WO2019100513A1 - 光曲面定位方法和装置 - Google Patents

光曲面定位方法和装置 Download PDF

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Publication number
WO2019100513A1
WO2019100513A1 PCT/CN2017/118499 CN2017118499W WO2019100513A1 WO 2019100513 A1 WO2019100513 A1 WO 2019100513A1 CN 2017118499 W CN2017118499 W CN 2017118499W WO 2019100513 A1 WO2019100513 A1 WO 2019100513A1
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WO
WIPO (PCT)
Prior art keywords
light blocking
receiver
optical
blocking area
curved surface
Prior art date
Application number
PCT/CN2017/118499
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English (en)
French (fr)
Inventor
谭光
王兆广
刘勇
Original Assignee
灵踪科技（深圳）有限公司
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Application filed by 灵踪科技（深圳）有限公司 filed Critical 灵踪科技（深圳）有限公司
Priority to US16/078,550 priority Critical patent/US11085993B2/en
Publication of WO2019100513A1 publication Critical patent/WO2019100513A1/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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
    • H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
    • H04B10/114—Indoor or close-range type systems
    • H04B10/1149—Arrangements for indoor wireless networking of information
    • 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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using electromagnetic waves other than radio waves
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
    • H04B10/40—Transceivers

Definitions

  • the present invention relates to the field of spatial positioning technology, and in particular to a method and apparatus for positioning a light surface.
  • Positioning and tracking is an important supporting technology in emerging applications such as robots and large-space virtual reality.
  • robots need to accurately position and ensure that they do not go wrong when assembling and transporting materials and products.
  • Entertainment robot groupings may need to work together to perform certain actions with the help of precise positions.
  • the main optical positioning technology has low precision, small coverage area and high cost, and can only reach the position of meters or decimeters. Satellite signals are not able to provide location services indoors due to blockage by buildings, and the accuracy is not up to standard.
  • a light curved surface positioning device comprising a transmitter and a receiver, the transmitter capable of transmitting an optical signal to the receiver, the receiver being capable of receiving an optical signal emitted by the transmitter, the optical curved surface positioning device being The optical signal received by the receiver determines the position of the receiver, and the transmitter includes:
  • a light emitting device capable of emitting light signals of at least two flicker frequencies
  • a hollow hemispherical cover body wherein the cover body is provided with a fixed angle light blocking area and a variable angle light blocking area, and a portion between the fixed angle light blocking area and the variable angle light blocking area is a light transmitting area
  • the fixed angle light blocking area has the same central angle corresponding to the arc length on any latitude line of the cover body, and the variable angle light blocking area corresponds to the center of the arc length of the latitude line of the cover body. The angle monotonically decreases or increases as the latitude of the cover increases.
  • the fixed angle light blocking area includes a first fixed angle light blocking area and a second fixed angle light blocking area, and the first fixed angle light blocking area and the second fixed angle light blocking area are in the The orthographic projection on the circle bottom surface is a fan shape.
  • the orthographic projection of the variable-angle light blocking zone on the bottom surface circle of the cover is surrounded by three curved edges, wherein one of the curved edges is rounded with the bottom surface of the cover.
  • the center of the circle is the center of the circle, and the other two of the curved sides intersect at the center of the circle of the bottom surface and respectively intersect the ends of the first curved edge.
  • the other two curved sides have the same central angle and are convex toward the first curved edge.
  • the transmitter is provided with at least a controller, a driving device, a base and a rotating base
  • the controller is connected to the driving device to control the operation of the driving device
  • the driving device is connected to the rotating base, and drives the rotating base to rotate at a predetermined angular velocity
  • the rotating base is fixedly connected to the cover body, and when the rotating base rotates, the cover body can be synchronously rotated.
  • the transmitter is further provided with a rotation detecting unit that detects a rotation period of rotating the seat rotation, and the controller controls the light emission according to a detection result of the rotation detecting unit
  • the frequency of flickering of the device during adjacent rotation cycles is different.
  • the rotation detecting unit includes a photocoupler and a light blocking plate, and the optical coupler is provided with a notch;
  • the light blocking plate is located at a rotating seat position corresponding to the optical coupler, and the light blocking plate can pass through the notch of the optical coupler when the rotating base rotates.
