WO2018153008A1 - 激光定位装置及激光定位方法 - Google Patents

激光定位装置及激光定位方法 Download PDF

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Publication number
WO2018153008A1
WO2018153008A1 PCT/CN2017/092604 CN2017092604W WO2018153008A1 WO 2018153008 A1 WO2018153008 A1 WO 2018153008A1 CN 2017092604 W CN2017092604 W CN 2017092604W WO 2018153008 A1 WO2018153008 A1 WO 2018153008A1
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Prior art keywords
laser
positioning device
laser positioning
tested
distance
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PCT/CN2017/092604
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English (en)
French (fr)
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石昕
邢星
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美国西北仪器公司
上海诺司纬光电仪器有限公司
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Application filed by 美国西北仪器公司, 上海诺司纬光电仪器有限公司 filed Critical 美国西北仪器公司
Priority to EP17897461.4A priority Critical patent/EP3588138A4/en
Priority to US16/314,892 priority patent/US11709228B2/en
Publication of WO2018153008A1 publication Critical patent/WO2018153008A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path

Definitions

  • the present invention relates to the field of distance measurement, and more particularly to a laser positioning device and a laser positioning method.
  • a variety of laser positioning devices are known in the prior art, but known laser positioning devices can only multiplex the same laser positioning device at different times to measure distances in different directions when performing distance measurement in different directions. Either two separate laser positioning devices can be used to measure the distance between two corresponding different directions.
  • Chinese Patent No. CN103075963B provides an indoor positioning system including a controller, a driving device and a rotating mechanism sequentially connected, and a first laser range finder and a second laser range finder respectively connected to the controller;
  • the first laser range finder and the second laser range finder are fixedly mounted on the rotating mechanism, and the light emitted by the first laser range finder is perpendicular to the light emitted by the second laser range finder.
  • the invention also provides an indoor positioning method.
  • two vertical laser range finder can be used for positioning, and the positioning precision is high, and the distance relationship between the two laser range finder and the reference edge can be used to calibrate the direction of the light emitted by the laser range finder.
  • the calibration of the positioning system is realized by a simple structure, and the concept is novel.
  • the distances measured in different directions are independent laser positioning devices.
  • the laser positioning device includes:
  • a laser emitting module configured to generate a first laser
  • a laser direction conditioning module configured to condition the first laser to a second laser in a first direction and a third laser in a second direction perpendicular to the first direction;
  • a distance determining module configured to receive laser light reflected or diffused back by the second laser on a surface of the first object to be measured to determine the laser positioning device to the first object to be tested The distance and/or the laser light reflected or diffused back by the third laser on the surface of the second object to be measured to determine the distance of the laser positioning device to the second object to be tested.
  • the distance in both directions can be measured using only one laser emitting module, thereby simplifying the structure of the laser positioning device and reducing the manufacturing cost.
  • the laser direction conditioning module is configured as a beam splitter.
  • the laser direction conditioning module according to the present invention can be implemented conveniently and inexpensively, and then the first laser is conditioned to the second laser in the first direction and in the first direction A third laser in the second direction perpendicular to the vertical.
  • the beam splitter comprises a transflective. It should be understood by those skilled in the art that the transflectives mentioned herein are merely exemplary and not limiting, and other optical devices capable of achieving the same or similar functions are also included in the scope of the present invention. .
  • the distance determining module comprises:
  • the receiving objective configured to receive and process laser light reflected or diffused back by the second laser on a surface of the first object to be tested;
  • the first receiver configured to receive laser light processed by the first receiving objective.
  • the laser positioning device is capable of receiving laser light reflected or diffused from the front object in a first direction and performing optical processing such as focusing, and then the laser receiver is capable of receiving, for example, focused The light then determines the distance of the front object from the laser positioning device in the first direction in order to achieve the positioning function according to the distance.
  • the distance determining module further includes:
  • the receiving objective being configured to receive and process laser light reflected or diffused back by the third laser on a surface of the second object to be tested;
  • a second receiver configured to receive processing via the second receiving objective Laser.
  • the laser positioning device can receive the laser light reflected or diffused from the front object in the first direction and/or the second direction and perform optical processing such as focusing, and then the laser receiver can Receiving, for example, focused light, and then determining the distance of the front object from the laser positioning device in the first direction and/or the second direction in order to achieve the positioning function based on the distance.
  • the laser positioning device further includes:
  • a display module configured to display a distance of the laser positioning device to the first object to be tested and/or a distance of the laser positioning device to the second object to be tested.
