WO2017181865A1

WO2017181865A1 - Spatial positioning system, positioning apparatus, and optical transceiver module

Info

Publication number: WO2017181865A1
Application number: PCT/CN2017/079941
Authority: WO
Inventors: 李小虎; 周旭东; 张超
Original assignee: 成都理想境界科技有限公司
Priority date: 2016-04-22
Filing date: 2017-04-10
Publication date: 2017-10-26

Abstract

A spatial positioning system, positioning apparatus, and optical transceiver module. The spatial positioning system comprises a positioning apparatus (101), a central controller (103), and N optical transceiver modules (102). The positioning apparatus (101) comprises an optical scanning device (1011) disposed thereon. The N optical transceiver modules (102) are arranged in a positioning space where a location of an object is to be determined. Each of the optical transceiver modules (102) comprises M optical triggers (1021). The optical scanning device (1011) is used to generate scanning light along a first direction and a second direction. The first direction and the second direction are intersecting directions. The optical triggers (1021) are used to generate, according to the scanning light along the first direction and the second direction, electrical signals. The central controller (103) determines, according to electrical signals generated by three or more optical triggers not on a straight line, a location of the positioning apparatus (101) in the positioning space. The technical solution utilizes a characteristic of light propagating along a straight line and the photovoltaic effect to increase spatial positioning precision from meter to millimeter-scale, meeting increasing demand for the spatial positioning precision.

Description

Space positioning system, positioning device and light sensor module

This application claims the Chinese patent application CN201610257245.1 entitled "A Space Positioning System and Method, Positioning Device and Light Sensor Module" submitted on April 22, 2016, and the name submitted on April 22, 2016. The priority of the Chinese patent application CN201620346255.8, which is incorporated herein by reference.

Technical field

The present invention relates to the field of spatial positioning, and in particular, to a spatial positioning system, a positioning device, and a light sensor module.

Background technique

Spatial positioning is the location of the specified bit device in space. For example, the location of the device can be determined by GPS (English: Global Positioning System) technology. However, as people's requirements for positioning accuracy are getting higher and higher, the meter-level accuracy provided by GPS technology can no longer meet people's needs, and for some specific spaces such as indoors, basements, etc., obstacles such as walls can block GPS. Signals, so GPS technology can't be applied in these specific spaces.

At present, for a specific space such as indoors and basements, positioning is generally performed by wireless positioning technology. Specifically, first, the signal strengths of the wireless APs (English: Access Point; Chinese: access points, also referred to as hotspots) that are known to the device are determined, and then the mobile device distance is estimated by using the signal attenuation model. The distance of the AP, and finally use the triangulation algorithm to determine the location of the device.

However, the accuracy provided by wireless positioning technology is still in the meter level, which cannot meet the requirements of people's increasingly high spatial positioning accuracy.

Summary of the invention

The object of the present invention is to provide a spatial positioning system and method, a positioning device and a light sensor module, which meet the requirements of higher and higher spatial positioning accuracy.

In order to achieve the above object, a first aspect of the present invention provides a spatial positioning system, including a positioning device, a total controller, and N optical sensor modules, wherein the positioning device is provided with an optical scanning device. Description N light sensor modules are disposed in the space to be positioned, each light sensor module includes M light triggers, M and N are positive integers, and the positioning device can scan at least three non-collinear lines in a single scan Light trigger

The light scanning device is configured to generate a scanning ray in a first direction and a scanning ray in a second direction, where the first direction and the second direction are two intersecting directions;

The light trigger is configured to generate an electrical signal by the scanning light of the first direction or the scanning light of the second direction;

The controller is configured to determine a location of the positioning device in the space to be located according to an electrical signal generated by at least three non-collinear optical triggers.

Optionally, the optical scanning device includes:

Scanning light source for generating source light;

a beam shaping unit disposed on the optical path of the source light for shaping the source light into a word line light;

a scanning unit, disposed on the optical path of the light of the word line, for scanning the light of the word line in the first direction and the second direction, respectively, to form a scan of the first direction Light and scanning light in the second direction.

Optionally, the optical scanning device further includes a timing start source for generating a timing start optical signal, and the timing start optical signal is configured to cause the optical trigger to generate a timing start electrical signal.

Optionally, the total controller is further configured to send a timing start signal to the positioning device, so that the positioning device performs the first direction and the second direction after receiving the timing start signal. scanning.

Optionally, the scanning light source is a laser generating unit, the laser generating unit includes a first laser generating subunit and a second laser generating subunit, and the scanning unit comprises a first one-dimensional MEMS scanning galvanometer and a second one a MEMS scanning galvanometer, wherein the first one-dimensional MEMS scanning galvanometer cooperates with the first laser generating sub-unit to form the scanning light in the first direction, and the second one-dimensional MEMS scanning galvanometer Cooperating with the second laser generating subunit to form the scanning light in the second direction.

Optionally, when the positioning device is multiple, each positioning device performs scanning according to a time-sharing scanning signal sent by the total controller.

Optionally, when the positioning devices are J and the optical scanning devices in the J positioning devices are capable of generating J different wavelengths of scanning light, each of the optical triggers and one of the J different wavelengths Corresponding to the scanning light, the scanning light of each wavelength can be scanned into K corresponding light triggers in a single time, and at least three of the K optical flip-flops are not collinear, wherein J is a positive integer greater than or equal to 2. , K is a positive integer greater than or equal to 3.

The second aspect of the embodiments of the present invention further includes a positioning device, which is applied to a spatial positioning system, where the spatial positioning system further includes a total controller and N optical sensor modules, and the N optical sensor modules are disposed in In the space to be positioned, each of the light sensor modules includes M light triggers, M and N are positive integers, and the positioning device can scan at least three non-collinear light triggers in a single scan; The device includes an optical scanning device, the optical scanning device comprising:

Scanning light source for generating source light;

The scanning unit is disposed on the optical path of the light of the word line, and is configured to scan the light of the word line in the first direction and the second direction, respectively, and trigger the optical trigger to generate an electrical signal by using the formed scanning light And causing the total controller to determine the position of the positioning device in the space to be located according to the electrical signals generated by the at least three non-collinear light triggers.

