CN206515460U - Position beam emission equipment, positioning beam delivery system and alignment system - Google Patents
Position beam emission equipment, positioning beam delivery system and alignment system Download PDFInfo
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- CN206515460U CN206515460U CN201621379841.9U CN201621379841U CN206515460U CN 206515460 U CN206515460 U CN 206515460U CN 201621379841 U CN201621379841 U CN 201621379841U CN 206515460 U CN206515460 U CN 206515460U
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Abstract
The utility model discloses one kind positioning beam emission equipment, positioning beam delivery system and alignment system.The positioning beam emission equipment includes：Beam sweep device, during being strafed for predetermined in the work period in strafe positioning light beam to located space；Wireless signal transmitting device, for during strafe strafe initial time before zero cross signal launch time launch wireless zero cross signal, zero cross signal launch time and strafing between initial time during strafing have the first predetermined time interval.Thus, to solve to be restricted with reference to light source works scope in existing area source scheme, it is directional, thereby increases and it is possible to cause light tower structure larger, and the synchronous line of many light towers it is complicated the problem of.
Description
Technical field
The utility model is related to positioning field, more particularly to a kind of positioning beam emission equipment, positioning beam delivery system
And alignment system.
Background technology
In the last few years, satellite positioning tech was widely applied.But in the range of local space, particularly Interior Space
Between when being positioned, satellite positioning tech can not often meet some realities in terms of such as positioning precision, the positioning frequency, cost
The need for border is applied.Particularly in the case of indoor positioning, building masonry wall can not be penetrated well by also suffering from satellite-signal
Influence.
Laser scanning location technology is a kind of common location technology.For example, can be by building hair in located space
Penetrating the positioning beam emission equipment of laser (can for example use the form of positioning light tower, " light tower " hereinafter is specific bit light
Beam launches equipment.It should be understood that positioning beam emission equipment can also use other diversified forms), located space is entered
Row laser fire, is provided with optical signal receiver on the positioning element, by carrying out calculation process to data, can export keeper
Three-dimensional location coordinates information.
, generally may be in located space in order to realize fully strafing to located space during actual use
Multiple smooth towers are set, thus need to be scanned multiple smooth towers respectively the demarcation of cycle zero point.Existing laser scanning positioning
In scheme, the rotation or pendulous device for realizing light beam scanning can be triggered with reference to light source (for example, it may be area source) through zero crossing
Launch the optical signal of coding, demarcate scan period zero point, start simultaneously at progress light beam scanning, i.e., realize zero point mark with reference to light source
It is fixed.
But, there is very big difference with reference to the far and near intensity of optical signal that light source is launched, it is difficult to which meeting can be fine at distance
Ground works, and there is the restricted problem of working range.And irradiate directional with reference to light source, it is difficult to control all directions to have
Uniform exposure intensity.
In order to solve problem above, the utility model proposes a kind of new positioning beam emission equipment, positioning light beam hair
Penetrate system and alignment system.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of positioning beam emission equipment, positioning beam delivery system
And alignment system, with solve it is existing with reference to being restricted in light source package with reference to light source works scope, it is directional, thereby increases and it is possible to lead
Cause light tower structure larger, and the problem of many light towers synchronization line complexity.
Beam emission equipment is positioned there is provided one kind according to one side of the present utility model, the equipment can include：Light
Beam strafes device, and predetermined strafe in period that can be used in the work period strafes positioning light beam to located space；Wireless communication
Number emitter, can be used for during strafing strafe initial time before zero cross signal launch time launch wireless zero passage
Signal, zero cross signal launch time and strafing between initial time during strafing have the first predetermined time interval.
Thus, the wireless zero cross signal launched in zero cross signal launch time, can predict strafing for beam sweep device
Initial time zero point, to realize the Zero calibration of multiple positioning beam emission equipments.
Preferably, wireless zero cross signal can be encoded, to represent the beam sweep device corresponding to it.
Thus, the wireless zero cross signal with coding is known, on the one hand, can know beam sweep device strafes period zero
The very first time after point, i.e. zero cross signal launch time is reached after interval strafe during zero point；On the other hand, can inform with
This is wireless corresponding beam sweep device of zero cross signal, i.e. zero cross signal launch time and it is separated by with it between first scheduled time
It is corresponding every the beam sweep device for strafing positioning light beam.
Preferably, the beam sweep device can include：Rotation or swing mechanism, for realizing strafing for positioning light beam；
Controller, can in response to rotation or swing mechanism reach preset bearing, regulation rotation or swing mechanism motion so that its
Strafe initial time arrival and strafe original position, so that during starting to strafe.
Thus, it is possible to rotation or the motion of swing mechanism are adjusted by controller, to rotate or swing mechanism energy
Enough reach in time strafes original position, during starting to strafe.
Preferably, the beam sweep device can also include trigger, and trigger can be in response to rotation or swing mechanism
Preset bearing is reached, motor adjustment signal is triggered, controller is in response to the rotation of motor adjustment Signal Regulation or the fortune of swing mechanism
It is dynamic.
Thus, trigger can trigger motor adjustment signal when rotation or swing mechanism reach preset bearing, to accuse
Know that rotation or the motion of swing mechanism can be adjusted for controller, it is determined that allowing the condition being adjusted.
Preferably, during being strafed for one, the time of rotation or swing mechanism arrival preset bearing can be in wireless mistake
Before zero-signal launch time.
Thus, the time that controller just has abundance, rotation or swing mechanism can be adjusted, so that it can sweep
Penetrate initial time and reach and strafe original position.