  • the laser positioning device can display the measured distance more visually, is convenient to use, and can simultaneously display the laser positioning device to the first The distance of the object to be tested and/or the distance from the laser positioning device to the second object to be tested.
  • the display module further includes a prompting module configured to when the distance from the laser positioning device to the first object to be tested satisfies a predetermined requirement and/or A prompt is issued when the distance between the laser positioning device and the second object to be tested satisfies a predetermined requirement.
  • the laser positioning device is capable of prompting the user how close the distance to the target object is and whether a predetermined positioning point has been reached.
  • the laser positioning device further includes a direction indicating module configured to determine a positional relationship between the second laser and the first object to be tested, and/or Determining a positional relationship between the third laser and the second object to be tested.
  • the laser positioning apparatus further includes a direction adjustment module configured to adjust the laser positioning device according to a positional relationship determined by the direction indication module,
  • the second laser is perpendicular to a surface of the first object to be tested and/or the third laser is perpendicular to a surface of the second object to be tested.
  • the laser positioning device is capable of adjusting its posture so that the distance can be measured relatively perpendicularly to the reference object, thereby enabling more precise positioning.
  • the laser positioning device further includes a control module,
  • the control module is configured to control the laser positioning device according to a positional relationship between the second laser and the first object to be tested and/or a positional relationship between the third laser and the second object to be tested.
  • the laser positioning apparatus further includes a communication module configured to receive positioning information and/or output the measured position information.
  • the laser positioning device according to the present invention can be more intelligently connected to an external device, thereby realizing an intelligent positioning function.
  • a second aspect of the present invention provides a laser positioning method, characterized in that the laser positioning method comprises:
  • the laser positioning device is positioned using the second laser and the third laser.
  • the distance in both directions can be measured using only one laser emitting module, thereby simplifying the structure of the laser positioning device and reducing the manufacturing cost.
  • the laser positioning method further comprises:
  • the laser positioning device is positioned using the second laser and the third laser based on the position information.
  • the laser positioning method further comprises:
  • the distance in both directions can be measured using only one laser emitting module, thereby simplifying the structure of the laser positioning device and reducing the manufacturing cost.
  • Figure 1 shows a schematic view of a prior art laser positioning device
  • Figure 2 shows a schematic view of a laser positioning device in accordance with the present invention
  • Figure 3 shows a flow chart 300 of a laser positioning method in accordance with the present invention
  • Figure 4 shows a schematic diagram 400 of a laser positioning device in use in accordance with the present invention.
  • Figure 1 shows a schematic view of a prior art laser positioning device.
  • the indoor positioning system includes a controller 1, a driving device 2, a rotating mechanism 3, and a first laser range finder 41 and a second laser range finder respectively connected to the controller 1. 42.
  • the first laser range finder 41 and the second laser range finder 42 are both fixedly mounted on the rotating mechanism 3, and the light emitted by the first laser range finder 41 is perpendicular to the light emitted by the second laser range finder 42. . That is to say, the indoor positioning system according to the prior art uses the independent first laser range finder 41 and the second laser range finder 42 to measure the distance in two directions, respectively.
  • the laser positioning device according to the present invention can realize the measurement of the distance in two directions and further realize the two dimensions by using only the same laser range finder, that is, the laser positioning module mentioned in the present invention. Positioning function on the top.
  • Figure 2 shows a schematic view of a laser positioning device according to the invention, from which it can be seen that the laser positioning device 1 according to the invention comprises a laser emitting module 2, which is configured to generate First laser
  • a laser direction conditioning module 6 configured to condition the first laser to a second laser in a first direction X and a second direction Y perpendicular to the first direction X
  • the distance determining module (including 3 and 4) is configured to receive laser light reflected or diffused back by the second laser on the surface of the first object to be measured to determine the laser positioning device to the first object to be tested Distance;
  • the distance determining module (including 3 and 5) is configured to receive laser light reflected or diffused back by the third laser on the surface of the second object to be measured to determine the laser positioning device to the second object to be tested distance.
  • the distance between the two directions X and Y can be measured using only one laser emitting module 2, thereby achieving a structural simplification of the laser positioning device 1 and a reduction in manufacturing costs.
  • the laser direction conditioning module 6 is constructed as a beam splitter.
  • the laser direction conditioning module according to the present invention can be implemented conveniently and inexpensively, and then the first laser is conditioned to the second laser in the first direction and in the first direction A third laser in the second direction perpendicular to the vertical.
