th computation subunit, the 9th computation subunit and the tenth computation subunit.Wherein, the second letter Number controller is, for example, singlechip controller.

Wherein, the multiple signals process circuit, including:Operational amplification circuit, filter circuit and voltage comparator circuit; Input connection the ranging signal reception unit and the laser plane signal receiving unit of the operational amplification circuit, For being input into distance measuring signal, all the way first laser planed signal or second laser planed signal all the way all the way;The computing is put The output end of big circuit connects the input of the filter circuit, and the output end connection voltage ratio of the filter circuit is more electric The input on road, the output end of the voltage comparator circuit connects the secondary signal controller.

Wherein, multiple signals process circuit can include operational amplification circuit, a filter circuit and an electricity Pressure comparison circuit, now, the every ultrasonic signal all the way or every lasing area signal all the way for receiving can be put by the computing Big circuit, the filter circuit and the voltage comparator circuit are exported after being respectively processed and give secondary signal controller.Or, it is many Road signal processing circuit can include multiple operational amplification circuits, multiple filter circuits and multiple voltage comparator circuits, respectively Correspondence multiple ultrasonic transducers and multiple silicon photocell, now, receive per ultrasonic signal all the way or per swashing all the way Smooth surface signal, exported after being processed by corresponding operational amplification circuit, filter circuit and voltage comparator circuit to Secondary signal controller.However, the present embodiment is not limited this.

Wherein, due to ultrasonic transducer receives the voltage signal that exports after ultrasonic signal and silicon photocell receive it is sharp The current signal exported after smooth surface signal is all very faint signal, therefore, the first signal controller is needed to these signals It is amplified, filters, reuses by comparing with threshold voltage again, or, multiple signals process circuit can be to these signals It is amplified, filters, is exported after comparing with threshold voltage give secondary signal controller again.Wherein, each ultrasonic transduction Device and each silicon photocell output signal be required for respectively through amplify, filtering and voltage ratio compared with, obtain low and high level, External interrupt is produced to record under same time reference in the first signal controller or secondary signal controller by low and high level Not in the same time.Afterwards, the first signal controller or secondary signal controller further according to get off per interruption logging all the way when Carving data carries out fusion calculation, so as to obtain accurate three-dimensional coordinate.

Embodiment two

As shown in figure 3, the three-dimensional fix system of the present embodiment, including:Signal receiving device and signal send dress Put.Sender unit as three-dimensional fix reference coordinate basic point, signal receiving device is used as point to be determined.

Wherein, sender unit is used to send distance measuring signal to signal receiving device, is rotated around the first rotary shaft and sent out Send first laser planed signal and send second laser planed signal around the rotation of the second rotary shaft;Signal receiving device is used for Detection distance measuring signal, first laser planed signal and second laser planed signal.It is preferred that sender unit be additionally operable to Signal receiving device sends time synchronizing signal, and signal receiving device is additionally operable to receive time synchronized letter from sender unit Number, so as to realize the synchronous base moment between sender unit and signal receiving device.It is preferred that the first rotary shaft and the Two rotary shafts are mutually perpendicular to.

Below with sender unit as locating base station, signal receiving device be marking arrangement to be positioned as a example by said It is bright.Wherein, the number of marking arrangement to be positioned for the locating base station of at least one, i.e., can be at least one mark to be positioned Equipment provides location data.

As shown in figure 3, locating base station (sender unit) includes:Second communication unit, controller, two rotary lasers Flat emitters (rotary laser flat emitters A and B) and transmitting ranging signals device (for example, ultrasonic transmitter).Wherein, Second communication unit is used to realize and the information between marking arrangement to be positioned communicates, for example can be to marking arrangement to be positioned (signal receiving device) sends time synchronizing signal, for the synchronous base moment;Rotary laser flat emitters A is used for around the The rotation of one rotary shaft sends first laser planed signal;Rotary laser flat emitters B is used for around perpendicular to the first rotary shaft The second rotary shaft rotation send second laser planed signal;Transmitting ranging signals device is used to send distance measuring signal;Controller is used In the x time of control time synchronizing signal, distance measuring signal, first laser planed signal and second laser planed signal.Under Face transmitting ranging signals device is illustrated by taking ultrasonic transmitter as an example.

Alternatively, the first rotary shaft can intersect with the second rotary shaft.However, the present embodiment is not limited this.Yu Shi In the application of border, the first rotary shaft can be non-intersect with the second rotary shaft, for example, a pair that the first rotary shaft determines with the second rotary shaft Vertical range between parallel plane is in corresponding preset range.