  • the receiver is provided with at least a receiving single chip, a light sensor and a wireless module;
  • the light sensor receives an optical signal emitted by the transmitter
  • the receiving single chip is connected to the optical sensor, and processes the information that the optical sensor receives the optical signal;
  • the wireless module is connected to the receiving single chip microcomputer, receives the information processing result of the receiving single chip microcomputer, and sends the result to the server.
  • the transmitter transmits an optical signal of a preset blinking frequency through the light emitting device, and generates a shadow through the light blocking area of the cover body;
  • the receiver receives the optical signal at a predetermined sampling frequency, and obtains a shadow width and a frame length of the variable angular light blocking region by analog-to-digital conversion of the optical sensor;
  • the receiver receives the microcontroller according to the preset information, and calculates the position of the receiver.
  • the preset information includes at least a radius of the cover body, a circle diameter corresponding to the curved edge of the variable angle light blocking area, a rotation speed of the rotating seat, and a fixed angle light blocking area on an arbitrary latitude line of the cover body.
  • the angular angle of the center of the arc corresponding to the angle of the emitter, the height of the emitter, and the vertical height difference between the emitter and the receiver.
  • the light curved surface positioning device and method provided by the invention can accurately position the receiver, and the receiver can be placed on the surface of the object to receive the light signal of the transmitter, and can perform accurate indoor positioning, so that the robot can accurately assist the assembly in the intelligent production environment. , transport materials and products.
  • the positioning accuracy of the invention can reach the positioning requirement of centimeters to millimeters.
  • FIG. 1 is a schematic view of a light curved surface positioning device according to an embodiment of the present invention.
  • FIG. 2 is a schematic view of a transmitter of the light curved surface positioning device of FIG. 1;
  • Figure 3 is a bottom plan view of the cover of the transmitter of Figure 2;
  • Figure 4 is a schematic view of the receiver of Figure 1;
  • Figure 5 is a polar coordinate area diagram of the emitter projection of Figure 1 formed on the ground;
  • Figure 6 is a graph of the ring buffer of Figure 1;
  • FIG. 7 is a schematic diagram 1 of a light curved surface positioning algorithm
  • Figure 8 is a schematic diagram 2 of the optical surface positioning algorithm.
  • FIG. 10 A schematic diagram of a light curved surface positioning device in an embodiment, including a transmitter 10 for transmitting a signal and a receiver 30 for receiving, is shown in FIG.
  • the transmitter 10 transmits a signal and is capable of determining its position based on the received signal.
  • the transmitter 10 includes a base 111, a controller 112, a driving device 113, a rotation detecting unit 114, a cover 115, a light emitting device 116, and a rotating base 117.
  • the illumination device 116 is configured to emit an optical signal of a predetermined blinking frequency.
  • the illumination device 116 can be an LED lamp, a CFL lamp, or other lamp that emits an optical signal that can be received by the photosensor.
  • the illumination device 116 is an LED light.
  • the LED lamp is located at a center of the bottom surface of the cover 115.
  • the illumination device 116 is capable of emitting optical signals of at least two scintillation frequencies.
  • the light-emitting device 116 is disposed on the base 111.
  • the base 111 has a cylindrical mounting portion, and the mounting portion faces a side surface of the cover 115 and The bottom surface of the cover 115 is circularly coplanar, and the light-emitting device 116 is disposed on a side surface of the mounting portion facing the cover 115 and coincides with a circular center position of the bottom surface.
  • the driving device 113 is connected to the controller 112 and is located inside the base 111.
  • the driving device 113 is connected to the rotating base 117, and is capable of driving the rotating base 117 to rotate at a constant angular speed at a predetermined angular velocity.
  • the controller 112 controls the drive unit 113 to cause the drive unit 113 to operate in a predetermined manner.
  • the rotation detecting unit 114 is for detecting a rotational position of the rotating base 117.
  • the rotation detecting unit 114 generates a corresponding detection signal when the rotating base 117 rotates for a complete rotation period, and transmits the detection signal to the controller 112, and the controller 112 according to the The detection signal controls the illumination device 116 to switch between the first flicker frequency and the second flicker frequency optical signal.