  • the beam splitter 6 comprises a transflective. It should be understood by those skilled in the art that the transflectives mentioned herein are merely exemplary and not limiting, and other optical devices capable of achieving the same or similar functions are also included in the scope of the present invention. .
  • the distance determining module comprises:
  • a first receiving objective lens 3 configured to receive and process laser light reflected or diffused back by the second laser light on a surface of the first object to be tested;
  • a first receiver 4, the first receiver 4 is configured to receive laser light processed by the first receiving objective.
  • the laser positioning device 1 is capable of receiving laser light reflected or diffused from a front object in a first direction and performing optical processing such as focusing, and then the laser receiver can receive such as a focus. The light then determines the distance of the front object from the laser positioning device in the first direction in order to achieve the positioning function according to the distance.
  • the distance determining module further includes:
  • the receiving objective lens 3 being configured to receive and process laser light reflected or diffused back by the third laser light on a surface of the second object to be tested;
  • a second receiver 5 the second receiver 5 being configured to receive laser light processed by the second receiving objective.
  • the laser positioning device can receive the laser light reflected or diffused from the front object in the first direction and/or the second direction and perform optical processing such as focusing, and then the laser receiver can Receiving, for example, focused light, and then determining the distance of the front object from the laser positioning device in the first direction and/or the second direction in order to achieve the positioning function based on the distance.
  • the laser positioning device 1 further comprises:
  • a display module (not shown) configured to display a distance of the laser positioning device to the first object to be tested and/or a position of the laser positioning device to the second object to be tested distance.
  • the laser positioning device can display the measured distance more visually, is convenient to use, and can simultaneously display the laser positioning device to the first The distance of the object to be tested and/or the distance from the laser positioning device to the second object to be tested.
  • the display module further includes a prompting module configured to when the distance from the laser positioning device to the first object to be tested satisfies a predetermined requirement and/or A prompt is issued when the distance between the laser positioning device and the second object to be tested satisfies a predetermined requirement.
  • the laser positioning device is capable of prompting the user how close the distance to the target object is and whether a predetermined positioning point has been reached.
  • the laser positioning device 1 further includes a direction indicating module configured to determine a positional relationship between the second laser and the first object to be tested, and/ Or determining a positional relationship between the third laser and the second object to be tested.
  • the laser positioning device 1 further includes a direction adjustment module configured to be based on the position determined by the direction indication module The relationship adjusts the laser positioning device such that the second laser is perpendicular to a surface of the first object to be tested and/or the third laser is perpendicular to a surface of the second object to be tested.
  • the laser positioning device is capable of adjusting its posture so that the distance can be measured relatively perpendicularly to the reference object, thereby enabling more precise positioning.
  • the laser positioning device further includes a control module configured to determine a positional relationship between the second laser and the first object to be tested and/or the first The positional relationship between the three lasers and the second object to be tested controls the laser positioning device.
  • the laser positioning apparatus further includes a communication module configured to receive positioning information and/or output the measured position information.
  • the laser positioning device according to the present invention can be more intelligently connected to an external device, thereby realizing an intelligent positioning function.
  • FIG. 3 shows a flow chart 300 of a laser positioning method according to the present invention.
  • the laser positioning method includes the following steps:
  • the first laser generated by the laser emitter is conditioned by the beam splitter into a second laser and a third laser that are perpendicular to each other;
  • a second step 320 the laser positioning device is positioned using the second laser and the third laser.
  • the distance in both directions can be measured using only one laser emitting module 2, thereby simplifying the structure of the laser positioning device 1 and reducing the manufacturing cost.
  • the laser positioning method further comprises:
  • the laser positioning device is positioned using the second laser and the third laser based on the position information.
  • the laser positioning method further comprises:
  • FIG. 4 shows a schematic diagram 400 of a laser positioning device in use in accordance with the present invention.
  • the laser light emitted by the laser emitting module 2 is divided into two mutually perpendicular laser beams in the X direction and the Y direction by the action of the laser direction conditioning module 6, and then the two laser beams are respectively irradiated to the target object.
  • the laser positioning device is able to measure the distance A and the distance B by analyzing the reflected light for positioning.
  • the laser positioning device can, for example, comprise a communication module by which a target point to be located can be received from other devices, and then the laser positioning device compares the current positioning point with the target point for giving an operation Instructions for easy operator positioning.
  • the distance in both directions can be measured using only one laser emitting module, thereby simplifying the structure of the laser positioning device and reducing the manufacturing cost.
  • the laser positioning device referred to in the present disclosure is capable of measuring the distance in the first direction and measuring the distance in the second direction perpendicular to the first direction without rotating the laser positioning device.