Preferably, according to the positioning beam emission equipment of any of the above described one, synchronous signal receiver device can also be included,
For receiving synchronizing signal.Wherein, initial time is strafed after the synchronous signal receiver time of synchronizing signal is received, and
There is the second predetermined time interval between the synchronous signal receiver time.
Thus, synchronous signal receiver device receives synchronizing signal and realizes the synchronization to positioning beam emission equipment.Meanwhile, also
It can determine that what a work period inner light beam strafed device strafes initial time based on the time for receiving synchronizing signal, inform and sweep
Penetrate time zero.
Preferably, synchronizing signal can be wireless signal.
Thus, it is possible to realize the synchronization to multiple positioning beam emission equipments based on wireless signal.And wireless signal is not
Limited by working range and direction, expand the use scope of positioning beam emission equipment.
Beam delivery system is positioned there is provided one kind according to another aspect of the present utility model, the system can include many
Individual above-mentioned positioning beam emission equipment；And synchronizing signal dispensing device, for sending synchronizing signal.
Preferably, synchronizing signal dispensing device can be arranged in a positioning beam emission equipment.
According to another aspect of the present utility model, a kind of alignment system is additionally provided, the system can include according to above-mentioned
The positioning beam emission equipment of any one or above-mentioned positioning beam delivery system；And location equipment.Location equipment is fitted
In being arranged on positioning object, location equipment can include：One or more positioning beam receivers, can be used for receiving positioning
Light beam；Wireless signal receiver, can be used for receiving wireless zero cross signal；Processor, it may be connected to position beam receiver
And wireless signal receiver, connect for receiving the time of wireless zero cross signal based on wireless signal receiver and positioning light beam
Receive device receive positioning light beam time, it is determined that positioning beam receiver relative to positioning beam emission equipment relative direction or
Position.
By positioning beam emission equipment of the present utility model, positioning beam delivery system and alignment system, it can solve the problem that
It is existing with reference to being restricted in light source package with reference to light source works scope, it is directional, thereby increases and it is possible to cause light tower structure larger, and
The problem of synchronous line of many light towers is complicated.
Brief description of the drawings
By the way that disclosure illustrative embodiments are described in more detail with reference to accompanying drawing, the disclosure above-mentioned and its
Its purpose, feature and advantage will be apparent, wherein, in disclosure illustrative embodiments, identical reference number
Typically represent same parts.
Fig. 1-2 shows the schematic diagram of the implementation process of existing area source Zero calibration, laser code and synchronization.
Fig. 3 shows the schematic block diagram of the positioning beam emission equipment according to the utility model one embodiment.
Fig. 4 shows the positioning beam emission equipment Zero calibration and beam code according to the utility model one embodiment
Implementation process schematic diagram.
Fig. 5 shows the schematic block diagram of the positioning beam emission equipment according to another embodiment of the utility model.
Fig. 6 shows the positioning beam emission equipment Zero calibration and beam code according to another embodiment of the utility model
Implementation process schematic diagram.
Fig. 7 shows the schematic block diagram of the positioning beam emission equipment according to the another embodiment of the utility model.
Fig. 8 shows the schematic block diagram of the positioning beam delivery system according to the utility model one embodiment.
Fig. 9 shows positioning beam delivery system Zero calibration, the beam code according to the utility model one embodiment
And the schematic diagram of synchronous implementation process.
Figure 10 shows the schematic block diagram of the location equipment according to the utility model one embodiment.
Figure 11 shows the schematic block diagram of the alignment system according to the utility model one embodiment.
Embodiment
The following preferred embodiment that the disclosure is more fully described with reference to the accompanying drawings.Although showing the disclosure in accompanying drawing
Preferred embodiment, however, it is to be appreciated that may be realized in various forms the disclosure without the embodiment party that should be illustrated here
Formula is limited.On the contrary, these embodiments are provided so that the disclosure is more thorough and complete, and can be by the disclosure
Scope intactly conveys to those skilled in the art.
Realized as it was previously stated, being used in existing laser scanning targeting scheme with reference to light source (for example, it may be area source)
The Zero calibration of light tower, and the synchronization between multiple smooth towers is realized with the sychronisation of wired connection.With zero point as shown in Figure 1
Exemplified by the implementation process of demarcation, under light tower working condition, some is fixed in arrival for its internal rotation or pendulous device
A signal A can be triggered during position, and (trigger signal A time is properly termed as tA), it is right after signal A that the processor in light tower is received
Rotation or pendulous device are adjusted so that it can (time delay t can be according to meter in a fixed delay time t
Obtain, the delay time value of different rotary or pendulous device is different) rotate afterwards or be rocked to dead-center position, touched in dead-center position
Send out corresponding with reference to light source (for example, it may be area source) transmitting zero cross signal B, mark scan cycle zero point t0, while laser
Start Scan orientation space.
In scan period dead-center position, it is encoded with reference to the zero cross signal B that light source is launched, receiving terminal can after receiving
With automatic identification, so as to realize the coding to laser.In some systems, light tower is in scan period zero point t0One can be launched simultaneously
Individual signal C (showing various forms of signals in figure to distinguish signal B and signal C), other specific ginsengs are forwarded to by sychronisation
Irradiation source.These are specific to receive the zero cross signal B that also transmitting band is equally encoded after signal C with reference to light source, so as to expand zero passage
Signal B coverage.