  • the controller 112 controls the optical signals of adjacent rotation periods to blink at different frequencies.
  • the rotation detecting unit 114 includes a photocoupler 1141 and a light blocking piece 1142.
  • the optical coupler 1141 is disposed on the base 111.
  • the light blocking piece 1142 is disposed on the rotating base 117 and can rotate as the rotating base 117 rotates.
  • the optical coupler 1141 is provided with a notch 1143 facing the rotating base 117.
  • the position of the light blocking piece 1142 corresponds to the notch 1143 on the optical coupler 1141, that is, the light blocking piece 1142 can pass through the notch 1143 but not with the rotating seat 117.
  • the optical coupler 1141 is in contact.
  • the optical signal of the optical coupler 1141 passes through the notch 1143.
  • the controller 112 controls the light-emitting device 116 to switch from the first blinking frequency to the second blinking frequency or from the second blinking frequency to the first blinking frequency.
  • the rotating base 117 is fixedly connected to the cover 115, and the rotating base 117 can rotate the cover 115 synchronously when the rotating base 117 rotates.
  • the swivel mount 117 can be selected as a disk, ring or other annular structure.
  • the rotating base 117 has an annular shape.
  • the cover 115 is substantially hollow and hemispherical, and a hemispherical space is formed inside.
  • the cover 115 may be a hollow semi-ellipsoidal cover, a hollow semi-spherical cover or other hollow hemispherical structures.
  • the cover 115 is a semi-spherical spherical cover.
  • a fixed angle light blocking area 210 and a variable angle light blocking area 220 are formed on the spherical surface of the cover 115.
  • the fixed angle light blocking area 210 and the variable angle light blocking area 220 are opaque portions on the spherical surface of the cover 115, and the other portions of the spherical surface of the cover 115 are light transmitting portions, that is, the light emitting device
  • An optical signal of 116 can pass through the light transmissive portion.
  • the orthographic projection of the variable-angle light blocking area 220 on the circle bottom surface of the cover body is surrounded by three curved sides, one of the curved sides is centered on the center of the bottom surface of the cover body 115, and the other two The curved edges of the strip intersect at a center of the bottom circle and respectively intersect the ends of the first curved edge.
  • the other two curved sides have the same central angle and are convex toward the first curved edge.
  • the cover 115 includes a first fixed angle light blocking area 211 and a second fixed angle light blocking area 212.
  • the specific shape of the first fixed-angle light blocking region 211 is described below as an example.
  • the orthographic projection of the first fixed-angle light blocking region 211 on the bottom surface circle of the cover 115 is a fan shape.
  • the center of the edge coincides with the center of the bottom circle, and the corresponding central angle is 30 degrees. It can be understood that the central angle corresponding to the curved edge of the sector may be other degrees, such as 15 degrees, 45 degrees, and the like.
  • the first fixed angle light blocking area 211 has the same central angle corresponding to the arc length on any latitude line of the cover 112, so it is called a fixed angle light blocking area.
  • the second fixed angle light blocking area 212 has the same shape as the first fixed angle light blocking area 212, and details are not described herein.
  • the shadow of the first fixed angle light blocking area 211 or the second fixed angle light blocking area 212 is also fixed by the duration of the receiver 30, so Calibrating the rotational angular velocity of the cover 115 according to the time when the shadow of the first fixed angle light blocking area 211 and/or the second fixed angle light blocking area 212 passes through the receiver 30 at one time to enhance the positioning of the light surface The positioning accuracy of the device.
  • the first fixed angle light blocking area 211 and the second fixed angle light blocking area 212 are separated by an angle of 30 degrees between the orthographic projection areas of the bottom surface circle, and the first The angle between the fixed angle light blocking area 211 and the second fixed angle light blocking area 212 between the orthographic projection areas of the bottom surface circle may also be a numerical value, such as 15 degrees, 30 degrees, 40 degrees, 45 degrees, 60 degrees. Degrees, etc.
  • the orthographic projection of the variable angle light blocking region 212 on the bottom surface circle of the cover 115 is composed of three curved sides, including a first curved edge 270, a second curved edge 230 and a third curved edge.