  • the distance in the mutually perpendicular direction can then be used to position the current position of the laser positioning device, for example to give a two-dimensional coordinate of the current position of the laser positioning device.

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  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • Optical Radar Systems And Details Thereof (AREA)
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  • Measurement Of Optical Distance (AREA)

Abstract

一种激光定位装置（1）和激光定位方法，激光定位装置（1）包括激光发射模块（2），激光发射模块（2）被构造为产生第一激光；激光方向调理模块（6），激光方向调理模块（6）被构造为将第一激光调理成在第一方向上的第二激光和在与第一方向垂直的第二方向上的第三激光；距离确定模块（3、4、5），距离确定模块（3、4、5）被构造用于接收由第二激光在第一待测物体表面反射或者漫射回来的激光以确定激光定位装置（1）至第一待测物体的距离和/或用于接收由第三激光在第二待测物体表面反射或者漫射回来的激光以确定激光定位装置（1）至第二待测物体的距离。

Description

激光定位装置及激光定位方法 技术领域
本发明涉及距离测量领域，更为具体地涉及激光定位装置及激光定位方法。
背景技术
现有技术中已知了多种激光定位装置，但是已知的激光定位装置在进行不同的方向的距离测量时，要么只能在不同时间复用同一套激光定位装置来测量不同方向上的距离，要么只能利用两个独立的激光定位装置来测量两个相对应的不同方向上的距离。
例如，中国专利CN103075963B提供一种室内定位系统，包括依次连接的控制器、驱动装置和旋转机构，以及分别与所述控制器连接的第一激光测距仪和第二激光测距仪；所述第一激光测距仪和所述第二激光测距仪固定安装于所述旋转机构上，该第一激光测距仪发射出的光线与该第二激光测距仪发射出的光线垂直。本发明还提供一种室内定位方法。采用本发明技术方案，可以利用两个垂直的激光测距仪实现定位，定位精度高，并且，可以利用两个激光测距仪与参考边的距离关系来校准激光测距仪发射光线的方向，利用简单结构即实现了对定位系统的校准，构思新颖。
但是通读该专利不难发现在该室内定位系统之中，测量不同的方向上的距离是采用相互独立的激光定位装置的。
发明内容
针对上述的技术问题，即现有技术中存在不能利用单个的激光定位装置在不旋转该激光定位装置的情况下测量两个方向上的距离的技术问题，依据本发明提出了一种激光定位装置，所述激光定位装置包括：
激光发射模块，所述激光发射模块被构造为产生第一激光；
激光方向调理模块，所述激光方向调理模块被构造为将所述第一激光调理成在第一方向上的第二激光和在与所述第一方向垂直的第二方向上的第三激光；
距离确定模块，所述距离确定模块被构造用于接收由所述第二激光在第一待测物体表面反射或者漫射回来的激光以确定所述激光定位装置至所述第一待测物体的距离和/或用于接收由所述第三激光在第二待测物体表面反射或者漫射回来的激光以确定所述激光定位装置至所述第二待测物体的距离。
借助于依据本发明的激光定位装置仅仅利用一个激光发射模块便能够测量两个方向上的距离，从而实现了激光定位装置结构的简化以及制造成本的降低。
在依据本发明的一个实施例中，所述激光方向调理模块被构造为分光镜。以这样的实施方式便能较为便利并且便宜地实现依据本发明所提出的激光方向调理模块，进而将所述第一激光调理成在第一方向上的第二激光和在与所述第一方向垂直的第二方向上的第三激光。
在依据本发明的一个实施例中，所述分光镜包括半透半反光学件。本领域的技术人员应当了解，此处所提及的半透半反光学件仅仅是示例性的而非限制性的，其他能够实现相同或者相似功能的光学器件也包括在本发明的范围之内。