In many light Tower Systems, each smooth tower needs timesharing to be scanned to avoid interfering, rotation in each light tower or
Pendulous device has different zero points, it is necessary to synchronize, and synchronous implementation process is as shown in Figure 2.Synchronization between many light towers passes through
One or more sychronisations are realized, are wired connection between sychronisation and each light tower and sychronisation.To any smooth tower,
Each rotation or the precalculated position of pendulous device, sychronisation launch a synchronizing signal S to the light tower, and light tower receives synchronous letter
Number (the synchronous signal receiver time be tS), the processor in light tower is according to synchronizing signal S and signal A to the rotation or pendulous device
It is adjusted, it is ensured that it just rotates or be rocked to dead-center position from fixation mark position by the Fixed Time Interval of itself,
So as to which the dead-center position triggering light tower provided in sychronisation launches zero cross signal and beginning laser scanning to should refer to light source.
But, it is restricted with reference to the working range of light source, far and near intensity has very big difference, it is difficult to meet at distance
To work well.With reference to the high directivity of light source, it is difficult to control all directions to have uniform exposure intensity.Also, it is synchronous
Wired connection mode between device and its between light tower installs complicated, and cable routing is difficult to realize, setup error easily occurs,
Also cause the structure of light tower larger, increase design difficulty, influence attractive in appearance.
Therefore, the Zero calibration for wirelessly realizing light tower and synchronous positioning are utilized the utility model proposes a kind of
Beam emission equipment and positioning beam delivery system.
Before being illustrated to wireless Zero calibration and synchronization scenario of the present utility model, just sent out first by wireless signal
The wireless zero cross signal that injection device is launched demarcated to scan period zero point, position synchronization between beam emission equipment and
The principle of positioning is done to briefly explain.
Positioning beam emission equipment (as set forth above, it is possible to using form of positioning light tower) can be swept with one or more
Rotating shaft is different for strafing under emission mode, different sweep modes, and what positioning beam emission equipment was launched under every kind of sweep mode determines
Position light beam can strafe axis of rotation under the sweep mode, and positioning light beam is strafed to realize to whole located space.
Between the scheduled time before positioning beam emission equipment starts to strafe the time for positioning light beam with a kind of sweep mode
Every at the time of, wireless signal transmitting device can launch encoded wireless zero cross signal B so that wireless zero cross signal B hairs
Penetrate and live through after the first predetermined time interval, beam sweep device starts to strafe positioning light beam, and realization is swept to beam sweep device
Penetrate the demarcation of initial time (zero point).Synchronous signal receiver device receive synchronizing signal after the second predetermined time interval when
Carve, positioning beam emission equipment starts to strafe positioning light beam with a kind of sweep mode, realize to the same of positioning beam emission equipment
Step and Zero calibration.
By processing after the wireless signal receiver in keeper receives wireless zero cross signal, you can when obtaining zero passage
Between, and determine the coding of the wireless zero cross signal.When positioning the positioning beam receiver in beam sweep to keeper, positioning
Beam receiver can judge the positioning light beam received from which positioning beam emission equipment (positioning according to the coding of determination
Processor on part, which can consider to receive in the certain time of wireless zero cross signal away from wireless signal receiver, positions beam reception
Positioning light beam received by device is corresponding with the wireless zero cross signal, is sent out by the coding and positioning light beam of the wireless zero cross signal
The corresponding relation of jet device, processor is known that the coding corresponding to the positioning light beam received) so that according to identified
The relevant information of positioning beam emission equipment can be just calculated the location of keeper.
Fig. 3 shows the schematic block diagram of the positioning beam emission equipment 100 according to the utility model one embodiment, such as
Shown in Fig. 3, positioning beam emission equipment 100 (for example, it may be light tower) can include beam sweep device 110 and wireless signal
Emitter 120.Wherein, beam sweep device 110 can be used in the work period it is predetermined strafe during in it is empty to positioning
Between strafe positioning light beam.Wireless signal transmitting device 120 can be used for during strafe strafe initial time before zero passage
Signal transmission time launches wireless zero cross signal B, zero cross signal launch time and strafes tool between initial time during strafing
There is the first predetermined time interval.
Here, the work period of beam sweep device 110 can be that positioning light beam start time is once strafed before it to rear
Positioning time for being undergone light beam start time is once strafed, it is fixed during strafing can be that beam sweep device 110 is strafed once
The time that position light beam is undergone, duty ratio is long during strafing.Beam sweep dress in each positioning beam emission equipment 100
The identical work period can be had and/or strafe period by putting 110, in order to the positioning beam emission equipment in located space
100 unified management.Also, the work period of beam sweep device 110 can adjust with during strafing, to adapt to actually make
A variety of situations during.In addition, beam sweep device 110 can strafe polytype light beam, such as laser beam, red
Outer light beam or a variety of visible light beams etc., in several cases, can be realized with suitable light beam empty to positioning
Between strafe.
The predetermined initial time of strafing for strafing period for positioning light beam is referred to as zero point t0, zero point t0It can be to determine.
Zero point t0The first predetermined time interval T before1, wireless zero cross signal B (zero passages can be launched by wireless signal transmitting device 120
Signal transmission time is referred to as tB), to inform beam sweep device 110 it is predetermined strafe during strafe initial time so that
Wireless signal transmitting device 120 launches wireless zero cross signal B and undergoes the first predetermined time interval T1Afterwards, beam sweep device 110
During strafing, start to strafe positioning light beam into located space.
Here, because the time of the transmitting, reception and processing of wireless signal usual ratio reference light source is (for example, it may be face
Light source) transmitting of signal, reception and processing time it is long, therefore need to launch wireless zero cross signal in advance before initial time is strafed
B, in order to having time enough transmitting, receiving and handling wireless zero cross signal B.First predetermined time interval T1Can be according to warp
Test or actual conditions or user's request etc. are set, do not require specifically.It should be apparent to a person skilled in the art that first is pre-
Fix time interval T1Length be a systematic parameter, with positioning beam emission equipment 100 it is unrelated.