Alternatively, ultrasonic transmitter is located at the point of intersection of the first rotary shaft and the second rotary shaft.However, the present embodiment pair This is not limited.In practical application, ultrasonic transmitter can be located at the near intersections (example of the first rotary shaft and the second rotary shaft Such as, in the preset range with the intersection point as the centre of sphere).Additionally, when the first rotary shaft and the second rotary shaft are non-intersect, ultrasonic wave hair Emitter can be located at the first point of intersection or nearby (for example, with the preset range of first intersection point as the centre of sphere in), and first intersection point is The intersection point of straight line and the first rotary shaft perpendicular to the first rotary shaft and parallel to the second rotary shaft;Or, ultrasonic transmitter The second point of intersection or nearby (for example, with the preset range of second intersection point as the centre of sphere in) is can be located at, second intersection point is vertical The intersection point of straight line and the second rotary shaft in the second rotary shaft and parallel to the first rotary shaft.

Alternatively, the second communication unit is, for example, radio communication line, or a, or IC The communication module of (Integrated Circuit, integrated circuit) chip and antenna composition.However, the present embodiment is not limited this It is fixed.In other embodiment, the second communication unit is, for example, light emitting diode (LED, Light Emitting Diode), is passed through Optical signal is sent, for time synchronized.

Alternatively, each rotary laser flat emitters (for example, rotary laser flat emitters A or B) can include one Individual generating laser, a lens and a motor (for example, dc motor).For example, generating laser can be set On motor, beam of laser can be transmitted into generating laser the lens on motor rotary shaft along the rotating shaft of motor, The Shu Jiguang is by one laser plane of lens forming, motor drive lens rotation, so as to form rotary laser plane.Or Person, generating laser can be not arranged on motor, and beam of laser can be transmitted into motor rotary shaft by generating laser On minute surface, minute surface can make laser beam turn into a lasing area for following motor rotation by laser reflection and by lens.So And, the present embodiment is not limited this.In other implementations, lens can not be used, and other can be with to use grating etc. Form the optical element of planed signal.

When motor rotation, controller (for example, singlechip controller) can control the rotating speed of motor and swash The start and stop of optical transmitting set, make lasing area with certain inswept whole interior space of frequency.In two rotary laser flat emitters Two generating lasers be mutually perpendicular to install, two motor for forming scattering laser faces are also mutually perpendicular to install, and two The rotating shaft of motor can respectively be designated as X-axis (the first rotary shaft as the aforementioned) and Y-axis (the second rotary shaft as the aforementioned), X-axis Perpendicular to Y-axis.Motor in X-axis makes lasing area along the inswept space of X-direction, and the motor in Y-axis makes lasing area along Y Direction of principal axis is inswept space.It should be noted that being used to receive the laser plane letter of laser plane signal in signal receiving device Number receiving unit (for example, including silicon photocell) when synchronization can only receive beam of laser signal, lasing area in X-axis with Lasing area in Y-axis wants the time-division (TD, Time Division) to send, to allow laser plane signal receiving unit alternately Receive the lasing area on the lasing area and Y-axis in X-axis.

Wherein, rotating speed control and the start and stop of generating laser on motor can be (i.e. foregoing by singlechip controller Controller) complete.Can be by PID (ratio, integration, differential, Proportion, Integral, Derivative) algorithm Speed governing is carried out to motor, for example, can use increment type PID algorithm, the formula of the algorithm is as follows:

Δuk=A × ek-B×ek-1+C×ek-2

Wherein, ek、ek-1、ek-2It is the error term of continuous three times, A, B, C are weight coefficient, Δ ukIt is current delta.

By PID control, motor can cause lasing area according to the fixed inswept interior space of frequency.

Furthermore, it is possible to realize the start-up and shut-down control to generating laser by way of setting identification point on rotor. For example, after identification point on the motor for recognizing X-axis, starting the generating laser in X-axis and the laser hair closed in Y-axis Emitter, after identification point on the motor for recognizing Y-axis, starts the generating laser in Y-axis and the laser hair closed in X-axis Emitter.Motor can be controlled using Position Form PID algorithm so that identification point reaches specified location at the required moment. Position Form PID algorithmic formula is as follows:

Wherein, e () is error term, Kp、Ki、KdIt is PID coefficient, u (k) is current location.

