CN206348453U - A kind of locating base station and space positioning system - Google Patents

Abstract

The utility model discloses a kind of locating base station and space positioning system, locating base station includes：Base；Rotary shaft, is arranged on base；First laser scanner, is arranged at the first position of rotary shaft；Second laser scanner, is arranged at the second place of rotary shaft；3rd laser scanner, is arranged at the 3rd position of rotary shaft；Wherein, first position, the second place and the 3rd position are the diverse location in same level.Pass through locating base station disclosed in the utility model and space positioning system, it can precisely and rapidly realize space orientation, three laser scanners in locating base station are located at same level simultaneously, so as to reduce the height of locating base station, improve the portability of locating base station.

Description

A kind of locating base station and space positioning system

Technical field

The utility model is related to space orientation field, more particularly to a kind of locating base station and space positioning system.

Background technology

Space orientation refers to position of the location equipment in space, for example, can pass through GPS (English： GlobalPositioning System；Chinese：Global positioning system) technology determines the position of equipment.But, with people Requirement more and more higher to positioning precision, the need for the meter accuracy that GPS technology is provided can not meet people, and one A little specific space such as indoor, basements, because the barriers such as wall can block gps signal, so GPS technology can not yet Apply in these specific spaces.

At present, indoors, the specific space such as basement, typically positioned by wireless location technology, be 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 estimate distance of the mobile device apart from each AP using signal attenuation model, finally utilize triangle Location algorithm determines the position where the equipment.But, the precision that wireless location technology is provided is still in meter level, it is impossible to meet People are higher and higher to spatial positioning accuracy to be required.

With becoming increasingly prosperous for field of virtual reality, virtual game starts to occur, 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 urgent problem to be solved.

Utility model content

The purpose of this utility model is to provide a kind of locating base station and space positioning system, can precisely and rapidly realize Space orientation, while three laser scanners in locating base station are located at same level, so as to reduce locating base station Highly, the portability of locating base station is improved.

In order to realize above-mentioned utility model purpose, the utility model embodiment first 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 exit end of the first laser scanner The one one wordline lens are provided with, the one one wordline lens can adjust the first scanning of the first scan line formation of outgoing The angle of plane；

Second laser scanner, is arranged at the second place of the rotary shaft, the exit end of the second laser scanner The 2nd 1 wordline lens are provided with, the 2nd 1 wordline lens can adjust the second scanning of the second scan line formation of outgoing The angle of plane；

3rd laser scanner, is arranged at the 3rd position of the rotary shaft, the exit end of the 3rd laser scanner The 3rd 1 wordline lens are provided with, the 3rd 1 wordline lens can adjust the 3rd scanning of the three scan line formation of outgoing The angle of plane；

Wherein, the first position, the second place and the 3rd position are the diverse location in same level.

Alternatively, the exit direction of first scan line and the direction in the axle center of the rotary shaft to the first position It is misaligned；The exit direction of second scan line and the direction of the rotary shaft to the second place are misaligned, and described Two intersections that one scan plane, second plane of scanning motion are formed when intersecting respectively with same level are parallel；Described first The plane of scanning motion, second plane of scanning motion and the 3rd plane of scanning motion are not orthogonal to the axle center of the rotary shaft, and described First plane of scanning motion, second plane of scanning motion and the 3rd plane of scanning motion at least one plane are not parallel to the rotation The axle center of axle.

Alternatively, first plane of scanning motion is parallel with second plane of scanning motion.

Alternatively, the wavelength for the laser scanning signal that the first laser scanner is sent is first wave length, described second The wavelength for the laser scanning signal that laser scanner is sent is second wave length, the laser scanning that the 3rd laser scanner is sent 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 locating base station also includes sychronisation, and the sychronisation is arranged on the base, described same Step device 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 set for detecting The turned position of the rotary shaft.

The utility model embodiment second aspect provides a kind of space positioning system, including：

Location equipment, including light sensor；

The locating base station introduced such as first aspect；

Data processing equipment, for the three laser scanning signals sent according to the locating base station transmission time point with And time point is received, determine position of the location equipment relative to the locating base station.