In addition, the wireless zero cross signal B can be encoded, to add ID to distinguish scanning device and/or scanning light beam.Compile
Code can have a variety of implementations, can be carried out by conventional wireless-modulated method, for example, it may be adjusting wireless zero passage letter
Number B frequency, amplitude and phase etc..
Here, there can be two aspects to wireless zero cross signal B coding, on the one hand, wireless zero cross signal B's
After launch time determines, the first predetermined time interval T is undergone1Corresponding beam sweep device 110 is reached afterwards strafes fixed
The zero point t of position light beam0Time, play a part of informing and strafe zero point；On the other hand, due to wireless zero cross signal B corresponding thereto
The positioning light beam answered has fixed time interval T1, i.e. wireless zero cross signal B has determination correspondence to close with corresponding positioning light beam
System, so, according to the wireless zero cross signal B of reception, and the time difference of certain anchor point reception positioning light beam is that can determine that the positioning
The angle for strafing light beam zero point of point light tower relatively.In this way, learning that wireless zero cross signal B coding can be achieved to corresponding to it
Beam sweep device 110 strafe positioning light beam coding.So, it can be realized by the coding to wireless zero cross signal B
Zero calibration to beam emission equipment and positioning object are accurately positioned.
Further, the wireless zero cross signal B that wireless signal transmitting device 120 is launched can also be by specific other wireless communications
Number emitter forwarding, so as to expand the coverage of zero cross signal.So, positioning beam emission equipment extension can be answered
For in bigger located space, realizing the unified regulation and control to positioning beam emission equipment in located space.
Exemplified by shown in Fig. 4, the initial time of strafing of beam sweep device 110 is t0(zero point), is strafing initial time t0
The first predetermined time interval T before1, wireless zero cross signal B, zero cross signal transmitting are launched by wireless signal transmitting device 120
Time is tB.In this way, wireless zero cross signal B can inform that beam sweep device 110 strafes period in entrance and strafes positioning light
Beam, realizes the demarcation of zero point.
Above-mentioned positioning beam emission equipment 100 can realize to position beam sweep time zero demarcation, but this
Strafing for positioning light beam is difficult to accurate assurance in the case of kind, therefore, can also set rotation in beam sweep device 110 or put
Motivation structure and controller.Fig. 5 shows the schematic frame of the positioning beam emission equipment according to another embodiment of the utility model
Figure.
As shown in figure 5, the positioning beam emission equipment 100 can include beam sweep device 110 and wireless signal transmission
Device 120.Wherein, beam sweep device 110 can include rotation or swinging structure 111 and controller 112.Beam sweep device
110 and the description of wireless signal transmitting device 120 can be found in associated description in Fig. 3, will not be repeated here.Rotation or swing mechanism
111 can be used for realizing strafing for positioning light beam.Controller 112 can reach preset bearing in response to rotation or swing mechanism,
Regulation rotation or swing mechanism motion so that its strafe initial time reach strafe original position, start simultaneously at the phase of strafing
Between.
Here, when rotation or swing mechanism reach and strafe original position, beam sweep device 110 can strafe positioning light
Beam, its mode of strafing can have a variety of ways of realization.For example, it may be setting light source in rotation or swing mechanism, light source is straight
Connect and rotate or swing with the mechanism, when rotation or swing mechanism reach and strafe original position, light source starts to light, so as to realize
Position strafing for light beam.For another example the optical system of speculum etc, optics can be installed in rotation or swing mechanism 111
System is rotated or swung with rotation or swing mechanism 111, and when original position is strafed in its arrival, beam sweep device 110 is strafed
Positioning light beam be irradiated in optical system, optical system reflection positioning light beam, so as to realize that positioning light beam is strafed.
Under the positioning working condition of beam emission equipment 100, rotation or swing mechanism 111 would generally be with a fixed weeks
Phase rotates or swung, when beam sweep device is after strafing initial time determination, if rotation or swing mechanism maintain former motion
State, it is possible to can not on time reach and strafe original position, therefore, it can increase controller 112 in beam sweep device.
When rotation or swing mechanism rotate or swung to up to preset bearing, controller 112 can be reached in response to rotation or swing mechanism
Preset bearing, regulation rotation or the motion of swing mechanism 111 make it strafe positioning light beam in beam sweep device and strafed
Original position is strafed in the arrival of time beginning.
Here it is possible to preset a position so that when rotation or swing mechanism motion 111 reach this position, control
Device 112 processed, which can be learnt and it is moved, to be adjusted, i.e., preset bearing is the equal of to allow 112 pairs of rotations of controller or swing
The prompting position that mechanism 111 is adjusted.
Controller 112 can with rotation or swing mechanism it is associated (its interrelational form can have a variety of, for example, it may be
Wired connection), so that it can know whether rotation or swing mechanism reach preset bearing in time, and this is responded.Example
Such as, one preset bearing of setting in the former range of movement of rotation or swing mechanism, controller moves to the position in response to it, obtained
The order that rotation or swing mechanism can be adjusted is obtained, and rotation or swing mechanism are adjusted from the position.Its
In, multiple preset bearings can also be set in the former range of movement of rotation or swing mechanism, whenever rotation or swing mechanism fortune
Move to preset bearing, controller can be responded to this.Rotation or the setting of swing mechanism preset bearing and controller
Control mode can have a variety of implementations, not require herein.