While being controlled to motor and generating laser, singlechip controller can control the second communication unit Send time synchronizing signal (being used for the synchronous base moment) and start ultrasonic transmitter and send ultrasonic signal.For example, monolithic Machine controller can control the second communication unit to send time synchronizing signal at the t1 moment, and control ultrasonic transmitter is at the t2 moment (i.e. foregoing the 3rd refers to the moment) sends ultrasonic signal, and the rotary laser flat emitters A in control X-axis is at the t3 moment (as the aforementioned first refers to the moment) sends X-axis lasing area signal (first laser planed signal as the aforementioned), in control Y-axis Rotary laser flat emitters B sends Y-axis lasing area signal (as the aforementioned the at the t4 moment (as the aforementioned second refers to the moment) Dual-laser planed signal), wherein, the t1 moment can be earlier than the t2 moment, and the t2 moment can be earlier than the t3 moment, and the t3 moment can be earlier than The t4 moment.However, the utility model is not limited this.For example, the x time of above-mentioned signal can enter according to following condition Row is set:In a transmit cycle, the x time of time synchronizing signal is earlier than ultrasonic signal and lasing area signal X time, the x time of X-axis lasing area signal is different from the x time of Y-axis lasing area signal.It is preferred that first is synchronous Device, rotary laser flat emitters A, ultrasonic transmitter are in synchronization sending signal, rotary laser flat emitters B hairs The moment of the number of delivering letters is later than aforementioned instant.If the moment of ultrasonic transmitter sending signal is later than rotary laser flat emitters A The moment of sending signal, then the delay duration should be less than the duration that laser plane rotates a circle.

As shown in figure 3, marking arrangement (signal receiving device) to be positioned can include:First communication unit is (such as the electricity that communicates Road), signal processing unit (such as control circuit, can be singlechip controller or integrated digital circuit), laser plane signal Receiving unit (such as including one or more photoelectric sensor circuits, such as silicon photocell) and ranging signal reception unit (example As included one or more ranging signal reception devices, such as ultrasonic receiver).Wherein, the first communication unit be used for realize and Information communication between locating base station, for example, can receive time synchronizing signal, with same from the second communication unit of locating base station Step reference instant;Laser plane signal receiving unit is used to detect the first laser planed signal and second that locating base station sends Laser plane signal;Ranging signal reception unit is used to detect the distance measuring signal that locating base station sends.Distance measuring signal is with super below Illustrated as a example by acoustic signals.

Alternatively, the first communication unit is, for example, radio communication line, or, can be an IC chip and antenna sets Into communication module.However, the present embodiment is not limited this.In other embodiment, the first communication unit can also be received Optical signal carries out time synchronized.It should be noted that the first communication unit needed with the second communication unit it is corresponding, for example, when the When two communication units are radio communication line, the first communication unit is also radio communication line.In other words, the first communication unit Unit is launched and signal detection technique with the second communication unit using corresponding signal, to realize that locating base station sets with mark to be positioned Time synchronized between standby.

Alternatively, laser plane signal receiving unit includes a silicon photocell, for detecting laser plane signal.Range finding Signal receiving unit includes a ultrasonic receiver, for received ultrasonic signal.

In some implementations, signal receiving device also includes:Carrier, carrier includes a receiver, in receiver Outer surface be provided with two receiving portions, for placing ultrasonic receiver and silicon photocell, signal processing unit and first logical Letter unit is arranged at carrier inside;Signal processing unit connection ultrasonic receiver, silicon photocell and the first communication unit.

In the present embodiment, when three-dimensional fix system works, the second communication unit of locating base station is to be positioned Marking arrangement sends time synchronizing signal, with the synchronous base moment;The laser spots of the rotary laser flat emitters of locating base station It is bright, and the electric machine support drive lasing area rotation inside locating base station, constantly to surrounding space rotation transmitting laser plane signal; The ultrasonic transmitter of locating base station constantly sends ultrasonic signal to surrounding space, such as with the pulse frequency of 10Hz, 40KHz Modulating frequency send ultrasonic wave.In this way, locating base station can provide high accuracy, high-frequency, low prolong for marking arrangement to be positioned Slow location data.Meanwhile, the first communication unit of marking arrangement to be positioned can receive time synchronized letter from the second communication unit Number, with the synchronous base moment;Laser plane signal receiving unit when being swept to by laser plane signal, can record swept to when Carve;Ultrasonic receiver can record the moment for detecting ultrasonic signal when ultrasonic signal is detected.

Referring to Fig. 4, the calculating process of the three-dimensional coordinate carried out to signal receiving device is described in detail.