Alternatively, the orientation range of the location equipment is A；

The beam reception scope of each light sensor is at least provided with the M photosensitive biographies on B, the housing Sensor, M is obtained to be rounded up to A/B.

Alternatively, the location equipment also includes rf signal reception device, and the rf signal reception device is used to connect Receive the synchronizing signal that the locating base station is sent.

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 utility model embodiment make use of characteristic of the light along straightline propagation, according to three laser scannings Signal determines position of the location equipment relative to locating base station, because the precision of laser measurement is in grade, and positions speed Degree is in Millisecond, so positioning precision and locating speed are all greatly improved compared to prior art, realizes precisely and rapidly Realize sterically defined technique effect.

Simultaneously as the second place where first position, second laser scanner where first laser scanner and The 3rd position where 3rd laser scanner is the diverse location in the same level of rotary shaft, so being revolved in locating base station The height of rotating shaft only needs to guarantee to fix first laser scanner, second laser scanner and the 3rd laser scanner i.e. Can, so the height of rotary shaft can be made into relatively low, so as to reduce the height of locating base station, improve locating base station Portability.

Brief description of the drawings

The module map for the space positioning system that Fig. 1 provides for the utility model embodiment；

The front view for the location equipment 10 that Fig. 2 provides for the utility model embodiment；

The schematic diagram of the orientation range for the location equipment that Fig. 3 provides for the utility model embodiment；

The internal structure schematic diagram for the location equipment 10 that Fig. 4 provides for the utility model embodiment；

The circuit diagram for the location equipment 10 that Fig. 5 provides for the utility model embodiment；

The front view for the locating base station that Fig. 6 A provide for the utility model embodiment；

The stereogram for the locating base station that Fig. 6 B provide for the utility model embodiment；

Three laser of three laser scanner outgoing in the locating base station 20 that Fig. 7 A provide for the utility model embodiment The top view of signal；

First plane of scanning motion and second plane of scanning motion in the locating base station 20 that Fig. 7 B provide for the utility model embodiment The front view of position relationship；

Schematic diagram when Fig. 8 is scanned for the locating base station 20 that the utility model embodiment is provided by laser.

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 obtained, belongs to the scope of the utility model protection.

The utility model embodiment provides a kind of space positioning system, refer to Fig. 1, and Fig. 1 is the utility model embodiment The module map of the space positioning system of offer, as shown in figure 1, the space positioning system is included at location equipment 10,20 and data Manage equipment 30, transmission time points of three laser scanning signals that data processing equipment 30 can be sent according to locating base station 20 with And time point is received, determine position of the location equipment 10 relative to locating base station 20；Wherein, three laser in locating base station 20 Scanner is located at same level in rotary shaft.

As can be seen that the technical scheme in the utility model embodiment make use of characteristic of the light along straightline propagation, according to three Individual laser scanning signal determines position of the location equipment 10 relative to locating base station 20, because the precision of laser measurement is in millimeter Level, and locating speed, so positioning precision and locating speed are all greatly improved compared to prior art, realizes in Millisecond Precisely and rapidly realize sterically defined technique effect, simultaneously because three in locating base station 20 laser scanner be located at rotation Same level in rotating shaft, so the height of rotary shaft 20 can be made into relatively low, so as to reduce the height of locating base station 20 Degree, improves the portability of locating base station 20.

In ensuing part, above-mentioned technical proposal will be described in detail.

It refer to Fig. 2, the front view for the location equipment 10 that Fig. 2 provides 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, in the utility model embodiment, and light sensor 102 is in shell The reception window on the surface of body 101 is 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 the housing, the housing of ellipsoid shape, the shell of centrum shape of cubic shaped according to actual conditions Body etc., the need for meeting actual conditions, is just repeated no more herein.