Rotation or swing mechanism 111 preset bearing can be adjusted according to controller needed for time determine, with to
Give the regulating time that controller is enough.If for example, controller, which makes regulation, needs 1s, then can be existed based on this regulating time
Rotation determines its preset bearing on the basis of the former period of motion of swing mechanism 111 so that rotation or swing mechanism 111 are former with it
Movement velocity is done exercises to the time required for strafing original position from preset bearing is more than 1s, in order to give controller foot
Enough response times and regulating time.In this way, controller 112 reaches preset bearing to it in response to rotation or swing mechanism 111
It is adjusted, makes it to be moved relative to former movement velocity with identical or different speed, ensures rotation or swing mechanism 111
Original position can be strafed strafing initial time arrival.
So, because preset bearing is with strafing the distance between original position, it is known that strafing initial time t0It is also known that, control
Device 112 processed can based on this distance with now away from zero point t0Time to rotation or swing mechanism 111 be adjusted, to cause it
Original position can be strafed strafing initial time arrival.
In addition, the moment that controller 112 may not reach preset bearing in rotation or swing mechanism 111 is to make sentencing
It is disconnected, but have delaying for individual short time, therefore, controller 112 can also currently reach pre- in response to rotation or swing mechanism 111
The time that the time of orientation and last time reach zero point is adjusted 111 to rotation or swing mechanism 111, with allow its
Strafe initial time arrival and strafe original position.
Moved in rotation or the arrival of swing mechanism 111 preset bearing to it during strafing original position, control
Device 112 can carry out one or many regulations to rotation or swing mechanism 111.For example, controller 112 can be in response to rotation
Or swing mechanism 111 reaches preset bearing, based on preset bearing and the distance for strafing original position, and preset bearing is reached
Time and strafe initial time to rotation or swing mechanism 111 carry out Primary regulation so that rotation or swing mechanism can adjust
Its cycle for rotating or swinging, so that it can strafe original position strafing initial time arrival.Controller 112 can also be more
It is secondary or rotation or swing mechanism 111 are adjusted at any time, to allow it punctual in zero point t0Original position is strafed in arrival.
112 pairs of rotations of controller or the regulation of swing mechanism 111 can have a variety of implementations, be not particularly limited herein.Controller
112 make after regulation, and rotation or swing mechanism can also be with the speed uniform motion after regulation.
During being strafed for one, the time of rotation or the arrival of swing mechanism 111 preset bearing can be sent out in zero cross signal
Penetrate before the time, can also be after which.In one embodiment, rotation or swing mechanism first reach preset bearing, in this way, control
The time that device processed can have abundance, rotation or swing mechanism were adjusted.In another embodiment, rotation or swing mechanism
After reach preset bearing, in this way, the equipment sufficient time can be given to launch, receive or handle wireless zero cross signal B.Rotation
Or time of the time with launching wireless zero cross signal B that reaches preset bearing of swing mechanism 111 be it is separate, can be with comprehensive
Close Shi Jishiyong situation and empirical data is set, be not strict with herein.
Furthermore, it is possible to set trigger 113 in beam sweep device 110.The trigger 113 can in response to rotation or
Swing mechanism 111 reaches preset bearing, triggers motor adjustment signal A, and controller 112 is adjusted in response to motor adjustment signal A
Rotation or the motion of swing mechanism 111.
T will be referred to as at the time of triggering motor adjustment signal AA, tAWith zero point t0Between time interval be referred to as between the 3rd time
Every T3, the 3rd time interval T3Can be than the first predetermined time interval T1It is long, can also be than the first predetermined time interval T1It is short, i.e.,
The time for triggering motor adjustment signal A can be before or after wireless zero cross signal B be triggered.
During being strafed for one, triggering motor adjustment signal A time can wireless zero cross signal B launch times it
Before, can also be after which.In one embodiment, motor adjustment signal is triggered in advance, in this way, controller there can be abundance
Time, rotation or swing mechanism were adjusted.In another embodiment, wireless zero cross signal B is triggered in advance, in this way, can be with
The equipment sufficient time is given to handle transmitting, receive or handle wireless zero cross signal B.Trigger motor adjustment signal A time
Time with the wireless zero cross signal B of transmitting is separate, can integrate actual use situation and empirical data is set
It is fixed, it is not strict with herein.
This motor adjustment signal A can be pulse signal, for example, can be wireless signal, correspondingly in positioning beam emissions
Wireless signal receiver is installed in equipment 100, to receive and identify motor adjustment signal A, is easy to controller 112 to respond
Rotation or the motion of swing mechanism are adjusted in this signal.In addition, motor adjustment signal A can also be that optical signal etc. is other
The pulse signal of form, can recognize the signal by controller or other related devices, in order to which controller 112 can be in response to
Simultaneously rotation or the motion of swing mechanism are adjusted for the signal.
Exemplified by shown in Fig. 6, beam sweep device is strafing initial time (zero point t0) positioning light beam is strafed, strafing
The first predetermined time interval T before time beginning1At the time of, wireless signal transmitting device launches wireless zero cross signal B, and (zero passage is believed
Number launch time tB), strafe initial time so as to inform beam sweep device.The 3rd time interval T before zero point3When
Carve, trigger triggering motor adjustment signal A (motor adjustment signal A triggered times tA), so that controller 112 can be in response to this
Signal, rotation or the motion of swing mechanism are adjusted.Fig. 6 is only that positioning beam emission equipment of the present utility model carries out zero
One schematic diagram of point demarcation implementation process, wherein, the first predetermined time interval T1It can according to circumstances change and be adjusted, the
Three time interval T3Can also be than the first predetermined time interval T1It is short or equal.