Optionally, the optical scanning device further includes: a timing start light source, wherein the timing start light source is configured to generate a timing start optical signal, and the timing start optical signal is used to cause the optical trigger to generate a timing start electrical signal.

Optionally, the timing start source is an LED light source.

Optionally, the positioning device further includes a communication unit, wherein the positioning device is configured to receive, by the communication unit, a timing start signal sent by the total controller, and according to the timing start signal in the first direction and The second direction is scanned.

Optionally, the scanning light source is a laser generating unit.

Optionally, the laser generating unit comprises a first laser generating subunit and a second laser generating subunit, wherein the scanning unit comprises a first one-dimensional MEMS scanning galvanometer and a second one-dimensional MEMS scanning galvanometer, wherein The first one-dimensional MEMS scanning galvanometer cooperates with the first laser generating sub-unit to form the scanning light in the first direction, the second one-dimensional MEMS scanning galvanometer and the second laser generating sub-unit Cooperating to form the scanning light in the second direction.

Optionally, the beam shaping unit is specifically a cylindrical lens, a Powell prism or a word line wave prism.

Optionally, the positioning device further includes a communication unit, wherein the positioning device is configured to receive, by the communication unit, a time-sharing scanning signal sent by the total controller, and according to the time-sharing scanning signal, within a preset time period. Scan.

Optionally, when each of the light sensor modules includes a light trigger corresponding to the plurality of wavelengths of the scanning light, the light scanning device is capable of generating the scanning light of at least one of the wavelengths, and is capable of scanning to the K in a single scan. a light trigger corresponding to the generated scanning light, and at least three of the K light triggers are not collinear, wherein K is greater than or A positive integer equal to 3.

The third aspect of the embodiments of the present invention further provides a light sensor module, which is applied to a spatial positioning system, the spatial positioning system further includes a positioning device and a total controller, and the positioning device includes an optical scanning device, and the N The light sensor module is disposed in a space to be positioned, and the light sensor module includes:

M light triggers for generating an electrical signal under the action of scanning light generated by the optical scanning device, M and N being positive integers and capable of scanning at least three of the positioning devices in a single scan Non-collinear light triggers;

M amplification shaping circuits connected to the M optical triggers one by one;

a processor connected to the M amplification shaping circuits;

a network interface, coupled to the processor, for transmitting the electrical signal to the overall controller, such that the overall controller determines the electrical signal based on electrical signals generated by at least three non-collinear optical triggers Positioning the device in the space to be located.

Optionally, when the positioning devices are J and the optical scanning devices in the J positioning devices are capable of generating J different wavelengths of scanning light, each of the optical triggers and one of the J different wavelengths Corresponding to the scanning ray, J is a positive integer greater than or equal to 2.

Optionally, the light trigger is specifically a photodiode.

Optionally, the optical sensor module and the general controller communicate by wire or wirelessly.

Compared with the prior art, the present invention has the following beneficial effects:

Since the optical sensor module including the optical trigger is disposed in advance in the space to be positioned, and the scanning light generated by the optical scanning device in the positioning device is used to scan the optical trigger, and the total controller is based on at least three non-collinear The technical solution that the optical trigger generates the electric signal generated by the scanning light to determine the position of the positioning device in the space to be positioned, thereby utilizing the characteristics of the light propagation along the straight line and the photoelectric effect, and improving the accuracy of the spatial positioning from the meter level. At the centimeter level, people have met the requirements for higher and higher spatial positioning accuracy.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained according to these drawings for those skilled in the art without any inventive labor:

1 is a schematic diagram of a spatial positioning system according to an embodiment of the present invention;

2 is a schematic block diagram of an optical scanning device according to an embodiment of the present invention;

3 is a schematic structural diagram of an optical scanning device according to an embodiment of the present invention;

4A is a schematic diagram of shaping source light into a word line light according to an embodiment of the present invention;

4B is a schematic diagram of deflection of a one-dimensional MEMS scanning galvanometer according to an embodiment of the present invention;

FIG. 4C and FIG. 4D are schematic diagrams showing scanning performed by the optical scanning device in the first direction and the second reverse direction respectively according to an embodiment of the present invention; FIG.

4E is a schematic diagram of an LED light source emitting a timing start optical signal according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a module of a photosensor module according to an embodiment of the present invention; FIG.

FIG. 6 is a front elevational view of a photosensor module according to an embodiment of the present invention;

FIG. 7 is a schematic flowchart diagram of a spatial positioning method according to an embodiment of the present disclosure;

FIG. 8 is a schematic diagram of a light sensor module disposed in a space to be located according to an embodiment of the present invention; FIG.

Figure 9 is a schematic illustration of an optical trigger output pulse signal covered by scanned light.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

In a first aspect, please refer to FIG. 1. FIG. 1 is a schematic diagram of a spatial positioning system according to an embodiment of the present invention. As shown in FIG. 1, the spatial positioning system includes a positioning device 101, a general controller 103, and N photosensor modules 102.

Specifically, the positioning device 101 is provided with an optical scanning device 1011. The light scanning device 1011 is capable of generating a scanning ray in a first direction and a scanning ray in a second direction. The first direction and the second direction are two directions intersecting. Preferably, the first direction and the second direction are two orthogonal directions. For example, the first direction may be a horizontal direction, that is, an x-axis direction, and the second direction may be a vertical direction, that is, a y-axis direction.

Among the N photosensor modules 102, each photosensor module 102 includes M light flip-flops 1021 (shown in FIG. 5). M and N are positive integers, and the positioning device 101 can scan at least three non-collinear light triggers 1021 in a single scan, each of the light triggers 1021 being capable of scanning light or a second direction in a first direction Scan An electrical signal is generated by the action of light.

It should be noted that the N photosensor modules 102 need to be preset in the space to be located. Thus, the position of each light sensor module 102 in the space to be positioned is known, and the position of each light trigger 1021 in the space to be positioned is also known.

In a specific implementation process, after the positioning device 101 enters the space to be located, the optical scanning device 1011 in the positioning device 101 generates the scanning light in the first direction and the scanning light in the second direction, and scans, so that the light trigger 1021 is in the An electrical signal is generated by the scanning light in the first direction or the scanning light in the second direction. The overall controller 103 then determines the position of the positioning device 101 in the space to be located based on the electrical signals generated by the at least three non-collinear light triggers 1021.