In specific implementation process, Fig. 3, the positioning for the location equipment that Fig. 3 provides for the utility model embodiment refer to The schematic diagram of scope, as shown in figure 3, such as in the utility model embodiment, the orientation range of location equipment is A, and A can be 300°；

The beam reception scope of each light sensor 102 is set as B, 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 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 laser scanning signals, 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 utility model embodiment, M is 12, in another embodiment, if A is 300 °, B is 35 °, then M is 9 to be rounded up to (300 °/35 °=8.5714), is just repeated no more herein.

It should be noted that the quantity of light sensor 102 also has with the laser scanning signal that is sent in locating base station 20 Close, if specifically, the laser scanning signal sent in locating base station 20 only includes the signal of 1 wavelength, light sensor 102 Quantity be at least M, if the laser scanning signal sent in locating base station 20 includes the signal of 3 wavelength, light sensor The quantity of device 102 is at least 3M.

Of course, in actual applications, in order to guarantee the laser scanning letter for accurately receiving the transmission of locating base station 20 Number, more light sensors can be set on the housing 101 of location equipment 10, not be limited herein.

In the utility model embodiment, in order to guarantee the laser scanning letter for accurately receiving the transmission of locating base station 20 Number, as shown in Fig. 2 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 sent, is just repeated 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 is sent.

It refer to Fig. 4, the internal structure schematic diagram for the location equipment 10 that Fig. 4 provides for the utility model embodiment, such as Fig. 4 Shown, the cylinder inside the housing 101 of location equipment 10 is light sensor 102, certainly, and light sensor 102 is also needed to The process chip of inside is connected to by certain circuit, is just repeated no more herein.

As before, if the laser scanning signal that sends of locating base station 20 includes 3 wavelength, each hexagon or circle The light sensor 102 of 3 corresponding wavelengths 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.

It refer to Fig. 5, the circuit diagram for the location equipment 10 that Fig. 5 provides for the utility model embodiment, as shown in figure 5, M Light sensor 102 is is arranged in parallel, so, and all light sensors only need to signal processing circuit all the way, 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 is set 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 using exercise data and makes up.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 utility model embodiment is installed on other intelligent terminals in use, the fortune Dynamic sensor can borrow the motion sensor on intelligent terminal, just repeat no more herein.

In actual applications, location equipment 10 can be integrated in handheld device, on helmet, not be limited herein.

In ensuing part, the concrete structure and running of locating base station 20 will be introduced.

The front view for the locating base station that Fig. 6 A and Fig. 6 B, Fig. 6 A provide for the utility model embodiment is refer to, Fig. 6 B are The stereogram for the locating base station that the utility model embodiment is provided, as shown in Figure 6 A and 6 B, locating base station 20 includes：

Base 201；

Rotary shaft 202, is arranged on base 201；In specific implementation process, can by one or more motor come Drive rotary shaft 202 to be rotated, be not limited herein, as shown in Figure 6 A and 6B, the axis perpendicular of rotary shaft 202 is in level Face；

First laser scanner 203, be arranged at the first position 601 of rotary shaft 202, and first laser scanner 203 goes out Penetrate end and be provided with the one one wordline lens, the one one wordline lens can be by changing the anglec of rotation of itself, so as to adjust out The angle of first plane of scanning motion of the first scan line formation penetrated；In specific implementation process, a wordline lens can be that post is saturating Mirror, Bao Weier prism or a wordline wave prism etc., can be converted to line laser by the dot laser that laser generator is sent, after It is continuous no longer to introduce；

Second laser scanner 204, be arranged at the second place 602 of rotary shaft 202, and second laser scanner 204 goes out Penetrate end and be provided with the 2nd 1 wordline lens, the 2nd 1 wordline lens equally can be by changing the anglec of rotation of itself, so as to adjust Save the angle of second plane of scanning motion of the second scan line formation of outgoing；

3rd laser scanner 205, be arranged at the 3rd position 603 of rotary shaft 202, and the 3rd laser scanner 205 goes out Penetrate end and be provided with the 3rd 1 wordline lens, the 3rd 1 wordline lens equally can be by changing the anglec of rotation of itself, so as to adjust Save the angle of the 3rd plane of scanning motion of the three scan line formation of outgoing；

Wherein, first position 601, the position 603 of the second place 602 and the 3rd are the diverse location in same level.