So far, the realization according to positioning beam emission equipment of the present utility model and its Zero calibration is described in detail
Process.In addition, synchronous signal receiver device is also provided with positioning beam emission equipment of the present utility model, it is each to realize
Position the synchronization of beam emission equipment.Fig. 7 shows the positioning beam emission equipment according to the utility model another embodiment
Schematic block diagram.As shown in fig. 7, the positioning beam emission equipment is included outside the above-mentioned device referred to, synchronous letter can also be included
Number reception device 160, for receiving synchronizing signal S, realizes the synchronizations to multiple positioning beam emission equipments.
Multiple positioning beam emission equipments in positioning beam delivery system can be divided into multiple groups, with the positioning light beam of group
Transmitting equipment is set to work simultaneously, and the positioning beam emission equipment of difference group works when being set to different, i.e. one group is determined
When position beam emission equipment is luminous, other groups of positioning beam emission equipment does not light.Synchronizing signal S effect is exactly that control is each
The lighting timings of group positioning beam emission equipment.Time interval between synchronizing signal S and other signals, with group positioning light beam hair
Jet device is identical, and difference group positioning beam emission equipment is differed.More specifically, for the positioning beam emissions in same group
Equipment, synchronizing signal S and is spaced between strafing between initial time identical, and is set for the positioning beam emissions in different groups
It is standby, synchronizing signal S from strafe between initial time between interval it is different.In the case of wireless synchronization, beam emission equipment is positioned
Need to do different disposal to the synchronizing signal that receives according to respective numbering, so that ensure between many positioning beam emission equipments can be with
Synchronous and time-sharing works.Synchronous signal receiver device 160 can be preset inside each positioning beam emission equipment, and can
Synchronizing signal S is received, the synchronization to multiple positioning beam emission equipments is realized.Synchronous signal receiver device is received into synchronous letter
Number S synchronous signal receiver time is referred to as tS, the time between synchronous signal receiver time and motor adjustment signal triggered time
Interval is referred to as the 4th time interval T4.Synchronous signal receiver time tSThe second predetermined time interval T afterwards2Afterwards, reach and strafed
Time beginning (strafes cycle zero point t0), wherein, the second predetermined time interval T2Than the first predetermined time interval T1It is long.Controller can
With based on synchronizing signal S and motor adjustment signal A to rotation or swing mechanism be adjusted, it is ensured that rotation or swing mechanism from its
Preset bearing undergoes the 3rd time interval T3Afterwards, dead-center position is reached exactly to, the synchronization of multiple positioning beam emission equipments is realized.
Wherein, the synchronous signal receiver time can be within a work period of beam sweep device.For a job
In the cycle, initial time is strafed after the synchronizing signal S synchronous signal receiver time is received, and during with synchronous signal receiver
Between between have the second predetermined time interval T2。
So far, positioning beam emission equipment of the present utility model and its Zero calibration and synchronization is described in detail.This
Outside, the utility model additionally provides a kind of positioning beam delivery system, with realize positioning beam emission equipment Zero calibration and
It is synchronous.Fig. 8 shows the schematic block diagram of the positioning beam delivery system according to the utility model one embodiment.Such as Fig. 8 institutes
Show, the positioning beam delivery system can include multiple above-mentioned positioning beam emission equipments (one is only shown in figure), and
Synchronizing signal dispensing device 510, wherein, synchronizing signal dispensing device 510 is used to send synchronizing signal S.
Here, a synchronizing signal dispensing device 510 and multiple positioning light beams can be set in positioning beam delivery system
Launch in equipment 100, each positioning beam emission equipment and be respectively provided with a synchronous signal receiver device, synchronizing signal dispensing device
510 independently of positioning beam emission equipment, and is connected with each positioning beam emission equipment 100 that (its connected mode can be with
It is wired connection or wireless connection, specific connected mode is not limited).Position the synchronizing signal in beam emission equipment
Reception device can receive the synchronizing signal S of the transmission of synchronizing signal dispensing device 510, and controller 112 can be in response to the synchronization
Signal S, rotation or swing mechanism 111 is adjusted, to ensure that it can reach exactly to zero after the second predetermined time interval
Point position.
Synchronizing signal dispensing device 510 with positioning beam emission equipment (or with the equipment synchronous signal receiver fill
Put) between can be wireless connection or wired connection.Preferably, wireless connection can be used.In this way, synchronizing signal
Dispensing device 510 can send wireless synchronization signal S, and by the synchronous signal receiver in each positioning beam emission equipment 100
Device is received, to realize synchronization.So, it can simplify between synchronizing signal dispensing device 510 and positioning beam emission equipment
The installation process of wired connection, while reducing the structure of positioning beam delivery system.
In addition, synchronizing signal dispensing device 510 can also be arranged in a positioning beam emission equipment, and to other
Each positioning beam emission equipment for being provided with synchronous signal receiver device sends synchronizing signal S.This is provided with synchronizing signal hair
The positioning beam emission equipment (for example, it may be light tower) of device 510 is sent to be properly termed as key light tower, it is other that synchronizing signal is installed
The positioning beam emission equipment of reception device is properly termed as from Guang Ta, can be sent synchronizing signal S by key light tower, be received from light tower
Synchronizing signal S, i.e. key light tower control the synchronization from light tower.