As shown in figure 4, being illustrated so that three-dimensional measurement coordinate system is as cartesian coordinate system as an example.Wherein, with the first rotation Axle is X-axis, is Y-axis with the second rotary shaft, and the ultrasonic transmitter position of locating base station is the original of three-dimensional measurement coordinate system Point O.However, the present embodiment is not limited this.In practical application, locating base station position be, for example, origin O (now, The position of ultrasonic transmitter is likely located near origin O).The rotary laser flat emitters A of locating base station is around X-axis Rotation sends first laser planed signal, and rotating speed is, for example, w1;The rotary laser flat emitters B of locating base station revolves around Y-axis Second laser planed signal is sent in forwarding, and rotating speed is, for example, w2.Plane determined by X-axis and Y-axis is XOY plane.However, this implementation Example is not limited this.In practical application, the rotary laser flat emitters A of locating base station is for example around parallel to X-axis The rotation of first rotary shaft sends first laser planed signal, and the rotary laser flat emitters B of locating base station is around Y-axis (second Rotary shaft) rotation sends second laser planed signal, and the first rotary shaft is vertical with Y-axis and non-intersect, now, the first rotary shaft A pair of parallel plane (including XOY plane and plane parallel with XOY plane) is can determine with Y-axis;Or, locating base station Rotary laser flat emitters A sends first laser planed signal, the rotation of locating base station around X-axis (the first rotary shaft) rotation Laser plane transmitter B for example sends second laser planed signal, and the second rotation around the second rotary shaft rotation parallel to Y-axis Rotating shaft is vertical with X-axis and non-intersect, now, the second rotary shaft and X-axis can determine a pair of parallel plane (including XOY plane with And the plane parallel with XOY plane).Wherein, the vertical range between this pair of parallel plane is for example within a predetermined range.

Wherein, locating base station passes through the second communication unit (such as radio communication line) to marking arrangement to be positioned synchronization base It is punctual to carve.Wherein, by the synchronization of reference instant, it is ensured that locating base station can keep clock synchronous with marking arrangement to be positioned, To ensure that the time information being subsequently related to is based on same benchmark.However, the present embodiment is not limited this.Locating base station can be with By producing optical signal to the marking arrangement synchronous base moment to be positioned.

Wherein, locating base station can also be passed by the second communication unit (such as radio communication line) to marking arrangement to be positioned The defeated reference moment for sending first laser planed signal and second laser planed signal.In this, the rotation of locating base station is swashed Optical plane transmitter A is referred to as first and refers to the moment first with reference to moment of angular emission first laser planed signal, will position The rotary laser flat emitters B of base station is referred to as the second reference second with reference to moment of angular emission second laser planed signal Moment.Wherein, first with reference to the moment and second with reference to the moment for not in the same time.Wherein, first with reference to angle and the second reference Angle may be the same or different.

Example one:

First is for example 0 with reference to angle and second with reference to angle, i.e., first with reference to moment (or second refer to the moment), Rotary laser flat emitters A (or B) send laser plane signal relative to XOY plane first with reference to angle [alpha] ' be 0.Its In, the rotating speed of rotary laser flat emitters A and B can be with identical.

Wherein, when rotary laser flat emitters A (or B) of locating base station rotate to first with reference to angle (or the every time Two refer to angle) send laser plane signal when, locating base station can by the second communication unit (such as radio communication line) to Marking arrangement to be positioned sends first with reference to moment (or second refer to the moment).

In this, reference picture 4, when first is 0 (i.e. the angle of Plane of rotation S1 and XOY plane is 0) with reference to angle, with the Illustrated as a example by one laser plane signal, the first anglec of rotation α is the angle of Plane of rotation S1 and XOY plane.

First laser planed signal is sent when the rotary laser flat emitters A of locating base station turns clockwise around X-axis When, 360- α=(T1-T0)w1

When the rotary laser flat emitters A of locating base station sends first laser planed signal around X-axis rotate counterclockwise When, α=(T1-T0)w1

Wherein:α is first anglec of rotation, T1The moment of first laser planed signal, T are detected for marking arrangement to be positioned0 For marking arrangement to be positioned is the last first the moment is referred to from what locating base station was received;W1 is the rotary laser of locating base station The rotating speed of flat emitters A.

In a specific embodiment, when the rotary laser flat emitters A of locating base station often rotates clockwise around X-axis 360 ° of transmittings in one week once refer to the moment, and the signal processing unit of marking arrangement to be positioned can also determine the first rotation according to following formula Gyration:

Once join when the rotary laser flat emitters A of locating base station often rotates a circle 360 ° to launch counterclockwise around X-axis Examine the moment, the signal processing unit of marking arrangement to be positioned can determine first anglec of rotation according to following formula:

Wherein, α is first anglec of rotation, T1The moment of first laser planed signal is detected for marking arrangement to be positioned, T0(N)For marking arrangement to be positioned it is the last from locating base station receive first with reference to the moment (when such as n-th first is referred to Carve), T0(N-1)It is the first reference moment (such as N-1 first ginseng once received from locating base station before marking arrangement to be positioned Examine the moment);w1It is the rotating speed of the rotary laser flat emitters A of locating base station.

Example two:

When first with reference to angle [alpha] ' be 0 when, illustrated by taking first laser planed signal as an example.