  • the first curved edge 270 is centered on a center of the bottom circle
  • the second curved edge 230 and the third curved edge 240 intersect at a center of the bottom circle and respectively
  • the first curved edge 270 intersects at both ends.
  • the second curved edge 230 and the third curved edge 240 are partial arcs.
  • the second curved edge 230 corresponds to the third curved edge 240.
  • the central arc angles are the same, and the second curved side 230 and the third curved side 240 are convex toward the first curved side 270.
  • the variable angle light blocking area 212 has different arc angles corresponding to arc lengths on any latitude line of the cover 115, so it is called a variable angle light blocking area 220, and more specifically, the variable angle
  • the arc length of the light blocking region 212 on the latitude line of the cover decreases with respect to the corresponding central angle as the latitude of the cover increases.
  • variable angle light blocking area 212 is not limited to the illustrated embodiment.
  • the second curved edge 230 does not remain symmetrical with the third curved edge 240.
  • the curvature of the variable-angle light blocking region 212 on the latitude line of the cover increases with the increase of the latitude of the cover, and the second first curved edge 270 and the first The second curved edge 230 is raised away from the first curved edge 270.
  • the second curved edge 230 and the third curved edge 240 may be replaced with any other suitable shape of the edge as long as the variable angular light blocking area 212 satisfies the latitude of the cover 115.
  • the central angle corresponding to the arc length on the line may decrease or increase as the latitude of the cover 115 increases.
  • the latitude of the cover 115 described in the above embodiment is the reference position of the surface of the cover 115, and the surface latitude of the cover 115 is from the apex of the cover 115 (the vertical between the surface of the cover 115 and the bottom circle) The distance from the largest point gradually decreases toward the bottom circle.
  • FIG. 1 A schematic diagram of a receiver in one embodiment is shown in FIG. 1
  • the receiver 30 includes a receiving microcontroller 301, a wireless module 302, and a light sensor 303.
  • the optical sensor 303 is capable of receiving the optical signal emitted by the illumination device 116 of the transmitter 10, and after being analog-to-digital converted, is transmitted to the receiving microcontroller 301.
  • the receiving single chip microcomputer 301 calculates the vertical angle and the horizontal angle of the light sensor 303 with respect to the light emitting device 116 according to the optical signal data and the preset information, and transmits the calculation result to the wireless module 302; the wireless module 302 can pass through the receiving end.
  • the wireless module 302 can transmit the data calculation result of the receiving single chip microcomputer 301 to the receiving end, in particular, but not limited to.
  • the wireless module 302 can be a Bluetooth, GPRS, EDGE, WiFi, 2G, 3G, 4G, 5G communication device or other wireless transmission device.
  • the preset information of the receiver 30 is a circle bottom radius 411 of the cover body, a circle diameter 412 corresponding to the shorter arc edge of the variable angle light blocking area, a rotating seat rotation speed, and a fixed angle light blocking area.
  • the sampling frequency Rate and the rotating seat rotation speed Rev can be calculated from the optical sensor to obtain the reference width, which is the corresponding angle of the fixed angle blocking area 210. Shadow width.
  • the receiver 30 simulates the formation of a ring buffer by rotating the optical signal collected during one rotation of the rotating base 117 of the transmitter 10, and obtains a first fixed angle light blocking area shadow width 416, a second fixed angle light blocking area shadow width 417, and The variable angle light blocking area has a shadow width 414 relative position.
  • the horizontal angle ⁇ can be derived from the first fixed angle stop zone shadow width 416 and the second fixed angle stop zone shadow width 417 and relative position.
  • FIG. 5 is a polar coordinate area diagram of the emitter projection of FIG. 1 formed on the ground.
  • the horizontal angle ⁇ is an angle formed by the polar coordinate center to the rotational starting point straight line 423 and the polar coordinate center to the receiver straight line 420.
  • ring buffer a is rotated at point O to ring buffer b.
  • the angle between the center line from the first fixed angle light blocking area shadow width 416 and the second fixed angle light blocking area shadow width 417 and the polar coordinate center to the starting point of the rotation is a horizontal angle ⁇ .