Key light tower and from can be wireless connection or wired connection between Guang Ta.In a preferred embodiment,
Key light tower and synchronous believe between Guang Ta can be that synchronizing signal dispensing device 510 in wireless connection, key light tower is launched
Number S can be wireless signal, and synchronous signal receiver device receives synchronizing signal S to realize multiple positioning light beams hairs from light tower
The synchronization of jet device.So, it is possible to reduce the wired connection between each device, installation steps and device structure are simplified.Meanwhile,
The working range of wireless signal is limited smaller and no directionality by environment, and the synchronizing signal of each position can be caused to connect
Receiving apparatus can receive uniform synchronizing signal S, and the synchronization of positioning beam emission equipment can be realized in time.
Synchronizing signal S can be band coding.There is the second predetermined time interval between synchronous signal receiver time and zero point
T2, and there is the first predetermined time interval T wireless zero cross signal launch time with zero point1, in this way, synchronous signal receiver time and nothing
Time interval between the line zero cross signal B transmission times can be fixed.In the same work period, synchronizing signal S and wireless
Zero cross signal B is corresponding.For example, both codings can be the time of its signal transmitting respectively, and the difference of two time
Value is fixed time interval.So, by the synchronizing signal S with coding, the wireless zero cross signal B with coding and both receptions
Or the data such as the Fixed Time Interval between launch time, it is possible to achieve synchronizing signal S, wireless zero cross signal B and positioning light
The mutual correspondence of beam so that synchronization and its Zero calibration between multiple positioning beam emission equipments can be carried out in order.
Exemplified by shown in Fig. 9, synchronous signal receiver device is in tS(synchronous signal receiver time) reception synchronizing signal
S, it is possible thereby to will be away from tSSecond predetermined time interval T afterwards2Be considered as beam sweep device at the time of afterwards strafes initial time
(zero point t0), strafe initial time with inform beam sweep device.Initial time (zero point t will be strafed0) before first make a reservation for
Time interval T1At the time of, wireless signal transmitting device launches wireless zero cross signal B (zero cross signal launch time tB), so as to light
Beam, which strafes device, to strafe positioning light beam in zero point in time.In synchronous signal receiver time tS4th time interval T afterwards4Can
To trigger motor adjustment signal A (motor adjustment signal triggered time t by triggerA), in order to which controller can be in response to same
Step signal S and motor adjustment signal A to rotation or swing mechanism be adjusted, realize to position beam emission equipment synchronization and
Zero calibration.Fig. 9 is only that positioning beam emission equipment of the present utility model synchronizes a schematic diagram with Zero calibration, its
In, the second time interval T2Than the first predetermined time interval T1It is long, the first predetermined time interval T1With the second time interval T2Can be with
According to circumstances change is adjusted, motor adjustment signal triggered time tACan be in zero cross signal launch time tBBefore or after
Or simultaneously.
So far, combined Fig. 2-5 is described in detail on positioning beam emission equipment of the present utility model and positioning light
Beam emission system, to realize Zero calibration and the synchronization to positioning beam emission equipment.In addition, the utility model additionally provides one
Location equipment can also be included by planting in alignment system, the alignment system, Figure 10 is shown according to the utility model one embodiment
Location equipment schematic block diagram, Figure 11 shows the schematic frame of the alignment system according to the utility model one embodiment
Figure.
As shown in Figure 10, the location equipment 600 is suitable to be arranged on positioning object, and it can include one or more positioning
Beam receiver 610, wireless signal receiver 620 and processor 630.Wherein positioning beam receiver 610 can be used for receiving
Light beam is positioned, wireless signal receiver 620 can be used for receiving wireless zero cross signal B, and processor 630 may be coupled to positioning light
Beam receiver 610 and wireless signal receiver 620, for the wireless zero cross signal B received based on wireless signal receiver 620
And the time for positioning light beam that positioning beam receiver 610 is received, it is determined that positioning beam receiver 610 is relative to positioning light
The relative direction of beam transmitting equipment 100 or position.
Because wireless zero cross signal is with coding, while between the positioning light beams of wireless zero cross signal B corresponding thereto
With fixed very first time interval T1, in this way, processor can receive wireless zero passage letter based on wireless signal receiver 620
Number B time and its coding, and multiple (for example, can at least include two) positioning beam receivers receive positioning light beam
Time, judge positioning beam receiver 610 relative to positioning beam emission equipment 100 relative direction or position, so as to enter
One step determines the positional information of positioning object, and realization is accurately positioned.
Wherein, the positions of multiple positioning beam receivers 610 can be relatively fixed, in order to can be according to determining for receiving
Position light beam judges the positioning beam delivery system of the transmitting positioning light beam, provides more rich to the positioning for positioning object for processor
Location data.
As shown in figure 11, the alignment system 700 can include above-mentioned positioning beam emission equipment 100 or positioning light beam
Emission system 500, and location equipment 600.
By the wireless zero cross signal B that wireless signal transmitting device 120 is launched has coding, and wireless zero cross signal B
Launch time and zero point there is the first predetermined time interval T1, therefore believed by the wireless zero passage that wireless signal receiver is received
Number B and positioning beam receiver receive the time of positioning light beam, it may be determined that with the positioning light corresponding to the wireless zero cross signal B
The source of the beam sweep device of beam.Again because the wireless zero cross signal B that wireless signal transmitting device 120 is launched is associated as it
Beam sweep device strafe positioning the strafing of light beam during initial signal, so wireless zero passage of the processor according to reception
The time difference of signal B and positioning light beam, the angular speed of beam sweep device, it may be determined that the beam receiver is swept relative to light beam
The offset direction of the zero degree line of injection device, may thereby determine that the positioning beam receiver relative to the positioning light that it is received
Positioning beam launcher corresponding to beam estimates direction.