First laser planed signal is sent when the rotary laser flat emitters A of locating base station turns clockwise around X-axis When, 360- γ=(T1-T0)w1, α=α '-γ;

When the rotary laser flat emitters A of locating base station sends first laser planed signal around X-axis rotate counterclockwise When, γ=(T1-T0)w1, α=α '+γ;

Wherein:α be first anglec of rotation, γ be from first with reference to the moment to the moment for receiving first laser planed signal, The angle of first laser Plane Rotation;α ' refers to angle for first;T1For marking arrangement to be positioned detects first laser plane The moment of signal, T0For marking arrangement to be positioned is the last first the moment is referred to from what locating base station was received;w1It is positioning base The rotating speed of the rotary laser flat emitters A for standing.

In a specific embodiment, when the rotary laser flat emitters A of locating base station often rotates clockwise around X-axis 360 ° of transmittings in one week once refer to the moment, and the signal processing unit of marking arrangement to be positioned can also determine the first rotation according to following formula Gyration:

Once join when the rotary laser flat emitters A of locating base station often rotates a circle 360 ° to launch counterclockwise around X-axis Examine the moment, the signal processing unit of marking arrangement to be positioned can determine first anglec of rotation according to following formula:

Wherein, α be first anglec of rotation, γ be from first with reference to the moment to the moment for receiving first laser planed signal, The angle of first laser Plane Rotation;α ' refers to angle for first;T1For marking arrangement to be positioned detects first laser plane The moment of signal, T0(N)For marking arrangement to be positioned it is the last from locating base station receive first with reference to moment (such as n-th First refers to the moment), T0(N-1)For before marking arrangement to be positioned once from locating base station receive first with reference to the moment (such as the N-1 first refers to the moment);w1It is the rotating speed of the rotary laser flat emitters A of locating base station.

Similarly, the second anglec of rotation β is the angle of Plane of rotation S2 and XOY plane, and its determination mode is similar to the first rotation Gyration, therefore repeated no more in this.

It should be noted that:Locating base station needs to be sent respectively to first with reference to the moment with reference to moment and second undetermined Position marking arrangement.

In addition, the signal processing unit of marking arrangement to be positioned can determine marking arrangement to be positioned with positioning according to following formula The distance between base station:

L=(T3-T0') × v,

Wherein, L is the distance between marking arrangement to be positioned and locating base station, T3For marking arrangement to be positioned detect it is super The moment (the 3rd i.e. foregoing moment) of acoustic signals, T0' for locating base station send ultrasonic signal delivery time it is (i.e. foregoing The 3rd refer to the moment), v is the aerial spread speed of sound.Wherein, v is under conditions of 1 standard atmospheric pressure and 15 DEG C About 340 meter per seconds.

It should be noted that first first with reference to moment or first second with reference to the moment can and ultrasonic signal Delivery time (i.e. foregoing the 3rd refers to the moment) identical (for example, reference instant) or difference.The present embodiment is not limited this It is fixed.But the duration between the moment of the delivery time of ultrasonic signal and sender unit transmission laser plane signal is (i.e. 3rd with reference to the moment and first with reference to moment or second with reference to the time interval between the moment) should be less than laser plane and rotate a circle Duration, for example, the rotary speed of laser plane be 90 revolutions per seconds, then time interval should be less than 1/90 second.

First anglec of rotation, second anglec of rotation are calculated in the signal processing unit of marking arrangement to be positioned and treat After the distance between telltale mark equipment and locating base station, can be solved according to following formula and obtain marking arrangement to be positioned in three-dimensional Three-dimensional coordinate in measurement coordinate system:

X0 2+Y0 2+Z0 2=L2

Y0× tan α=X0× tan β=Z0,

Wherein, (X0, Y0, Z0) three-dimensional coordinate of the marking arrangement to be positioned in three-dimensional measurement coordinate system is represented, L is described The distance between marking arrangement to be positioned and locating base station, α are first anglec of rotation, and β is second anglec of rotation.

It can be seen that, the present embodiment is based on distance measuring signal (such as ultrasonic signal) and two rotary laser planed signals can be real Existing indoor accurate position.The present embodiment is determined by the first communication unit and the second communication unit (such as radio communication line) Base station is synchronous with the reference instant of marking arrangement to be positioned and time information transmission for position, it would be preferable to support locating base station with it is to be positioned The pairing of marking arrangement is used, and then can support the expanded application of many base stations;And, the mark to be positioned that the present embodiment is provided Equipment cost is relatively low, be easily achieved miniaturization, expands application scenarios.

Embodiment three

The three-dimensional fix system of the present embodiment, including:Signal receiving device and sender unit.Wherein, believe Number dispensing device as three-dimensional fix reference coordinate basic point, signal receiving device is used as point to be determined.