As can be seen that the technical scheme in the utility model embodiment make use of characteristic of the light along straightline propagation, according to three Individual laser scanning signal determines position of the location equipment 10 relative to locating base station 20, because the precision of laser measurement is in millimeter Level, and locating speed, so positioning precision and locating speed are all greatly improved compared to prior art, realizes in Millisecond Precisely and rapidly realize sterically defined technique effect.

Simultaneously as second where the first position at the place of first laser scanner 203, second laser scanner 204 The 3rd position where position and the 3rd laser scanner 205 is the diverse location in the same level of rotary shaft 202, so The height of rotary shaft 202 only needs to guarantee to fix first laser scanner 203, second laser scanner in locating base station 20 204 and the 3rd laser scanner 205, so the height of rotary shaft 20 can be made into relatively low, so as to reduce positioning The height of base station 20, improves the portability of locating base station 20.

It should be noted that second laser scanner 204 is not shown in fig. 6b due to angle reason, but its position is not influenceed Put.

Three laser in the locating base station 20 provided please continue to refer to Fig. 7 A and Fig. 7 B, Fig. 7 A for the utility model embodiment First in the top view of three laser signals of scanner outgoing, the locating base station 20 that Fig. 7 B provide for the utility model embodiment The front view of the position relationship of the plane of scanning motion and second plane of scanning motion, as shown in Figure 7 A, the of the outgoing of first laser scanner 203 The side of scan line first plane of scanning motion 701 of formation, the exit direction of the first scan line and the axle center of rotary shaft to first position To misaligned；The second scan line second plane of scanning motion 702 of formation of the outgoing of second laser scanner 204, the second scan line goes out Penetrate direction and the direction of rotary shaft to the second place misaligned, first plane of scanning motion 701 and second plane of scanning motion 702 and same water Two intersections of plane are parallel；First plane of scanning motion 701, second plane of scanning motion 702 and the 3rd plane of scanning motion 703 do not fall in with The axle center of rotary shaft 202, and first plane of scanning motion 701, second plane of scanning motion 702 and the 3rd plane of scanning motion 703 at least one Plane is not parallel to the axle center of rotary shaft.

In actual applications, the position between first plane of scanning motion 701, second plane of scanning motion 702 and the 3rd plane of scanning motion 703 The relation of putting can have many kinds：First plane of scanning motion 701 and second plane of scanning motion 702 can be parallel to each other and parallel to rotary shaft 20 axle center, as long as the now axle center not parallel or perpendicular to rotary shaft 20 of the 3rd plane of scanning motion 703；Or, second Can be position relationship wide at the top and narrow at the bottom or low wide and up narrow position between the plane of scanning motion 703 of the plane of scanning motion 702 and the 3rd Put relation, now the 3rd plane of scanning motion 703 can parallel to rotary shaft 20 axle center, can also be presented with the axle center of rotary shaft 20 Certain angle, such as 45 °, 60 ° etc., certainly, the 3rd plane of scanning motion can not be perpendicular to the axle center of rotary shaft 20, herein just not Detail one by one.For in theory, as long as first plane of scanning motion 701, second plane of scanning motion 702 and the 3rd plane of scanning motion 703 are swept Retouch that three planes formed during location equipment 10 are misaligned, i.e., can be by calculating the intersection points of these three planes, it is determined that positioning The position of equipment 10 in space, specific calculating process refers to the follow-up introductory section to data processing equipment 30.

In specific implementation process, please continue to refer to Fig. 7 B, first plane of scanning motion 701 and second plane of scanning motion 702 can be with Position relationship wide at the top and narrow at the bottom is showed, certainly, in another embodiment, first plane of scanning motion 701 and second plane of scanning motion 702 Up-narrow and down-wide position relationship can also be showed, is not limited herein.