在依据本发明的一个实施例中，所述距离确定模块包括：
第一接收物镜，所述接收物镜被构造为接收由所述第二激光在第一待测物体表面反射或者漫射回来的激光并且对其进行处理；和
第一接收器，所述第一接收器被构造为接收经所述第一接收物镜处理的激光。
以这样的实施方式该激光定位装置便能够在第一方向上接收前方物体所反射或者漫射回来的激光并对其进行诸如聚焦的光学处理，然后，激光接收器便能够接收到诸如经聚焦的光线，然后依次判断前方物体离激光定位装置在第一方向上的距离，以便根据该距离实现定位功能。
在依据本发明的一个实施例中，所述距离确定模块还包括：
第二接收物镜，所述接收物镜被构造为接收由所述第三激光在第二待测物体表面反射或者漫射回来的激光并且对其进行处理；和
第二接收器，所述第二接收器被构造为接收经所述第二接收物镜处理 的激光。
以这样的实施方式该激光定位装置便能够在第一方向和/或第二方向上接收前方物体所反射或者漫射回来的激光并对其进行诸如聚焦的光学处理，然后，激光接收器便能够接收到诸如经聚焦的光线，然后依次判断前方物体离激光定位装置在第一方向和/或第二方向上的距离，以便根据该距离实现定位功能。
在依据本发明的一个实施例中，所述激光定位装置还包括：
显示模块，所述显示模块被构造为显示所述激光定位装置至所述第一待测物体的距离和/或所述激光定位装置至所述第二待测物体的距离。
当依据本发明的激光定位装置具有以上所提及的显示模块后，该激光定位装置能够更为可视化地显示所测量的距离，便于使用，并且能够同时显示所述激光定位装置至所述第一待测物体的距离和/或所述激光定位装置至所述第二待测物体的距离。
在依据本发明的一个实施例中，所述显示模块进一步包括提示模块，所述提示模块被构造为当所述激光定位装置至所述第一待测物体的距离满足预定要求和/或所述激光定位装置至所述第二待测物体的距离满足预定要求时发出提示。
以这样的实施方式使得依据本发明的激光定位装置能够提示使用者距离目标物体的距离的远近以及是否达到了预定的定位点处。
在依据本发明的一个实施例中，所述激光定位装置还包括方向指示模块，所述方向指示模块被构造为确定所述第二激光与所述第一待测物体的位置关系，和/或确定所述第三激光与所述第二待测物体的位置关系。
在依据本发明的一个实施例中，所述激光定位装置还包括方向调整模块，所述方向调整模块被构造为根据由所述方向指示模块所确定的位置关系对所述激光定位装置进行调整，以使得所述第二激光与所述第一待测物体的表面垂直和/或所述第三激光与所述第二待测物体的表面垂直。
此时，依据本发明的激光定位装置能够调整自身的姿态，以便能够与参照物相对垂直地测量距离，进而能够实现更为精确的定位。
在依据本发明的一个实施例中，所述激光定位装置还包括控制模块， 所述控制模块被构造为根据所述第二激光与所述第一待测物体的位置关系和/或所述第三激光与所述第二待测物体的位置关系控制所述激光定位装置。
在依据本发明的一个实施例中，所述激光定位装置还包括通信模块，所述通信模块被构造为接收定位信息和/或输出将所测量的位置信息。以这样的实施方式便能够使得依据本发明的激光定位装置更为智能地与外部器件连接，从而实现智能化的定位功能。
此外，本发明的第二方面还提供了一种激光定位方法，其特征在于，所述激光定位方法包括：
利用分光镜将激光发射器所产生的第一激光调理成相互垂直的第二激光和第三激光；以及
利用所述第二激光和所述第三激光对激光定位装置进行定位。
借助于依据本发明的激光定位方法仅仅利用一个激光发射模块便能够测量两个方向上的距离，从而实现了激光定位装置结构的简化以及制造成本的降低。
在依据本发明的一个实施例中，所述激光定位方法还包括：
接收待定位的位置信息；以及
根据所述位置信息利用所述第二激光和所述第三激光对激光定位装置进行定位。
在依据本发明的一个实施例中，所述激光定位方法还包括：
接收由所述第二激光在第一待测物体表面反射或者漫射回来的激光以确定所述激光定位装置至所述第一待测物体的距离；以及
接收由所述第三激光在第二待测物体表面反射或者漫射回来的激光以确定所述激光定位装置至所述第二待测物体的距离。
借助于依据本发明的激光定位装置以及激光定位方法仅仅利用一个激光发射模块便能够测量两个方向上的距离，从而实现了激光定位装置结构的简化以及制造成本的降低。
附图说明
参考附图示出并阐明实施例。这些附图用于阐明基本原理，从而仅仅示出了对于理解基本原理必要的方面。这些附图不是按比例的。在附图中，相同的附图标记表示相似的特征。