It can be seen that since the characteristics of the light propagation along the straight line and the photoelectric effect are utilized, the position of the positioning device 101 in the space to be positioned can be determined according to the electrical signal generated by the light trigger 1021 scanned by the scanning light, thereby positioning the space. The accuracy has been improved from the meter level to the centimeter level, which greatly improves the accuracy of spatial positioning and meets the requirements for higher and higher spatial positioning accuracy.

In the following sections, specific implementations of the positioning device 101, the optical sensor module 102, and the overall controller 103 will be separately described.

In a practical application, the positioning device 101 may be a handheld device such as a handle or a glove, or may be a head-mounted device such as a head-mounted display, or may be another type of wearable device, which is not limited herein.

Specifically, please refer to FIG. 2, which is a schematic block diagram of an optical scanning device 1011 according to an embodiment of the present invention. As shown in FIG. 2, the optical scanning device 1011 includes a scanning light source 10111, a beam shaping unit 10112, and a scanning unit 10113.

The scanning light source 10111 is used to generate source light. For example, the scanning light source 10111 may be a laser generating unit or an LED (Light Emitting Diode; Chinese: Light Emitting Diode) light source.

The beam shaping unit 10112 is disposed on the optical path of the source ray for shaping the source ray into a word line ray for subsequent scanning with a word line ray. For example, beam shaping unit 10112 can be a cylindrical lens, a Powell prism or a word line wave prism, and the like.

The scanning unit 10113 is disposed on the optical path of the light of a word line, and is configured to scan the light of the word line in the first direction and the second direction to form the scanning light in the first direction and the scanning light in the second direction, respectively. For example, the scanning unit 10113 may be a MEMS (English: Micro-Electro-Mechanical System; Chinese MEMS) scanning galvanometer.

In the next section, the scanning light source 10111 will be the laser generating unit, and the beam shaping unit 10112 will be the column. The lens and scanning unit 10113 are described by taking a MEMS scanning galvanometer as an example.

Please refer to FIG. 3. FIG. 3 is a schematic structural diagram of an optical scanning device 1011 according to an embodiment of the present invention. As shown in FIG. 3, in the present embodiment, the laser generating unit includes two laser generating sub-units 101111 that respectively supply the scanning light of the first direction and the source light of the scanning light of the second direction. The beam shaping unit 10112 also includes two cylindrical lenses 101121 disposed on the optical paths of the source rays in the first direction and the second direction, respectively. The two cylindrical lenses 101121 respectively shape the first direction and the second inverted source rays into a word line ray in the first direction and the second direction. Please refer to FIG. 4A. FIG. 4A is a schematic diagram of shaping source light into a word line light according to an embodiment of the present invention. As shown in FIG. 4A, the source light emitted by the laser generating subunit 101111 is shaped into a word line light by a cylindrical lens 101121, wherein 21, 22, 23, 24 are vertical diverging beams, and 25 is a horizontal diverging beam. The scanning unit 10113 also includes two one-dimensional MEMS scanning galvanometers 101131 disposed on the optical paths of the word line rays in the first direction and the second direction, respectively. Please refer to FIG. 4B. FIG. 4B is a schematic diagram of deflection of a one-dimensional MEMS scanning galvanometer 101131 according to an embodiment of the present invention, wherein 31 is an incident line of light, 32 is an outgoing scanning light, and 33 is a one-dimensional MEMS scanning vibration. The package structure of the

mirror

101131, 34 is a mirror structure (usually rectangular) of the one-dimensional

MEMS scanning galvanometer

101131, and 35 is the rotation axis of the one-dimensional MEMS scanning galvanometer 101131. As shown in FIG. 4B, the one-dimensional MEMS scanning galvanometer 101131 disposed on the in-line optical path of the first direction is deflected by the driving signal, that is, the first-line ray light can be converted into the first direction. Scan the light. That is, a one-dimensional MEMS scanning galvanometer 101131 cooperates with a laser generating sub-unit 101111 to form a scanning ray in a first direction. Similarly, another one-dimensional MEMS scanning galvanometer 101131 cooperates with another laser generating sub-unit 101111 to form scanning light in the second direction. Please refer to FIG. 4C and FIG. 4D. FIG. 4C and FIG. 4D are schematic diagrams of scanning by the optical scanning device 1011 in the first direction and the second reverse direction respectively according to an embodiment of the present invention.

In the present embodiment, since the directivity of the laser light is particularly good, when the scanning light source 10111 is specifically a laser generating unit, the positioning accuracy of the spatial positioning system can be further increased to the millimeter level. Moreover, since the MEMS scanning galvanometer 101131 is used for scanning, it is not necessary to use a vibration component such as a high-speed motor, so that the error of the electrical signal output by the optical trigger 1021 is greatly reduced, thereby greatly reducing the error of the positioning result.

In practical applications, when the scanning unit 10113 scans in the first direction and the second direction, respectively, the scanning speeds in the two directions may be different, but the scanning speed in each direction is constant. Generally speaking, the scanning speed in the vertical direction is faster, and the scanning speed in the horizontal direction is slower, and there is no limitation here.

In order to avoid the influence of the natural ambient light in the environment to be located on the calculation result (for example, there is always a part of the light in the natural environment light also causes the light trigger 1021 to generate an electrical signal), and also avoid visual interference to the user (for example, some A scanning line of visible light will quickly pass through the field of view of the user), therefore, in the present embodiment, the laser is emitted The laser light emitted by the generating unit is an infrared laser, and the wavelength of the infrared laser may be, for example, 900 nm, 940 nm or the like.

Of course, in other embodiments, the intensity of the laser light emitted by the laser generating unit may be set to be much greater than the intensity of the corresponding monochromatic light in the natural ambient light, and the optical trigger 1021 is set to be greater than the specific intensity. The electric signal can be generated by the action of light, or the light trigger 1021 can be installed at a position where visible light such as sunlight cannot be directly irradiated, thereby avoiding the influence of natural ambient light, and will not be described again here.