If it should be noted that location equipment 10 is placed exactly in the friendship of first plane of scanning motion 701 and second plane of scanning motion 702 At remittance, then the position of location equipment 10 in this place just can not be directly determined by way of detecting laser scanning signal, namely There is blind spot in the scan mode of the position relationship of first plane of scanning motion 701 and second plane of scanning motion 702 shown in Fig. 7 B.Therefore, In order to avoid the blind spot that the scan mode shown in Fig. 7 B is present, first plane of scanning motion 701 and second plane of scanning motion 702 can be presented Parallel position relationship, such plane of scanning motion 702 of first plane of scanning motion 701 and second would not intersect, and would not also exist blind Point, it is ensured that the accuracy of positioning result.

In specific implementation process, in order to distinguish laser scanning signal, the second laser that first laser scanner 203 is sent The laser scanning signal that the laser scanner 205 of scanner 204 and the 3rd is sent, the laser that first laser scanner 203 is sent is swept The wavelength for retouching signal is first wave length, and the wavelength for the laser scanning signal that second laser scanner 204 is sent is second wave length, the The wavelength for the laser scanning signal that three laser scanners 205 are sent is the 3rd wavelength, first wave length, second wave length and the 3rd wavelength It is different between two.

In actual applications, for example can be by three laser generators, the laser of the different wave length generated respectively, and 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 pass through 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 is sent, second laser scanner 204 are sent The 205 laser scanning signals sent, for example, locating base station 20 can also include sychronisation, first send synchronization by sychronisation Signal, further according to the scanning sequency of first laser scanner 203, the laser scanner 205 of second laser scanner 204 and the 3rd, So as to distinguishing first laser scanner 203, the laser scanning that the laser scanner 205 of second laser scanner 204 and the 3rd is sent 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 Sensor 102 is received after synchronous optical signal, i.e., can regard current point in time as synchronizing time point；Similarly, radiofrequency signal is sent out After the synchronous radiofrequency signal of generating apparatus generation and transmission, location equipment 10 receives synchronous radio frequency by rf signal reception device and believed After number, also can just it be repeated no more herein using current point in time as synchronizing time point.

It should be noted that sychronisation be LED array when, location equipment 10 can by light sensor 102 come The synchronous optical signal that LED array is sent is received, can also specially set what extra light sensor sent to receive LED array 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 utility model embodiment, LED array 2061 include multiple subarrays, and 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.

, can be because of the light on LED array and location equipment 10 when LED array transmission synchronization optical signal is used alone The distance between dependent sensor 102 distance, angle problem and cause the pulsewidth of light sensor 102 to change, and can also Clutter is produced because of ambient, individually judges that the rising edge of synchronous optical signal easily malfunctions, can not so obtain accurately Synchronization point, error is likely to result in so LED array is used alone and sends 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, is also possible to lead to send synchronous radiofrequency signal so radiofrequency signal generating means is used alone 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 utility model embodiment is specific as follows by the way of both are combined：

When synchronization point is reached, namely when being reached at the time of needing to send synchronizing signal, locating base station 20 is led to simultaneously Cross LED array and send photosensitive in synchronous optical signal and the synchronous radiofrequency signal of radiofrequency signal generating means transmission, location equipment 10 When sensor 102 receives synchronous optical signal, judge whether while synchronous radiofrequency signal is have received, if having received synchronous radio frequency letter Number, specifically, for example, detect whether to receive the synchronous radiofrequency signal that duration exceedes preset value, then show that this signal is Effectively synchronizing signal, can regard the rising edge of synchronous optical signal as synchronization point.

As can be seen that synchronous optical signal can be accurately determined by having by way of LED array sends synchronous optical signal 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 utility model embodiment combines both, it can retain and be sent out by LED array Go out the advantage for the accurate determination time of reception that the mode of synchronous optical signal has and send same by radiofrequency signal generating means The high advantage of the reliability for the signal that the mode of radiofrequency signal has is walked, is believed while avoiding and sending synchronizable optical by LED array Number the shortcoming of jitter that has of mode, it also avoid the mode that radiofrequency signal generating means sends synchronous radiofrequency signal There is certain time delay.