图1示出了现有技术中的激光定位装置的示意图；
图2示出了依据本发明的激光定位装置的示意图；
图3示出了依据本发明的激光定位方法的流程图300；以及
图4示出了依据本发明的激光定位装置使用时的示意图400。
本发明的其它特征、特点、优点和益处通过以下结合附图的详细描述将变得更加显而易见。
具体实施方式
在以下优选的实施例的具体描述中，将参考构成本发明一部分的所附的附图。所附的附图通过示例的方式示出了能够实现本发明的特定的实施例。示例的实施例并不旨在穷尽根据本发明的所有实施例。可以理解，在不偏离本发明的范围的前提下，可以利用其他实施例，也可以进行结构性或者逻辑性的修改。因此，以下的具体描述并非限制性的，且本发明的范围由所附的权利要求所限定。
图1示出了现有技术中的激光定位装置的示意图。从图中可以看出，该室内定位系统，包括依次连接的控制器1、驱动装置2、旋转机构3，以及分别与控制器1连接的第一激光测距仪41和第二激光测距仪42；第一激光测距仪41和第二激光测距仪42均固定安装于旋转机构3上，第一激光测距仪41发射出的光线与第二激光测距仪42发射出的光线垂直。也就是说，依据现有技术的室内定位系统分别采用独立的第一激光测距仪41和第二激光测距仪42来测量两个方向上的距离。
与之不同的是依据本发明的激光定位装置能够仅仅利用同一个激光测距仪即本发明中所提及的激光定位模块便能够实现两个方向上的距离的测量并进一步实现在两个维度上的定位功能。具体而言，图2示出了依据本发明的激光定位装置的示意图，从图中可以看出，依据本发明的激光定位装置1包括激光发射模块2，所述激光发射模块2被构造为产生第一激光；
激光方向调理模块6，所述激光方向调理模块6被构造为将所述第一激光调理成在第一方向X上的第二激光和在与所述第一方向X垂直的第二方向Y上的第三激光；
距离确定模块(包括3和4)被构造用于接收由所述第二激光在第一待测物体表面反射或者漫射回来的激光以确定所述激光定位装置至所述第一待测物体的距离；以及
距离确定模块(包括3和5)被构造用于接收由所述第三激光在第二待测物体表面反射或者漫射回来的激光以确定所述激光定位装置至所述第二待测物体的距离。
借助于依据本发明的激光定位装置仅仅利用一个激光发射模块2便能够测量两个方向X和Y上的距离，从而实现了激光定位装置1在结构上的简化以及制造成本上的降低。
在依据本发明的一个实施例中，所述激光方向调理模块6被构造为分光镜。以这样的实施方式便能较为便利并且便宜地实现依据本发明所提出的激光方向调理模块，进而将所述第一激光调理成在第一方向上的第二激光和在与所述第一方向垂直的第二方向上的第三激光。
在依据本发明的一个实施例中，所述分光镜6包括半透半反光学件。本领域的技术人员应当了解，此处所提及的半透半反光学件仅仅是示例性的而非限制性的，其他能够实现相同或者相似功能的光学器件也包括在本发明的范围之内。
在依据本发明的一个实施例中，所述距离确定模块包括：
第一接收物镜3，所述接收物镜被构造为接收由所述第二激光在第一待测物体表面反射或者漫射回来的激光并且对其进行处理；和
第一接收器4，所述第一接收器4被构造为接收经所述第一接收物镜处理的激光。
以这样的实施方式该激光定位装置1便能够在第一方向上接收前方物体所反射或者漫射回来的激光并对其进行诸如聚焦的光学处理，然后，激光接收器便能够接收到诸如经聚焦的光线，然后依次判断前方物体离激光定位装置在第一方向上的距离，以便根据该距离实现定位功能。
在依据本发明的一个实施例中，所述距离确定模块还包括：
第二接收物镜3，所述接收物镜3被构造为接收由所述第三激光在第二待测物体表面反射或者漫射回来的激光并且对其进行处理；和
第二接收器5，所述第二接收器5被构造为接收经所述第二接收物镜处理的激光。
以这样的实施方式该激光定位装置便能够在第一方向和/或第二方向上接收前方物体所反射或者漫射回来的激光并对其进行诸如聚焦的光学处理，然后，激光接收器便能够接收到诸如经聚焦的光线，然后依次判断前方物体离激光定位装置在第一方向和/或第二方向上的距离，以便根据该距离实现定位功能。
在依据本发明的一个实施例中，所述激光定位装置1还包括：
显示模块(图中未示出)，所述显示模块被构造为显示所述激光定位装置至所述第一待测物体的距离和/或所述激光定位装置至所述第二待测物体的距离。