  • the shadow width 414 of the variable angle stop zone can be measured, ie the number of samples sampled by the receiver over the time interval of the sweep across the receiver.
  • the two shorter arcs of the variable-angle light blocking zone are generated by two circles whose diameters are equal to the radius of the bottom surface of the cover body, and both pass through the center of the bottom circle, and the bottom surface
  • the circle is tangent, so:
  • Rshade is the radius of the bottom surface of the cover body 411
  • Rcut is the circle diameter 412 corresponding to the shorter curved edge of the variable angle light blocking area
  • Rsense is a Q point 411 latitude line forming a radius 413 of the circle
  • ShadowLen is the shadow width 414 of the variable angle light blocking area, that is, the number of samples sampled by the receiver during the time interval in which the shadow sweeps across the receiver;
  • r is the horizontal distance 421 between the illuminating device and the receiver
  • H is the vertical height difference 422 between the transmitter and the receiver.
  • the two-dimensional coordinates of the receiver are determined by calculating the horizontal angle ⁇ and the vertical angle ⁇ .
  • the vertical height difference 422 relative height between the transmitter and the receiver is unknown, two transmitters 10 are used, which are different according to the frequency of flickering of the two transmitters 10 by frequency division multiplexing.
  • the transmitter 10 emits an optical signal to determine the vertical height at which the receiver 30 is located, and calculates the three-dimensional position of the receiver 30.
  • the optical curved surface positioning device and method transmit an optical signal to the receiver 30 through the transmitter 10, and the receiver 30 performs data processing and calculation according to the received optical signal to obtain the position of the receiver 30, which is transmitted through the wireless module 302.
  • the receiver 30 is located to the receiving end.
  • the optical curved surface positioning device and method provided by the present invention can accurately position the receiver 30, and the receiver 30 can be placed on the surface of the object to receive the optical signal of the transmitter 10, which can perform accurate indoor positioning, and enable the robot in an intelligent production environment. Accurately assist in assembly and transportation of materials and products.