In another embodiment, the laser generating unit in the optical scanning device 1011 can also be provided as a laser generator. After the optical scanning device 1011 performs the scanning in the first direction, the optical scanning device 1011 is deflected by the mechanical device, so that the optical scanning device 1011 outputs the scanning light in the second direction to perform the scanning in the second direction. This also satisfies the requirements of generating the scanning light in the first direction and the scanning light in the second direction, and will not be described again here.

In the specific implementation process, in order to ensure that the optical scanning device 1011 can have an accurate timing starting point when scanning in the first direction and the second direction, the optical scanning device 1011 provided by the embodiment of the present invention further includes a timing starting point light source. The timing start source is used to generate a timing start light signal. The optical trigger 1021 of the optical sensor module 102 can generate a timing start electrical signal by the timing start optical signal, and the time at which the timing start electrical signal is generated can be used as the timing start point. For example, the photosensor module 102 can transmit the generation time of the timing start electrical signal to the overall controller 103 for processing by the overall controller 103.

In this embodiment, the timing starting point light source is specifically an LED light source. Similarly, in order to avoid the influence of natural ambient light, the LED light source here is an infrared LED light source.

Please refer to FIG. 4E. FIG. 4E is a schematic diagram of an LED light source emitting a timing start optical signal according to an embodiment of the present invention. As shown in FIG. 4E, the timing start light signal emitted by the LED light source covers a circular area in front, so that the covered light trigger 1021 can generate a timing start electrical signal under the action of the timing start light signal. The LED light source can be realized by an LED dot matrix composed of a plurality of LED point light sources. The LED dot matrix may be disposed around the optical scanning device 1011 or may be disposed at any position on the positioning device 101. It is only necessary to ensure that the area covered by the timing start optical signal and the area covered by the scanning light of the optical scanning device 1011 can substantially coincide, and will not be described herein.

Of course, in practical applications, the area covered by the timing start optical signal may be any shape, which is to meet the needs of the actual situation, and is not limited herein.

In other embodiments, the intensity of the timing start light signal emitted by the timing start source may be set to be much greater than the specific intensity of the corresponding monochromatic light in the natural ambient light, and the optical trigger 1021 is set to be larger than the specific Only the intensity of the light can generate the timing start electrical signal, so that the influence of the natural ambient light can also be avoided, and will not be described here.

Of course, in another embodiment, the timing start signal may also be transmitted by the overall controller 103 to the positioning device 101. After receiving the timing start signal, the positioning device 101 can scan in the first direction and the second direction. Therefore, the time point at which the positioning device 101 receives the timing start signal can be used as the timing start point. Thus, the positioning device 101 can transmit the time point at which the timing start signal is received to the overall controller 103 for processing by the overall controller 103.

After the specific implementation of the positioning device 101 is introduced, in the following sections, a specific implementation of the optical sensor module 102 will be described.

Please refer to FIG. 5. FIG. 5 is a schematic diagram of a module of the optical sensor module 102 according to an embodiment of the present invention. As shown in FIG. 5, the optical sensor module 102 includes a processor 1023, a network interface 1024, M optical flip-flops 1021, and M amplification shaping circuits 1022.

Specifically, the optical trigger 1021 is configured to generate an electrical signal under the action of the scanning light generated by the optical scanning device 1011. Here, M is a positive integer, and the positioning device 101 can scan at least three non-collinear light flip-flops 1021 in a single scan.

The M amplification shaping circuits 1022 are connected to the M light triggers 1021 one by one.

The processor 1023 is coupled to the M amplification shaping circuits 1022.

The network interface 1024 is connected to the processor 1023 for transmitting an electrical signal to the overall controller 103, so that the overall controller 103 determines that the positioning device 101 is to be located according to the electrical signals generated by the at least three non-collinear optical triggers 1021. The location in space.

In a specific implementation, the photo flip-flop 1021 can be a photodiode. The photodiode can generate a corresponding electrical signal in response to light illumination at a particular frequency. Of course, in this embodiment, the photodiode can respond to the scanning ray generated by the scanning unit 10113 and the timing starting light signal generated by the timing starting source.

In other embodiments, the optical trigger 1021 of the related art may be implemented by selecting other suitable devices according to actual conditions, so as to meet the needs of the actual situation, and details are not described herein again.

Please refer to FIG. 6. FIG. 6 is a front elevational view of the optical sensor module 102 according to an embodiment of the present invention. As shown in FIG. 6, in the embodiment, the photo sensor module 102 includes 16 optical flip-flops 1021. Of course, as shown in FIG. 5, the optical sensor module 102 may also include 16 amplification shaping circuits 1022, and may further include a processor 1023 and a network interface 1024. It should be noted that the processor 1023 herein is a logical processor, which can be physically implemented by one or more physical processors, and will not be described herein.

Of course, in other embodiments, the number of the optical triggers 1021 in the optical sensor module 102 can be set according to actual conditions to meet the actual situation. Yes, there is no limit here.

In a specific implementation, the optical sensor module 102 can transmit an electrical signal generated by the optical trigger 1021 under the action of the scanning light to the overall controller 103 through the network interface 1024. Specifically, the network interface 1024 can communicate by wire or wirelessly.

Of course, in practical applications, the optical sensor module 102 can also set a storage unit and the like as needed, and will not be described herein.

After the specific implementation of the light sensor module 102 is described, a specific implementation of the overall controller 103 will be described below.

In this embodiment, the overall controller 103 is mainly used to determine the position of the positioning device 101 in the space to be located according to the electrical signal generated by the light trigger 1021 in the light sensor module 102. Thus, the overall controller 103 is a logically significant processor that can be physically implemented by one or more physical processors, and the overall controller 103 can be placed at any desired location, for example, can be placed in one On the host or server, the host or server can communicate with the positioning device 101 and the optical sensor module 102, and then determine the positioning device 101 to be located according to the electrical signal generated by the optical trigger module 101 obtained from the optical sensor module 102. The location of the space. Of course, the overall controller 103 can also be directly disposed on the positioning device 101, and will not be described herein.