当依据本发明的激光定位装置具有以上所提及的显示模块后，该激光定位装置能够更为可视化地显示所测量的距离，便于使用，并且能够同时显示所述激光定位装置至所述第一待测物体的距离和/或所述激光定位装置至所述第二待测物体的距离。
在依据本发明的一个实施例中，所述显示模块进一步包括提示模块，所述提示模块被构造为当所述激光定位装置至所述第一待测物体的距离满足预定要求和/或所述激光定位装置至所述第二待测物体的距离满足预定要求时发出提示。
以这样的实施方式使得依据本发明的激光定位装置能够提示使用者距离目标物体的距离的远近以及是否达到了预定的定位点处。
在依据本发明的一个实施例中，所述激光定位装置1还包括方向指示模块，所述方向指示模块被构造为确定所述第二激光与所述第一待测物体的位置关系，和/或确定所述第三激光与所述第二待测物体的位置关系。
在依据本发明的一个实施例中，所述激光定位装置1还包括方向调整模块，所述方向调整模块被构造为根据由所述方向指示模块所确定的位置 关系对所述激光定位装置进行调整，以使得所述第二激光与所述第一待测物体的表面垂直和/或所述第三激光与所述第二待测物体的表面垂直。
此时，依据本发明的激光定位装置能够调整自身的姿态，以便能够与参照物相对垂直地测量距离，进而能够实现更为精确的定位。
在依据本发明的一个实施例中，所述激光定位装置还包括控制模块，所述控制模块被构造为根据所述第二激光与所述第一待测物体的位置关系和/或所述第三激光与所述第二待测物体的位置关系控制所述激光定位装置。
在依据本发明的一个实施例中，所述激光定位装置还包括通信模块，所述通信模块被构造为接收定位信息和/或输出将所测量的位置信息。以这样的实施方式便能够使得依据本发明的激光定位装置更为智能地与外部器件连接，从而实现智能化的定位功能。
此外，本发明的第二方面还提供了一种激光定位方法，图3示出了依据本发明的激光定位方法的流程图300，从图中可以看出，所述激光定位方法包括以下步骤：
首先，在第一步骤310中，利用分光镜将激光发射器所产生的第一激光调理成相互垂直的第二激光和第三激光；以及
然后，在第二步骤320中，利用所述第二激光和所述第三激光对激光定位装置进行定位。
借助于依据本发明的激光定位方法仅仅利用一个激光发射模块2便能够测量两个方向上的距离，从而实现了激光定位装置1结构的简化以及制造成本的降低。
在依据本发明的一个实施例中，所述激光定位方法还包括：
接收待定位的位置信息；以及
根据所述位置信息利用所述第二激光和所述第三激光对激光定位装置进行定位。
在依据本发明的一个实施例中，所述激光定位方法还包括：
接收由所述第二激光在第一待测物体表面反射或者漫射回来的激光以确定所述激光定位装置至所述第一待测物体的距离；以及
接收由所述第三激光在第二待测物体表面反射或者漫射回来的激光以确定所述激光定位装置至所述第二待测物体的距离。
图4示出了依据本发明的激光定位装置使用时的示意图400。从图中可以看出，激光发射模块2所发射出来的激光经过激光方向调理模块6的作用分成了在X方向和Y方向的两束相互垂直的激光，此后这两束激光分别照射到目标物体在此例如为墙面上反射回来，该激光定位装置便能够通过分析反射回来的光来测量出距离A和距离B，从而用于定位。如前所述，该激光定位装置例如能够包括通信模块，通过该通信模块能够从其他设备接收应该被定位至的目标点，然后该激光定位装置将目前定位点与目标点进行比较以便给出操作指示，方便操作人员进行定位。
借助于依据本发明的激光定位装置以及激光定位方法仅仅利用一个激光发射模块便能够测量两个方向上的距离，从而实现了激光定位装置结构的简化以及制造成本的降低。
本公开中所称的激光定位装置既能够测量第一方向上的距离，也能够在不转动该激光定位装置的情况下测量与第一方向垂直的第二方向上的距离，在得到这两个相互垂直的方向上的距离之后便能够为该激光定位装置的当前位置进行定位，例如能够给出该激光定位装置的当前位置的二维坐标。
本领域技术人员应当理解，上面公开的各个实施例可以在不偏离发明实质的情况下做出各种变形和修改。因此，本发明的保护范围应当由所附的权利要求书来限定。
尽管已经描述了本发明的不同示例性的实施例，但对于本领域技术人员而言显而易见的是，能够进行不同的改变和修改，其能够实现本发明的优点中的一些而不背离本发明的精神和范畴。对于那些在本领域技术中相当熟练的人员来说，执行相同功能的其他部件可以适当地被替换。应提到，在此参考特定的附图解释的特征可以与其他附图的特征组合，即使是在那些没有明确提及此的情况中。此外，可以或者在所有使用恰当的处理器指令的软件实现方式中或者在利用硬件逻辑和软件逻辑组合来获得同样结果的混合实现方式中实现本发明的方法。这样的对根据本发明的方案的修改旨在被所附权利要求所覆盖。