  • the positioning accuracy of the invention can reach the positioning requirement of centimeters to millimeters.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
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  • Automation & Control Theory (AREA)
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Abstract

一种光曲面定位装置，包括发射器（10）和接收器（30），发射器（10）能够发射光信号至接收器（30），接收器（30）能够接收发射器（10）发射的光信号，光曲面定位装置根据接收器（30）接收到的光信号判断接收器（30）的位置，发射器（10）包括：发光装置（116）能够发射至少两种闪烁频率的光信号；中空半球形罩体（115），罩体（115）上设有固定角挡光区（210）和可变角挡光区（220），固定角挡光区（210）和可变角挡光区（220）之间的部分为透光区。光曲面定位装置和方法，可精准定位接收器（30）位置，接收器（30）可放置在物体表面接收发射器（10）的光信号，可进行室内精准定位，在智能生产环境中，使机器人能够精准辅助组装、运送物料和产品，定位精准度可达到厘米至毫米级的定位要求。

Description

光曲面定位方法和装置 技术领域
本发明涉及空间定位技术领域，特别是涉及光曲面定位方法和装置。
背景技术
在机器人、大空间虚拟现实等新兴应用中，定位跟踪是一项重要的支撑技术。在智能生产环境中，机器人辅助组装、运送物料和产品时，需要精准的位置指示以保证不会出错；娱乐机器人编组可能需要在精准位置的帮助下协同完成某些动作。目前主要的光定位技术精度低、覆盖面积小和成本高，只能达到米或分米级的定位。卫星信号由于受建筑物遮挡，无法在室内提供位置服务，而且精度达不到要求。
发明内容
基于此，有必要针对光定位技术的精度低、覆盖面积小和成本高问题，提供一种光曲面定位方法和装置。
一种光曲面定位装置，包括发射器和接收器，所述发射器能够发射光信号至所述接收器，所述接收器能够接收所述发射器发射的光信号，所述光曲面定位装置根据所述接收器接收到的光信号判断接收器的位置，所述发射器包括：
发光装置，所述发光装置能够发射至少两种闪烁频率的光信号；
中空半球形罩体，所述罩体上设有固定角挡光区和可变角挡光区，所述固定角挡光区和所述可变角挡光区之间的部分为透光区，所述固定角挡光区在所述罩体任意纬度线上的弧长所对应圆心角均相同，所述可变角挡光区在所述罩体纬度线上的弧长所对应的圆心角随所述罩体纬度的升高而单调递减或者递增。
在其中一个实施例中，所述固定角挡光区包括第一固定角挡光区和第二固定角挡光区，所述第一固定角挡光区与第二固定角挡光区在所述罩体底面圆上 的正投影为扇形。
在其中一个实施例中，所述可变角挡光区在所述罩体底面圆上的正投影由三条弧形边围成，其中一条所述弧形边以所述罩体的底面圆的圆心为圆心，另外两条所述弧形边相交于所述底面圆的圆心并且分别与所述第一弧形边两端相交。
在其中一个实施例中，所述另外两条弧形边对应的圆心角相同，且朝向所述一条第一弧形边凸起。
在其中一个实施例中，所述发射器至少设置有控制器、驱动装置、基座和旋转座
所述控制器与所述驱动装置相连接，控制所述驱动装置的运行；
所述驱动装置与所述旋转座相连接，带动所述旋转座以预定的角速度进行旋转；
所述旋转座与所述罩体固定连接，所述旋转座转动时能够带动所述罩体同步转动。
在其中一个实施例中，所述发射器还设置有转动检测单元，所述转动检测单元检测旋转所述座旋转的旋转周期，所述控制器根据所述转动检测单元的检测结果控制所述发光装置在相邻的转动周期内的闪烁频率不同。
在其中一个实施例中，所述转动检测单元包括光耦合器和挡光片，所述光耦合器上设置有凹口；
所述挡光片位于旋转座位置与光耦合器相对应，当旋转座旋转时所述挡光片可穿过所述光耦合器的凹口。
在其中一个实施例中，所述接收器至少设置有接收单片机、光传感器和无线模块；
所述光传感器接收发射器发射的光信号；
所述接收单片机与光传感器相连接，处理所述光传感器接收光信号的信息；
所述无线模块与接收单片机相连接，接收所述接收单片机信息处理结果，发送至服务器。
一种光曲面定位方法，
发射器通过发光装置发送预设闪烁频率的光信号，通过罩体的挡光区产生阴影；
发射器启动驱动装置使所述罩体以预定角速度进行旋转；
接收器以预定的采样频率接收光信号，通过光传感器的模数转换，获取可变角挡光区的阴影宽度和帧长；
接收器中接收单片机根据预设信息，计算得出接收器的位置。
在其中一个实施例中，所述预设信息至少包括罩体半径、可变角挡光区弧形边所对应的圆直径、旋转座转速、固定角挡光区在罩体任意纬度线上的弧长所对应圆心角角度、发射器高度及发射器与接收器的之间的垂直高度差。