Synchronizing signal is sent in sychronisation, location equipment 10 is received after 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 once received is what first laser scanner 203 was sent, and determines second of the reception of location equipment 10 To laser scanning signal sent 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 was sent, is just repeated no more herein.

In specific implementation process, locating base station 20 also includes positioner for rotation shaft, and positioner for rotation shaft, which is set, to be used 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, the position that magnet passes through where Hall sensor causes the changes of magnetic field near Hall sensor, therefore Control device such as single-chip microcomputer, process chip etc. that Hall sensor can be exported in a pulse signal, locating base station 20 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 is where Hall sensor is again passed by after rotary shaft 202 rotates a circle During position, i.e., Hall sensor output pulse signal can be triggered again, is just repeated no more herein.

Certainly, in actual applications, after the pulse signal that Hall sensor output preset times can also be set in, for example Hall sensor can be set to export after pulse signal twice, 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 be determined 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 It can be arranged in rotary shaft 202, laser generator can be arranged on base 201, so, and light sensor is in rotary shaft Under 202 drive, light sensor pass through laser generator where position when, the laser that will be sent in laser generator Triggering is lower and generates electric signal, and the electric signal is positioned after 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 trigger photosensitive biography again at the position where laser generator is again passed by 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 and either 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, so as to accurately measure the position of rotary shaft 202 during the rotation of rotary shaft 202, And it is that sychronisation generation can be controlled to send same to generate the control device in corresponding signal, locating base station 20 according to the signal Signal is walked, is just repeated no more herein.

Certainly, at one ideally, need not if time all same in location equipment 10 and locating base station 20 Locating base station 20 generates synchronizing signal, and the transmission time point of three laser scanning signals, 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 utility model will be introduced How the space positioning system that embodiment is provided specifically is positioned.

The detailed process that data processing equipment 30 in the utility model embodiment is positioned by laser scanning principle It is as follows：

It refer to Fig. 8, original when Fig. 8 is scanned for the locating base station 20 that the utility model embodiment is provided by laser Reason figure, as shown in figure 8, the rotary shaft 202 in locating base station 20 is rotated by direction counterclockwise, first plane of scanning motion 701 Plane when distinguishing scanned location equipment 10 with second plane of scanning motion 702 is respectively 701 ' and 702 ', plane 701 ' and plane 702 ' intersection is the projection of location equipment 10 in the horizontal direction, namely the throwing of location equipment 10 in the horizontal direction is determined Shadow, meanwhile, according to intersecting for plane during the 3rd 703 scanned location equipment 10 of the plane of scanning motion and plane 701 ' or plane 702 ' Line, can obtain direction vector of the location equipment 10 relative to locating base station 20, and direction vector combines location equipment 10 in water Square upward projection, that is, can determine position of the location equipment 10 relative to locating base station 20.

Of course, it is necessary to illustrate, due to it is determined that being by during the projection in the horizontal direction of location equipment 10 The plane of scanning motion 702 of one scan plane 701 and second is determined, so in order to avoid being swept because of first plane of scanning motion 701 and second Retouch the distance between plane 702 too short, and cause the result finally calculated to there is certain error, it is necessary to according to actual conditions The distance between first plane of scanning motion 701 and second plane of scanning motion 702 are set to suitable numerical value, to meet actual conditions Need, just repeat no more herein.

In specific implementation process, the three laser scanning signals that can also be sent according to locating base station 20, by other Many different mathematic calculations calculate relative position of the location equipment 10 relative to location equipment base station 20, for example, can Location equipment 10 is arrived in the hope of the 3rd plane of scanning motion 703 in scanning with first plane of scanning motion 701 and second plane of scanning motion 702 respectively When two intersections, then try to achieve the intersection point of two intersections, so as to try to achieve so as to realize the positioning to location equipment 10 in space, Etc., just repeat no more herein.

In actual applications, data processing equipment 30 can physically be integrated in location equipment 10 or locating base station 20 On, can also individualism, be not limited herein.