Claims (14)

  1. 一种激光定位装置，其特征在于，所述激光定位装置包括：
    激光发射模块，所述激光发射模块被构造为产生第一激光；
    激光方向调理模块，所述激光方向调理模块被构造为将所述第一激光调理成在第一方向上的第二激光和在与所述第一方向垂直的第二方向上的第三激光；
    距离确定模块，所述距离确定模块被构造用于接收由所述第二激光在第一待测物体表面反射或者漫射回来的激光以确定所述激光定位装置至所述第一待测物体的距离和/或用于接收由所述第三激光在第二待测物体表面反射或者漫射回来的激光以确定所述激光定位装置至所述第二待测物体的距离。
  2. 根据权利要求1所述的激光定位装置，其特征在于，所述激光方向调理模块被构造为分光镜。
  3. 根据权利要求2所述的激光定位装置，其特征在于，所述分光镜包括半透半反光学件。
  4. 根据权利要求1所述的激光定位装置，其特征在于，所述距离确定模块包括：
    第一接收物镜，所述接收物镜被构造为接收由所述第二激光在第一待测物体表面反射或者漫射回来的激光并且对其进行处理；和
    第一接收器，所述第一接收器被构造为接收经所述第一接收物镜处理的激光。
  5. 根据权利要求1所述的激光定位装置，其特征在于，所述距离确定模块还包括：
    第二接收物镜，所述接收物镜被构造为接收由所述第三激光在第二待测物体表面反射或者漫射回来的激光并且对其进行处理；和
    第二接收器，所述第二接收器被构造为接收经所述第二接收物镜处理的激光。
  6. 根据权利要求1所述的激光定位装置，其特征在于，所述激光定位装置还包括：
    显示模块，所述显示模块被构造为显示所述激光定位装置至所述第一 待测物体的距离和/或所述激光定位装置至所述第二待测物体的距离。
  7. 根据权利要求6所述的激光定位装置，其特征在于，所述显示模块进一步包括提示模块，所述提示模块被构造为当所述激光定位装置至所述第一待测物体的距离满足预定要求和/或所述激光定位装置至所述第二待测物体的距离满足预定要求时发出提示。
  8. 根据权利要求1所述的激光定位装置，其特征在于，所述激光定位装置还包括方向指示模块，所述方向指示模块被构造为确定所述第二激光与所述第一待测物体的位置关系，和/或确定所述第三激光与所述第二待测物体的位置关系。
  9. 根据权利要求8所述的激光定位装置，其特征在于，所述激光定位装置还包括方向调整模块，所述方向调整模块被构造为根据由所述方向指示模块所确定的位置关系对所述激光定位装置进行调整，以使得所述第二激光与所述第一待测物体的表面垂直和/或所述第三激光与所述第二待测物体的表面垂直。
  10. 根据权利要求1所述的激光定位装置，其特征在于，所述激光定位装置还包括控制模块，所述控制模块被构造为根据所述第二激光与所述第一待测物体的位置关系和/或所述第三激光与所述第二待测物体的位置关系控制所述激光定位装置。
  11. 根据权利要求1所述的激光定位装置，其特征在于，所述激光定位装置还包括通信模块，所述通信模块被构造为接收定位信息和/或输出所测量的位置信息。
  12. 一种激光定位方法，其特征在于，所述激光定位方法包括：
    利用分光镜将激光发射器所产生的第一激光调理成相互垂直的第二激光和第三激光；以及
    利用所述第二激光和所述第三激光对激光定位装置进行定位。
  13. 根据权利要求12所述的激光定位方法，其特征在于，所述激光定位方法还包括：
    接收待定位的位置信息；以及
    根据所述位置信息利用所述第二激光和所述第三激光对激光定位装置进行定位。
  14. 根据权利要求12所述的激光定位方法，其特征在于，所述激光定 位方法还包括：
    接收由所述第二激光在第一待测物体表面反射或者漫射回来的激光以确定所述激光定位装置至所述第一待测物体的距离；以及
    接收由所述第三激光在第二待测物体表面反射或者漫射回来的激光以确定所述激光定位装置至所述第二待测物体的距离。
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