As shown in figure 5, the three-dimensional fix system of the present embodiment is with the difference of embodiment two:The letter of the present embodiment Number reception device includes multiple silicon photocells, for receiving multichannel first laser planed signal and multichannel second laser plane letter Number, and the signal processing unit of signal receiving device can be according to the moment and inspection for detecting every road first laser planed signal The moment of every road second laser plane is measured, fusion treatment is carried out, the first moment and the second moment is obtained, and then determine that first revolves Gyration and second anglec of rotation.

The sender unit of the present embodiment is referred to the sender unit described in embodiment two, therefore is no longer gone to live in the household of one's in-laws on getting married in this State.

In the present embodiment, signal receiving device includes:First communication unit (such as telecommunication circuit), signal processing unit (such as control circuit, can be singlechip controller or integrated digital circuit), laser plane signal receiving unit and range finding Signal receiving unit.Wherein, the laser plane signal receiving unit of signal receiving device includes multiple photoelectric sensor circuits (for example Silicon photocell), by taking ultrasonic wave receiving unit as an example, ultrasonic wave receiving unit includes that multiple ultrasonic waves connect to ranging signal reception unit Receive device (such as ultrasonic transducer).In some implementations, it is contemplated that the object to be positioned where signal receiving device may Moved with any attitude and overturn, these ultrasonic transducers and silicon photocell need to be put according to certain position angle, with true Guarantor can from different angles receive ultrasonic wave and laser signal.

In some implementations, signal receiving device also includes:Carrier, carrier includes a receiver, receiver Multiple receiving portions are provided with outer surface, for placing multiple ultrasonic transducers and multiple silicon photocells;Control circuit connection Multiple ultrasonic transducers, multiple silicon photocells and telecommunication circuit.

Wherein, the shape of the receiver of carrier is referred to shown in Fig. 2 (a), Fig. 2 (b) and Fig. 2 (c).It is with Fig. 2 (a) Example, receiver is coniform, has multiple grooves (i.e. foregoing receiving portion) on the outer surface of receiver, and groove is evenly distributed in The circumference of circular cone.Wherein, circular groove is used to place ultrasonic transducer, and square groove is used to place silicon photocell.No matter It is ultrasonic transducer or silicon photocell, is all to receive the side of signal towards the outside of receiver, the one side of transmission signal To the inside of receiver.It is understood that the groove of circle and square groove are a kind of optional embodiment, in reality Use in can be other shapes, be for example all square groove, be all circular groove, and other people in the art The shape that member is contemplated that, as long as the placement of the application can be realized and semiotic function is received.By taking Fig. 2 (b) as an example, receiver There are multiple grooves (i.e. foregoing receiving portion) for hemispherical, on the outer surface of receiver, groove is evenly distributed in the circle of hemisphere Week.By taking Fig. 2 (c) as an example, receiver is whole spherical, has multiple groove (i.e. foregoing receivings on the outer surface of receiver Portion), groove is evenly distributed in the circumference of ball.Ultrasonic transducer and silicon photocell can be spaced apart in the outer surface of receiver; Can also circumference place ultrasonic transducer, adjacent circumference is placed silicon photocell, i.e., is spaced apart in units of circumference.On Stating arrangement mode, to be easy to ultrasonic transducer to be received when object to be positioned is moved with any attitude with silicon photocell super Sound wave and laser signal.Telecommunication circuit and control circuit can be placed on the inside of carrier, such as be placed in receiver or It is placed in the carrier other parts being connected with receiver.

In the present embodiment, when the first communication unit of signal receiving device receives that sender unit sends Between synchronizing signal when, will give external interrupt trigger signal of singlechip controller (i.e. foregoing signal processing unit), letter The singlechip controller of number reception device is adjusted as time reference to its time, so as to keep and sender unit Time synchronized.

In the present embodiment, ultrasonic transducer receives ultrasonic wave and is converted into voltage signal, and silicon photocell is received To laser and it is converted into current signal.Because these electric signals are all very faint, the voltage signal of each ultrasonic transducer All after amplifier amplifies through filter circuit filtering again through over-voltage comparator relatively after, export a triggerable monolithic Machine controller produces the level signal of external interrupt.The current signal of each silicon photocell with ultrasonic transducer voltage signal Equally after amplifying filtering relatively, the triggerable singlechip controller of output one produces the level signal of external interrupt.When super Sonic transducer receives ultrasonic wave or when silicon photocell receives laser, and singlechip controller produces external interrupt record this moment fixed When the device time.Each timing cycle, the time number that the ultrasonic transducer triggering that singlechip controller will can all be recorded is interrupted The time data interrupted according to (i.e. foregoing range finding moment) and silicon photocell triggering (swash by the i.e. foregoing first laser moment and second The light moment) merged and resolved, so as to obtain the three-dimensional coordinate of the object to be positioned where signal receiving device.