It can be seen from the above that the spatial positioning system provided in this embodiment adopts a technical solution for scanning the positioning device 101 by scanning the light to scan the preset optical trigger 1021. Since the cost of the optical scanning device 1011 and the optical trigger 1021 are both very low, the system cost is also low, and the positioning effect is also good, which is advantageous for large-scale use of the spatial positioning system.

After the specific implementation of the positioning device 101, the optical sensor module 102, and the overall controller 103 in the spatial positioning system provided by the embodiment of the present invention is introduced, in the following part, how to determine the positioning device 101 to be located is specifically described. The location in space.

Please refer to FIG. 7. FIG. 7 is a schematic flowchart diagram of a spatial positioning method according to an embodiment of the present invention. As shown in FIG. 7, the method includes steps S1 to S4.

In S1, N photosensor modules are disposed in the space to be located, and each photosensor module includes M optical flip-flops. Here, M and N are positive integers.

In S2, after the positioning device enters the space to be positioned, the optical scanning device in the positioning device generates the scanning light in the first direction and the scanning light in the second direction and scans, and the positioning device can scan at least in a single scan. Three non-collinear light triggers.

In S3: the light trigger generates electricity under the action of the scanning light in the first direction or the scanning light in the second direction signal.

In S4: the total controller determines the position of the positioning device in the space to be positioned according to the electrical signals generated by the at least three non-collinear light triggers.

In the following sections, the method will be described in detail in conjunction with the specific implementations of the positioning device 101, the optical sensor module 102, and the overall controller 103 described in the foregoing sections.

In S1, the specific positions where the N photosensor modules 102 are disposed in the space to be located are not limited, and the needs of the actual situation are subject to the standard. Generally, the N photosensor modules 102 can be relatively evenly distributed in the space to be positioned, or can be set to a relatively large number of places where the positioning accuracy is required to be relatively high, and the positioning accuracy is required to be lower. The number of settings is relatively small.

Please refer to FIG. 8. FIG. 8 is a schematic diagram of a photosensor module 102 disposed in a space to be located according to an embodiment of the present invention. As shown in FIG. 8, in the embodiment, the N photosensor modules 102 are evenly distributed in the space to be located.

After the N light sensor modules 102 are placed in the space to be positioned, a world coordinate system is established in the positioning space, that is, the world coordinates of the light sensor modules 102 can be measured by a ruler, a laser range finder, and the like. The value, that is, the world coordinate value of each of the light triggers 1021 in the photosensor module 102 can be obtained.

After S1, after the positioning device 101 enters the space to be positioned, before the light scanning device 1011 in the positioning device 101 generates the scanning light of the first direction and the scanning light of the second direction and scans, the optical scanning device 1011 is ensured. The method provided by the embodiment of the present invention further includes: at a first time point, the optical scanning device 1011 generates a timing start optical signal and transmits the signal. In the present embodiment, that is, the optical scanning device 1011 emits a timing start light signal by the timing start source.

After the timing start source emits the timing start light signal, at the first time point, the light trigger 1021 generates a timing start electrical signal by the timing start light signal. This first time point can serve as a timing start point for the scanning of the first direction and the second direction by the optical scanning device 1011.

Of course, in another embodiment, the timing start signal can also be transmitted to the positioning device 101 by the overall controller 103. If the positioning device 101 receives the timing start signal transmitted by the overall controller 103 at the first time point, the first time point may be used as the timing starting point of the scanning of the first direction and the second direction by the optical scanning device 1011.

After determining the timing start point of the scanning of the first direction and the second direction by the optical scanning device 1011, S2 can be performed, that is, the optical scanning device 1011 in the positioning device 101 generates the scanning light in the first direction and the scanning in the second direction. Light and scan. Specifically, it can include:

At a second time after the first time point, the optical scanning device 1011 passes the scanning light in the first direction, according to the first A scan in the first direction is performed for a period of time. Here, the second time point is the first time point plus the time point of the preset delay time period. The preset delay time period refers to the time margin left to the light trigger 1021 after the timing start light source emits the timing start light signal. Of course, if the positioning device 101 and the light trigger 1021 are both sensitive enough, the preset delay time period can be set to 0, and will not be described again here;

At a third time point after the second time point, the optical scanning device 1011 performs scanning in the second direction by the scanning light in the second direction. Here, the third time point is the second time point plus the time point of the first time period.

After S2, the spatial positioning method provided by the embodiment of the present invention proceeds to S3, that is, the optical trigger 1021 generates an electrical signal under the action of the scanning light in the first direction or the scanning light in the second direction emitted by the optical scanning device 1011. In the present embodiment, since the timing start source light source in the optical scanning device 1011 also emits the timing start light signal, the light trigger 1021 covered by the timing start light signal and the scanning light beam outputs three pulse signals.

Please refer to FIG. 9. FIG. 9 is a schematic diagram of the output pulse signal of the optical trigger 1021 covered by the timing start optical signal and the scanning light. As shown in FIG. 9, the pulse signal 901 is a timing start electrical signal. The pulse signal 902 is a pulse signal that is output when the scanning ray of the first direction scans the optical trigger 1021. The pulse signal 903 is a pulse signal that is output when the scanning ray in the second direction scans the optical flip-flop 1021. The photo sensor module 102 marks the respective generation times of the three pulse signals when the optical trigger outputs the three pulse signals, and sends them to the overall controller 103.

Of course, in another embodiment, if the manner in which the timing start signal is transmitted to the positioning device 101 by the overall controller 103 is employed, the optical trigger 1021 generates only two pulse signals. The total controller 103 calculates the time point at which the timing start signal is received by the positioning device 101 as the timing start time, and will not be described here.

It can be seen that the timing of the timing start light signal is outputted by the timing start source, and the delay is relatively short compared to the manner in which the timing controller starts transmitting the timing start signal to the positioning device 101, and the calculation is easy, so the light trigger 1021 The output signal is more accurate.

After S3, the spatial positioning method provided by the embodiment of the present invention proceeds to S4, that is, the total controller 103 determines the position of the positioning device 101 in the space to be located according to the electrical signals generated by the at least three non-collinear light triggers 1021. .

Specifically, S4 includes the following five steps.