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 utility model embodiment make use of characteristic of the light along straightline propagation, according to three laser scannings Signal determines position of the location equipment 10 relative to locating base station 20, because the precision of laser measurement is in grade, and fixed Bit rate is in Millisecond, so positioning precision and locating speed are all greatly improved compared to prior art, realizes accurate and fast Sterically defined technique effect is realized fastly.

Simultaneously as second where the first position at the place of first laser scanner 203, second laser scanner 204 The 3rd position where position and the 3rd laser scanner 205 is the diverse location in the same level of rotary shaft 202, so The height of rotary shaft 202 only needs to guarantee to fix first laser scanner 203, second laser scanner in locating base station 20 204 and the 3rd laser scanner 205, so the height of rotary shaft 20 can be made into relatively low, so as to reduce positioning The height of base station 20, improves the portability of locating base station 20.

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 in 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 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 (10)

1. 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 exit end of the first laser scanner is set There are the one one wordline lens, the one one wordline lens can adjust first plane of scanning motion of the first scan line formation of outgoing Angle；

Second laser scanner, is arranged at the second place of the rotary shaft, and the exit end of the second laser scanner is set There are the 2nd 1 wordline lens, the 2nd 1 wordline lens can adjust second plane of scanning motion of the second scan line formation of outgoing Angle；

3rd laser scanner, is arranged at the 3rd position of the rotary shaft, and the exit end of the 3rd laser scanner is set There are the 3rd 1 wordline lens, the 3rd 1 wordline lens can adjust the 3rd plane of scanning motion of the three scan line formation of outgoing Angle；

Wherein, the first position, the second place and the 3rd position are the diverse location in same level.

2. locating base station as claimed in claim 1, it is characterised in that the exit direction of first scan line and the rotation The direction of the axle center of axle to the first position is misaligned；The exit direction of second scan line is with the rotary shaft described in The direction of the second place is misaligned, when first plane of scanning motion, second plane of scanning motion intersect with same level respectively Two intersections formed are parallel；First plane of scanning motion, second plane of scanning motion and the 3rd plane of scanning motion do not hang down Directly in the axle center of the rotary shaft, and first plane of scanning motion, second plane of scanning motion and the 3rd plane of scanning motion are extremely A rare plane is not parallel to the axle center of the rotary shaft.

3. locating base station as claimed in claim 2, it is characterised in that first plane of scanning motion and second plane of scanning motion It is parallel.

4. locating base station as claimed in claim 1, it is characterised in that the laser scanning letter that the first laser scanner is sent Number wavelength be first wave length, the wavelength of the laser scanning signal that the second laser scanner is sent is second wave length, described The wavelength for the laser scanning signal that 3rd laser scanner is sent be the 3rd wavelength, the first wave length, the second wave length and 3rd wavelength is different between two.

5. the locating base station as described in any claim in claim 1-4, it is characterised in that the locating base station also includes synchronous Device, the sychronisation is arranged on the base, and the sychronisation is used to send synchronizing signal.

6. locating base station as claimed in claim 5, it is characterised in that the sychronisation is specially LED array and/or radio frequency Signal generator.

7. locating base station as claimed in claim 1, it is characterised in that the locating base station also includes positioner for rotation shaft, The positioner for rotation shaft sets the turned position for detecting the rotary shaft.

8. a kind of space positioning system, it is characterised in that including：

Location equipment, including light sensor；

Locating base station as described in any claim in claim 1-7；

Data processing equipment, for the transmission time point of three laser scanning signals sent according to the locating base station and connects Time point is received, position of the location equipment relative to the locating base station is determined.

9. space positioning system as claimed in claim 8, it is characterised in that the orientation range of the location equipment is A；

The beam reception scope of each light sensor is described at least provided with M on B, the housing of the location equipment Light sensor, M is obtained to be rounded up to A/B.

10. space positioning system as claimed in claim 8, it is characterised in that the location equipment also connects including radiofrequency signal Receiving apparatus, the rf signal reception device is used to receive the synchronizing signal that the locating base station is sent.