Wherein, three-dimensional measurement coordinate system can be cartesian coordinate system.The signal processing unit of signal receiving device can be with First moment, the second moment and the 3rd moment are determined according to following formula:

Txx(T0,[Tx0,Tx1,...,Txm-1]);

Tyy(T0,[Ty0,Ty1,...,Tyk-1]);

T3=F (T0,[Tu0,Tu1,...,Tun-1])。

Wherein, T0The moment (i.e. foregoing reference instant) of time synchronizing signal is received for signal receiving device;[Tx0, Tx1,...,Txm-1] lasing area signal in X-axis (first laser planed signal as the aforementioned) is received for each silicon photocell Moment, m is the number of the silicon photocell for receiving the lasing area signal in X-axis;[Ty0,Ty1,...,Tyk-1] it is each silicon photoelectricity Pond receives the moment of the lasing area signal (second laser planed signal as the aforementioned) in Y-axis, and k is to receive swashing in Y-axis The number of the silicon photocell of smooth surface signal;[Tu0,Tu1,...,Tun-1] it is that each ultrasonic transducer receives ultrasonic signal Moment (finds range the moment) as the aforementioned, and n is the number of the ultrasonic transducer for receiving ultrasonic signal.

Wherein, Φx()、Φy() and F () are data fusion function, and the fusion method that the data fusion function is used can To include but is not limited to:Nearest-neighbor method, generalized correlation method, gaussian sum method, optimal Bayesian Method, probability data interconnection method, right Claim the filtering of measurement equation, weighted average, geometric average, arithmetic average, square mean, harmonic average etc..

Wherein, TxLasing area signal in X-axis (first laser planed signal as the aforementioned) is received for what is obtained after fusion Moment (the first moment as the aforementioned), TyFor obtained after fusion receive lasing area signal in Y-axis (as the aforementioned second swash Optical plane signal) moment (the second moment as the aforementioned), T3For moment for receiving ultrasonic signal for being obtained after fusion (such as The 3rd foregoing moment).

The mistake of three-dimensional coordinate is calculated according to the first moment, the second moment and the 3rd moment subsequently with respect to signal processing unit Journey is referred to described in embodiment two, therefore is repeated no more in this.

Although the implementation method disclosed by the utility model is as above, described content is only to readily appreciate the utility model And the implementation method for using, it is not limited to the utility model.Technical staff in any the utility model art, On the premise of not departing from the spirit and scope disclosed by the utility model, can be carried out in the form and details implemented any Modification and change, but scope of patent protection of the present utility model, must be still defined by the scope of which is defined in the appended claims.

Claims (10)