First, the overall controller 103 establishes a local coordinate system with the optical scanning device 1011 as an origin. The specific process of establishing a coordinate system will not be described here.

Second, the overall controller 103 determines a linear equation between each of the optical triggers 1021 and the optical scanning device 1011 based on the electrical signals generated by each of the optical triggers 1021.

In this embodiment, as described in S3, since the scanning speed of the scanning light in each direction is a constant speed, the scanning light in the first direction and the second can be calculated according to the time point shown in FIG. The angle of deflection of the scanning light in the direction. For example, the deflection angle θ ₁ = f ₁ (t ₁ ) in the first direction. Where θ ₁ is the deflection angle of the optical trigger 1021 in the first direction, f ₁ () is the scanning function of the scanning ray in the first direction, and t ₁ is the generation time of the pulse signal 902. Similarly, according to the generation time t ₂ of the pulse signal 903 in the second direction, the deflection angle of the optical trigger 1021 in the second direction can be calculated, which will not be described again.

According to the deflection angle of the optical trigger 1021 in the first direction and the second direction, a linear equation between the optical trigger 1021 and the optical scanning device 1011 can be determined. Similarly, a linear equation between each of the optical trigger 1021 and the optical scanning device 1011 covered by the timing optical signal and the scanning ray of the optical scanning device 1011 can be obtained.

Third, the overall controller 103 determines the relative coordinates of each of the optical flip-flops 1021 in the local coordinate system based on the equation of the line between the at least three non-collinear light flip-flops 1021 and the optical scanning device 1011.

In order to succinctly explain the solution in the embodiment of the present invention, in the embodiment, three non-collinear optical flip-flops 1021 are used to introduce and set the three non-collinear optical flip-flops 1021 respectively. P ₀ , P ₁ and P ₂ .

Since the straight line equation between P ₀ , P ₁ , P ₂ and the origin is determined by the foregoing steps and separately, and since the world coordinates of the light triggers P ₀ , P ₁ , P ₂ are known, they can be solved in tandem. The coordinate values of the light-emitting triggers P ₀ , P ₁ , and P ₂ in the local coordinate system. The specific process can be calculated by mathematical methods, and will not be described here.

Fourth, the overall controller 103 determines the local coordinate system and the world coordinate system based on the relative coordinates of each of the light triggers 1021 in the local coordinate system and the world coordinates of each of the light triggers 1021 in the world coordinate system. Transform the matrix.

In this embodiment, the total controller 103 determines the coordinate values of the light triggers P ₀ , P ₁ , and P ₂ in the local coordinate system, and then according to the three light triggers P ₀ , P ₁ , and P ₂ in the world. The world coordinate value in the coordinate system can determine the transformation matrix between the local coordinate system and the world coordinate system. The specific process can also have a variety of calculation methods through mathematical methods, and will not be described here.

Fifth, the overall controller 103 determines the world coordinates of the optical scanning device 1011 in the world coordinate system based on the transformation matrix, thereby determining the position of the positioning device 101 in the space to be positioned.

In the present embodiment, since the optical scanning device 1011 is the origin in the local coordinate system, the world coordinates of the optical scanning device 1011 can be easily obtained after knowing the transformation matrix between the local coordinate system and the world coordinate system. Since the optical scanning device 1011 is disposed on the positioning device 101, the position of the positioning device 101 in the space to be positioned can be determined.

It can be seen that the spatial positioning system provided by the embodiment of the present invention is extremely simple and convenient during installation and debugging, and only needs to be The optical sensor module 102 can be preset in the space to be positioned, and the size of the positioning space is not limited, and can be extended to various application scenarios and is convenient to use.

Of course, in a specific implementation process, the space positioning system can eliminate the noise signal by comparing the signals output by the optical flip-flops 1021 with the calculation capability and the time delay allowed. The noise signal refers to a signal output from the optical flip-flop 1021, and is not generated by the scanning light of the optical scanning device 1011. The world coordinates of the optical scanning device 1011 are calculated after the noise signal is removed, which can greatly improve the accuracy of the final calculation result, and can also improve the robustness of the spatial positioning system. For example, the spatial positioning system simultaneously obtains pulse signals output by 20, 30 or more optical flip-flops 1021, and then rejects the noise signals through the RANSAC (English: RANdom SAmple Consensus; Chinese: Random Sampling Consistency) algorithm, and then The world coordinates of the optical scanning device 1011 are calculated based on the remaining pulse signals, and will not be described again here.

The foregoing section describes a specific process for positioning the positioning device 101 in the space to be located. In the following section, a specific process of positioning the plurality of positioning devices 101 in the space to be located will be described. In this embodiment, two ways of positioning a plurality of positioning devices 101 will be described.

The first one: a time-sharing approach.

Specifically, after a plurality of positioning devices 101 that need to be located enter the space to be located, for example, each positioning device 101 can send a signal requesting positioning to the overall controller 103. Then, the overall controller 103 assigns each scanning device 101 a scanning time period according to the number of positioning devices 101. Specifically, it is possible to notify when to scan by transmitting a time-sharing scanning signal to each positioning device 101. Then, after receiving the time-sharing scanning signal, the positioning device 101 can determine which time period it should scan, and then scan in the corresponding time period.

Of course, the subsequent processing is similar to the processing of how to locate a positioning device 101 as described in the foregoing section, and will not be described again here.

The second type: using the frequency division method.

Specifically, for example, there are J positioning devices 101 that need to be located, and J is a positive integer greater than or equal to 2. The light scanning device 1011 of the J positioning devices 101 is capable of generating J different types of scanning light rays of different wavelengths. Specifically, it can be that the optical scanning device 1011 in each positioning device 101 can generate J different kinds of scanning light of different wavelengths. In the process of locating the positioning device 101, each positioning device 101 uses scanning light of a different wavelength than the other positioning device 101. It is also possible that each positioning device 101 can only generate scanning light of one of J different wavelengths of scanning light, which is not limited herein.