Wherein, zero degree line is that the positioning light beam that initial time of the beam sweep device during each strafe is strafed exists
Plane on the direction of propagation.Coordinate representation can be used by estimating direction, can also be represented with solid angle, can be with for example, estimating direction
It is direction when off-beams strafe zero degree line certain solid angle of device or the side relative to beam sweep device
To.
For the same multiple positioning for strafing the same positioning light beam received in period being fixed on positioning object
For beam receiver, it can determine that multiple positioning beam receivers are respectively relative to the same positioning light beam using the above method
Corresponding beam sweep device estimates direction.
For another example be also based on wireless zero cross signal B determines that positioning object is relative with the reception time difference of positioning light beam
In corresponding to wireless zero cross signal B strafe device estimate relative direction and/or position.In one embodiment, according to same
One was strafed in period, the multiple positioning light corresponding with the wireless signal receiver for receiving same wireless zero cross signal B
Positioning light beam and same wireless zero cross signal B reception time difference that beam receiver is respectively received, it may be determined that Duo Geding
Position beam receiver is respectively relative to the direction of the beam sweep device corresponding to same wireless zero cross signal B, then basis
Relative tertiary location relation between multiple positioning beam receivers is assured that multiple positioning beam receivers relative to same
The relative position information of one beam sweep device, may thereby determine that and estimate position residing for positioning object.
In addition, processor can also possess above-mentioned NM function, positioning object is determined with more precisely realizing
Position.
Above it is described in detail by reference to accompanying drawing according to positioning beam emission equipment of the present utility model, positioning light beam
Emission system and alignment system.
It is described above each embodiment of the present utility model, described above is exemplary, and non-exclusive, and
And it is also not necessarily limited to disclosed each embodiment.In the case of without departing from the scope and spirit of illustrated each embodiment, for
Many modifications and changes will be apparent from for those skilled in the art.The choosing of term used herein
Select, it is intended to best explain the principle, practical application or the improvement to the technology in market of each embodiment, or lead this technology
Other those of ordinary skill in domain are understood that each embodiment disclosed herein.
Claims (10)
1. one kind positioning beam emission equipment, it is characterised in that including：
Beam sweep device, during being strafed for predetermined in the work period in strafe positioning light beam to located space；
Wireless signal transmitting device, for it is described strafe during strafe initial time before zero cross signal launch time hair
Penetrate wireless zero cross signal, the zero cross signal launch time and it is described strafe during strafe between initial time have it is first pre-
Fix time interval.
2. positioning beam emission equipment according to claim 1, it is characterised in that
The wireless zero cross signal is encoded, to represent the beam sweep device corresponding to it.
3. positioning beam emission equipment according to claim 1, it is characterised in that the beam sweep device includes：
Rotation or swing mechanism, for realizing strafing for the positioning light beam；
Controller, preset bearing is reached in response to the rotation or swing mechanism, adjusts the rotation or the motion of swing mechanism,
So that its it is described strafe initial time and reach strafe original position so that during starting described strafe.
4. positioning beam emission equipment according to claim 3, it is characterised in that the beam sweep device also includes：
Trigger, preset bearing is reached in response to the rotation or swing mechanism, triggers motor adjustment signal, and the controller rings
Rotation described in motor adjustment Signal Regulation described in Ying Yu or the motion of swing mechanism.
5. positioning beam emission equipment according to claim 3, it is characterised in that
During being strafed for one, the rotation or swing mechanism reach the time of preset bearing in the wireless zero cross signal hair
Penetrate before the time.
6. the positioning beam emission equipment according to any one of claim 1-5, it is characterised in that also include：
Synchronous signal receiver device, for receiving synchronizing signal,
The initial time of strafing after the synchronous signal receiver time of the synchronizing signal is received, and with it is described synchronous
There is the second predetermined time interval between signal reception time.
7. positioning beam emission equipment according to claim 6, it is characterised in that
The synchronizing signal is wireless signal.
8. one kind positioning beam delivery system, it is characterised in that including：
Multiple positioning beam emission equipments according to claim 6 or 7；And
Synchronizing signal dispensing device, for sending the synchronizing signal.
9. positioning beam delivery system according to claim 8, it is characterised in that
The synchronizing signal dispensing device is arranged in a positioning beam emission equipment.
10. a kind of alignment system, it is characterised in that including：
Positioning beam emission equipment according to any one of the claim 1-7 or according to claim 8 or claim 9
Position beam delivery system；And
Location equipment, suitable for being arranged on positioning object, the location equipment includes：
One or more positioning beam receivers, for receiving the positioning light beam；
Wireless signal receiver, for receiving the wireless zero cross signal；
Processor, is connected to the positioning beam receiver and the wireless signal receiver, for based on reception of wireless signals
Device receives the time of the wireless zero cross signal and the positioning beam receiver receives the time of the positioning light beam,
Determine relative direction of the positioning beam receiver relative to the positioning beam emission equipment or position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621379841.9U CN206515460U (en) | 2016-12-15 | 2016-12-15 | Position beam emission equipment, positioning beam delivery system and alignment system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621379841.9U CN206515460U (en) | 2016-12-15 | 2016-12-15 | Position beam emission equipment, positioning beam delivery system and alignment system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206515460U true CN206515460U (en) | 2017-09-22 |
Family
ID=59861990
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621379841.9U Active CN206515460U (en) | 2016-12-15 | 2016-12-15 | Position beam emission equipment, positioning beam delivery system and alignment system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206515460U (en) |
-
2016
- 2016-12-15 CN CN201621379841.9U patent/CN206515460U/en active Active
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