1. a kind of signal receiving device, it is characterised in that the signal receiving device is used with sender unit collocation, described Sender unit is used to send distance measuring signal, sends first laser planed signal and around the around the rotation of the first rotary shaft The rotation of two rotary shafts sends second laser planed signal;The signal receiving device includes:Ranging signal reception unit, laser are put down Face signal receiving unit and signal processing unit;Signal processing unit connects ranging signal reception unit and laser plane letter Number receiving unit;Ranging signal reception unit, for detecting distance measuring signal;Laser plane signal receiving unit, for detecting the One laser plane signal and second laser planed signal.
2. signal receiving device according to claim 1, it is characterised in that the signal receiving device also includes that first leads to Letter unit, for obtaining sender unit transmission first laser planed signal first puts down with reference to moment, transmission second laser The second of face signal with reference to the moment, send the 3rd laser plane signal the 3rd refer to the moment.
3. signal receiving device according to claim 2, it is characterised in that the signal processing unit, including:First meter Operator unit, the second computation subunit and the 3rd computation subunit, the 3rd computation subunit connect the first computation subunit and Second computation subunit;
First computation subunit, the first reference moment, hair for sending first laser planed signal according to sender unit When sending the second of second laser planed signal to detect the first of first laser planed signal with reference to moment, signal receiving device The second moment of second laser planed signal is carved, detected, first anglec of rotation and second anglec of rotation is determined;
Second computation subunit, receives for sending the 3rd of distance measuring signal according to sender unit with reference to moment and signal Device detects the 3rd moment of distance measuring signal, determines the distance between signal receiving device and sender unit;
3rd computation subunit, for according to first anglec of rotation, second anglec of rotation and the distance, it is determined that Three-dimensional coordinate of the signal receiving device in three-dimensional measurement coordinate system;
Wherein, first anglec of rotation be first laser planed signal described in first moment relative to the first rotary shaft with Second rotary shaft determines the angle of plane, and second anglec of rotation is second laser planed signal described in second moment Relative to the angle that the first rotary shaft and the second rotary shaft determine plane.
4. signal receiving device according to claim 1, it is characterised in that the ranging signal reception unit, including it is many Individual ranging signal reception device;The laser plane signal receiving unit includes multiple photoelectric sensor circuits.
5. signal receiving device according to claim 4, it is characterised in that the signal processing unit, including:First letter Number controller, first signal controller, including:
First record subelement, for respectively to receive each road distance measuring signal, per first laser planed signal all the way with And processed per second laser planed signal all the way, record receives the moment of each road distance measuring signal, receives per all the way The moment of first laser planed signal and receive moment per second laser planed signal all the way;
4th computation subunit, for processing the moment for receiving each road first laser planed signal, obtains first Moment;
5th computation subunit, for processing the moment for receiving each road second laser planed signal, obtains second Moment;
6th computation subunit, for processing the moment for receiving each road distance measuring signal, obtained for the 3rd moment;
7th computation subunit, for according to the first moment, the second moment and the 3rd moment, calculating signal receiving device three Three-dimensional coordinate in dimension measurement coordinate system;
First record subelement connects the 4th computation subunit, the 5th computation subunit and the 6th computation subunit;7th meter Operator unit connects the 4th computation subunit, the 5th computation subunit and the 6th computation subunit.
6. signal receiving device according to claim 4, it is characterised in that the signal processing unit, including:Multichannel is believed Number process circuit and secondary signal controller, the secondary signal controller connect the multiple signals process circuit;
The multiple signals process circuit, for each road distance measuring signal, every first laser plane all the way respectively to receiving Signal and every second laser planed signal all the way are processed, and result is notified into the secondary signal controller;
The secondary signal controller, including:
Second record subelement, for the result notified according to the multiple signals process circuit, record receives each At the moment of road distance measuring signal, receive per moment of first laser planed signal all the way and receive and put down per second laser all the way The moment of face signal;
8th computation subunit, for processing the moment for receiving each road first laser planed signal, obtains first Moment;
9th computation subunit, for processing the moment for receiving each road second laser planed signal, obtains second Moment;
Tenth computation subunit, for processing the moment for receiving each road distance measuring signal, obtained for the 3rd moment;
11st computation subunit, exists for according to the first moment, the second moment and the 3rd moment, calculating signal receiving device Three-dimensional coordinate in three-dimensional measurement coordinate system;
Second record subelement connects the 8th computation subunit, the 9th computation subunit and the tenth computation subunit;11st Computation subunit connects the 8th computation subunit, the 9th computation subunit and the tenth computation subunit.
7. signal receiving device according to claim 6, it is characterised in that the multiple signals process circuit, including:Fortune Calculate amplifying circuit, filter circuit and voltage comparator circuit;
The input of the operational amplification circuit connects the ranging signal reception unit and the laser plane signal is received Unit, for being input into distance measuring signal, all the way first laser planed signal or second laser planed signal all the way all the way;The fortune The output end for calculating amplifying circuit connects the input of the filter circuit, and the output end of the filter circuit connects the voltage ratio Compared with the input of circuit, the output end of the voltage comparator circuit connects the secondary signal controller.
8. a kind of signal receiving device, it is characterised in that including:
Telecommunication circuit, control circuit, one or more ranging signal reception devices, one or more photoelectric sensor circuits;The survey It is used to detect distance measuring signal away from signal receiver, the photoelectric sensor circuit is used to detect laser plane signal;The control electricity Road connects the ranging signal reception device, the photoelectric sensor circuit and the telecommunication circuit.
9. signal receiving device according to claim 8, it is characterised in that the signal receiving device also includes carrier, The carrier includes a receiver, and multiple receiving portions are provided with the outer surface of the receiver, the multiple for placing Ranging signal reception device and multiple photoelectric sensor circuits;The telecommunication circuit and the control circuit are arranged at the carrier It is interior.
10. signal receiving device according to claim 9, it is characterised in that the receiver for coniform, hemispherical or It is spherical.
CN201621143121.2U 2016-10-20 2016-10-20 A kind of signal receiving device CN206258572U (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106483497A (en) * 2015-12-23 2017-03-08 北京凌宇智控科技有限公司 A kind of signal receiving device and three-dimensional fix system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106483497A (en) * 2015-12-23 2017-03-08 北京凌宇智控科技有限公司 A kind of signal receiving device and three-dimensional fix system
CN106483497B (en) * 2015-12-23 2020-02-07 北京凌宇智控科技有限公司 Signal receiving device and three-dimensional space positioning system

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