Moreover, each of the light triggers 1021 of the light sensor module 102 corresponds to one of the wavelengths of the scanning light, that is, can generate an electrical signal under the action of the corresponding scanning light. At the same time, it is also necessary to set the light sensor module The position of 102 is such that the scanning light emitted by each positioning device 101 can be scanned in a single scan to K corresponding light triggers 1021. Here, K is a positive integer greater than or equal to 3, and at least three of the K optical flip-flops 1021 are not collinear, so that the positioning device 101 can be positioned by the positioning method described in the foregoing section. The subsequent processing is similar to the processing of how to locate a positioning device 101 as described in the foregoing section, and will not be described again here.

In summary, since the optical sensor module 102 including the optical trigger 1021 is disposed in advance in the space to be positioned, and the scanning light generated by the optical scanning device 1011 in the positioning device 101 is scanned, the optical trigger 1021 is scanned, and the total controller is used. 103 is a technical solution for determining the position of the positioning device 101 in the space to be positioned according to the electrical signals generated by the at least three non-collinear light triggers 1021 under the action of the scanning light, thereby utilizing the characteristics of the light traveling along the straight line and the photoelectricity The effect of increasing the accuracy of spatial positioning from the meter level to the centimeter level satisfies the requirements for higher and higher spatial positioning accuracy.

Based on the same inventive concept, the second aspect of the embodiments of the present invention further provides a positioning device, which is applied to a spatial positioning system. The spatial positioning system also includes N photosensor modules and a total controller. N light sensor modules are disposed in the space to be positioned, and each light sensor module includes M light triggers. Here, M and N are positive integers, and the positioning device can scan at least three non-collinear light triggers in a single scan. The positioning device includes an optical scanning device. The light scanning device includes a scanning light source, a beam shaping unit, and a scanning unit.

Specifically, the scanning light source is used to generate source light.

The beam shaping unit is disposed on the optical path of the source light for shaping the source light into a line of light.

The scanning unit is disposed on the optical path of the light of a word line, and is configured to scan the light of the word line in the first direction and the second direction respectively, trigger the light trigger to generate an electrical signal by the formed scanning light, and make the overall controller according to At least three electrical signals generated by the non-collinear light triggers determine the position of the positioning device in the space to be positioned.

In a specific implementation process, the optical scanning device further includes a timing start source. The timing start source is used to generate a timing start light signal, and the timing start light signal is used to cause the light trigger to generate a timing start electrical signal.

In the specific implementation process, the timing starting point source is an LED light source.

In a specific implementation process, the positioning device further includes a communication unit. The positioning device can receive the timing start signal sent by the overall controller through the communication unit, and scan in the first direction and the second direction according to the timing start signal.

In a specific implementation process, the scanning light source is a laser generating unit.

In a specific implementation process, the laser generating unit includes two laser generating subunits. The scanning unit includes two one-dimensional MEMS scanning galvanometers. Wherein, a one-dimensional MEMS scanning galvanometer cooperates with a laser generating sub-unit to form a first Scanning light in one direction. Another one-dimensional MEMS scanning galvanometer cooperates with another laser generating sub-unit to form a scanning light in a second direction.

In a specific implementation process, the beam shaping unit is specifically a cylindrical lens, a Powell prism or a word line wave prism.

In a specific implementation process, the positioning device further includes a communication unit. The positioning device can receive the time-sharing scanning signal sent by the total controller through the communication unit, and scan according to the time-sharing scanning signal within a preset time period.

In a specific implementation process, when each photosensor module includes a light trigger corresponding to each of the plurality of wavelengths of the scanning light, the optical scanning device can generate the scanning light of at least one of the wavelengths, and can scan to the K in a single scan. An optical trigger corresponding to the scanning light generated by the scanning light, and at least three of the K optical triggers are not collinear. Where K is a positive integer greater than or equal to 3.

The structure and specific principle of the positioning device provided by the second aspect have been described in detail in the first aspect, and will not be described again here.

Based on the same inventive concept, a third aspect of the embodiments of the present invention further provides a light sensor module that is applied to a spatial positioning system. The spatial positioning system also includes a positioning device and a master controller. The positioning device includes an optical scanning device. N light sensor modules are disposed in the space to be positioned. The optical sensor module includes a processor, a network interface, M optical triggers, and M amplification shaping circuits.

In particular, the optical trigger is used to generate an electrical signal under the effect of scanning light generated by the optical scanning device. Here, M and N are positive integers, and the positioning device can scan at least three non-collinear light triggers in a single scan.

M amplification shaping circuits are connected to M optical flip-flops one by one.

The processor is connected to M amplification shaping circuits.

The network interface is coupled to the processor for transmitting an electrical signal to the overall controller, such that the overall controller determines the position of the positioning device in the space to be located according to the electrical signals generated by the at least three non-collinear optical triggers.

In a specific implementation process, when there are J positioning devices, and the optical scanning devices in the J positioning devices are capable of generating J different wavelengths of scanning light, each of the optical triggers and one of the J different wavelengths The scanning light corresponds. Here, J is a positive integer greater than or equal to 2.

In a specific implementation process, the light trigger is specifically a photodiode.

In a specific implementation process, the optical sensor module communicates with the overall controller through a wired or wireless manner.

The structure and specific principle of the optical sensor module provided by the third aspect have been described in detail in the first aspect, and will not be described herein.

One or more technical solutions in the embodiments of the present invention have at least the following technical features or advantages:

All of the features disclosed in this specification, or steps in all methods or processes disclosed, may be combined in any manner other than mutually exclusive features and/or steps.

Any feature disclosed in the specification, including any additional claims, abstract and drawings, may be replaced by other equivalents or alternative features, unless otherwise stated. That is, unless specifically stated, each feature is only one example of a series of equivalent or similar features.

The invention is not limited to the specific embodiments described above. The invention extends to any new feature or any new combination disclosed in this specification, as well as any novel method or process steps or any new combination disclosed.

Claims

A spatial positioning system, comprising: a positioning device, a total controller and N light sensor modules, wherein the positioning device is provided with an optical scanning device, and the N optical sensor modules are set to be positioned In the space, each light sensor module includes M light triggers, M and N are positive integers, and the positioning device can scan at least three non-collinear light triggers in a single scan;

The light scanning device is configured to generate a scanning ray in a first direction and a scanning ray in a second direction, where the first direction and the second direction are two intersecting directions;

The light trigger is configured to generate an electrical signal by the scanning light of the first direction or the scanning light of the second direction;

The controller is configured to determine a location of the positioning device in the space to be located according to an electrical signal generated by at least three non-collinear optical triggers.
The spatial positioning system of claim 1 wherein said optical scanning device comprises:

Scanning light source for generating source light;

a beam shaping unit disposed on the optical path of the source light for shaping the source light into a word line light;

a scanning unit, disposed on the optical path of the light of the word line, for scanning the light of the word line in the first direction and the second direction, respectively, to form a scan of the first direction Light and scanning light in the second direction.
A spatial positioning system according to claim 2, wherein said optical scanning device further comprises a timing start source for generating a timing start optical signal, said timing start optical signal for causing said The light trigger generates a timing start electrical signal.
The spatial positioning system of claim 2, wherein the total controller is further configured to send a timing start signal to the positioning device, so that the positioning device after receiving the timing start signal The first direction and the second direction are scanned.
The spatial positioning system according to claim 2, wherein said scanning light source is a laser generating unit, said laser generating unit comprises a first laser generating subunit and a second laser generating subunit, said scanning unit comprising a one-dimensional MEMS scanning galvanometer and a second one-dimensional MEMS scanning galvanometer, wherein the first one-dimensional MEMS scanning galvanometer cooperates with the first laser generating sub-unit to form the scanning light in the first direction The second one-dimensional MEMS scanning galvanometer cooperates with the second laser generating sub-unit to form the scanning light in the second direction.
A spatial positioning system according to any one of claims 1 to 5, wherein at said positioning device When there are multiple, each positioning device performs scanning according to a time-sharing scanning signal sent by the total controller.
The spatial positioning system according to any one of claims 1 to 5, wherein when the positioning devices are J and the optical scanning devices in the J positioning devices are capable of generating J different wavelengths of scanning light Each of the light triggers corresponds to one of J different wavelengths of scanning light, and each of the wavelengths of the scanning light can be scanned in a single time to K corresponding light triggers, and at least K light triggers There are three non-collinear lines, where J is a positive integer greater than or equal to 2, and K is a positive integer greater than or equal to 3.
A positioning device is applied to a spatial positioning system, wherein the spatial positioning system further comprises a total controller and N light sensor modules, wherein the N light sensor modules are disposed in a space to be positioned. Each of the light sensor modules includes M light triggers, M and N are positive integers, and the positioning device can scan at least three non-collinear light triggers in a single scan; the positioning device includes an optical scanning device The optical scanning device includes:

Scanning light source for generating source light;

a beam shaping unit disposed on the optical path of the source light for shaping the source light into a word line light;

The scanning unit is disposed on the optical path of the light of the word line, and is configured to scan the light of the word line in the first direction and the second direction, respectively, and trigger the optical trigger to generate an electrical signal by using the formed scanning light And determining, by the total controller, the position of the positioning device in the space to be located according to the electrical signals generated by the at least three non-collinear light triggers.
The positioning apparatus according to claim 8, wherein said optical scanning device further comprises: a timing start light source, said timing start light source for generating a timing start light signal, said timing start light signal being used to cause said The light trigger generates a timing start electrical signal.
The positioning apparatus according to claim 9, wherein said timing start source is an LED light source.
The locating device according to claim 8, wherein the locating device further comprises a communication unit, wherein the locating device is capable of receiving, by the communication unit, a timing start signal sent by the overall controller, and according to the timing The start point signal is scanned in the first direction and the second direction.
The positioning apparatus according to claim 8, wherein said scanning light source is a laser generating unit.
The positioning apparatus according to claim 12, wherein said laser generating unit comprises a first laser generating subunit and a second laser generating subunit, said scanning unit comprising a first one-dimensional MEMS scanning galvanometer and a second a one-dimensional MEMS scanning galvanometer, wherein the first one-dimensional MEMS scanning galvanometer cooperates with the first laser generating sub-unit to form the scanning light in the first direction, and the second one-dimensional MEMS scanning vibration A mirror cooperates with the second laser generating subunit to form the scanning light in the second direction.
The positioning apparatus according to claim 8, wherein the beam shaping unit is specifically a cylindrical lens, a Powell prism or a word line wave prism.
The locating device according to any one of claims 8 to 14, wherein the locating device further comprises a communication unit, and the locating device is capable of receiving, by the communication unit, a time-sharing scan sent by the total controller And scanning the signal according to the time-sharing scanning signal within a preset time period.
The positioning device according to any one of claims 8 to 14, wherein the optical scanning device is capable of generating when each of the photosensor modules includes a light trigger corresponding to a plurality of wavelengths of scanning light rays respectively At least one wavelength of the scanning light, and capable of scanning a single optical trigger corresponding to the scanning light generated by the scanning light, and at least three of the K optical triggers are not collinear, wherein K is greater than or equal to 3 Positive integer.
An optical sensor module is applied to a spatial positioning system, wherein the spatial positioning system further comprises a positioning device and a total controller, the positioning device comprises an optical scanning device, and the N optical sensor modules The light sensor module is disposed in the space to be positioned, and includes:

M light triggers for generating an electrical signal under the action of scanning light generated by the optical scanning device, M and N being positive integers and capable of scanning at least three of the positioning devices in a single scan Non-collinear light triggers;

M amplification shaping circuits connected to the M optical triggers one by one;

a processor connected to the M amplification shaping circuits;

a network interface, coupled to the processor, for transmitting the electrical signal to the overall controller, such that the overall controller determines an electrical signal based on at least three non-collinear optical triggers Describe the location of the positioning device in the space to be located.
The optical sensor module according to claim 17, wherein each of the light triggering devices is capable of generating J different kinds of scanning light rays of different wavelengths when the positioning devices are J, and the light scanning devices of the J positioning devices are capable of generating J different kinds of scanning light rays of different wavelengths. The device corresponds to a scanning ray of one of J different wavelengths, and J is a positive integer greater than or equal to 2.
The photosensor module according to claim 17, wherein the photo flip-flop is specifically a photodiode.
The optical sensor module according to claim 17, wherein the optical sensor module and the overall controller communicate by wire or wirelessly.