本发明提供的光曲面定位装置和方法，可精准定位接收器位置，接收器可放置在物体表面接收发射器的光信号，可进行室内精准定位，在智能生产环境中，使机器人能够精准辅助组装、运送物料和产品。本发明的定位精准度可达到厘米至毫米级的定位要求。
附图说明
图1为本发明实施方式的光曲面定位装置的示意图；
图2为图1的光曲面定位装置的发射器的示意图；
图3为图2的发射器的罩体的仰视图；
图4为图1的接收器的示意图；
图5为图1的发射器投影在地面形成的极坐标区域图；
图6为图1的环形缓冲区坐标图；
图7为光曲面定位算法示意图一；
图8为光曲面定位算法示意图二。
具体实施方式
为了便于理解本发明，下面将参照相关附图对光曲面定位方法和装置进行更全面的描述。附图中给出了光曲面定位方法和装置的首选实施例。但是，光曲面定位方法和装置可以以许多不同的形式来实现，并不限于本文所描述的实 施例。相反地，提供这些实施例的目的是使对光曲面定位方法和装置的公开内容更加透彻全面。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在光曲面定位方法和装置的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。
如图1中示出一个实施例中光曲面定位装置的示意图，所述光曲面定位装置包括发射器10和接收器30，所述发射器10用于发射信号，所述接收器30用于接收所述发射器10发射的信号，并能够根据所接收到的信号确定自身位置。
请参阅图2，在本实施例中，发射器10包括基座111、控制器112、驱动装置113、转动检测单元114、罩体115、发光装置116以及旋转座117。
所述发光装置116用于发射预定闪烁频率的光信号，具体地，所述发光装置116可以为LED灯、CFL灯或其他发射光信号可被光传感器接收的灯。
在其中一个实施例中，所述发光装置116为LED灯。所述LED灯位于罩体115的底面圆圆心位置。所述发光装置116能够发射至少两种闪烁频率的光信号。
更进一步的，本实施例中发光装置116设于所述基座111上，具体地，所述基座111具有圆柱形的安装部，所述安装部朝向所述罩体115的一侧表面与罩体115底面圆共面，所述发光装置116设于所述安装部朝向所述罩体115的一侧表面且与所述底面圆圆心位置重合。
所述驱动装置113与控制器112相连接，且位于基座111内部。所述驱动装置113与所述旋转座117相连接，能够驱动旋转座117以预定的角速度进行匀速旋转。
所述控制器112控制驱动装置113，使驱动装置113按照预定的方式运行。
所述转动检测单元114用于检测所述旋转座117的转动位置。本实施方式中，所述转动检测单元114在所述旋转座117旋转一个完整转动周期时产生对应的检测信号，并将所述检测信号传输至所述控制器112，所述控制器112依据所述检测信号控制所述发光装置116在第一闪烁频率与第二闪烁频率的光信号之间切换，具体地，所述控制器112控制相邻的转动周期的光信号以不同频率闪烁。
具体地，所述转动检测单元114包括光耦合器1141和挡光片1142。所述光耦合器1141设置于所述基座111，所述挡光片1142设于所述旋转座117并能够随所述旋转座117转动而转动。所述光耦合器器1141上设置有凹口1143，所述凹口1143朝向所述旋转座117。所述挡光片1142的位置与光耦合器1141上的凹口1143相对应，即所述挡光片1142随所述旋转座117转动的过程中，能够穿过所述凹口1143但不与所述光耦合器1141接触。所述光耦合器1141的光信号经过所述凹口1143，当挡光片1142位于光耦合器1141的凹口1143时，光信号被阻挡，光耦合器1141检测不到光信号。此时，所述控制器112控制发光装置116从第一闪烁频率切换为第二闪烁频率或者从第二闪烁频率切换为第一闪烁频率。
所述旋转座117与罩体115固定连接，所述旋转座117转动时能够带动所述罩体115同步转动。具体地，所述旋转座117可选择为圆盘、圆环或其他环形结构。在其中一个实施例中，所述旋转座117呈圆环状。
请一并参阅图3，所述罩体115大致呈中空半球形，其内部形成有半球形的空间。具体地，所述罩体115可以为中空半椭球形罩体、中空半圆球形罩体或其他中空半球结构。图示的实施方式中，所述罩体115为半圆球形罩体。
所述罩体115的球面上形成有固定角挡光区210和可变角挡光区220。所述固定角挡光区210和可变角挡光区220为所述罩体115球面上的不透光部分，所述罩体115球面的上其他部分为透光部分，即所述发光装置116的光信号能够穿过所述透光部分。
所述可变角挡光区220在所述罩体底面圆上的正投影由三条弧形边围成，其中一条所述弧形边以所述罩体115底面圆的圆心为圆心，另外两条所述弧形边相交于所述底面圆的圆心并且分别与所述第一弧形边两端相交。所述另外两条弧形边对应的圆心角相同，且朝向所述一条第一弧形边凸起。
所述罩体115包括第一固定角挡光区211以及第二固定角挡光区212。以下以所述第一固定角挡光区211为例说明其具体形状，所述第一固定角挡光区211在所述罩体115的底面圆上的正投影为扇形，所述扇形的弧形边的圆心与底面圆的圆心重合，其对应的圆心角为30度，可以理解，所述扇形的弧形边对应的 圆心角也可以为其他度数，例如15度、45度等。所述第一固定角挡光区211在所述罩体112任意纬度线上的弧长所对应圆心角均相同，故称为固定角挡光区。所述第二固定角挡光区212与所述第一固定角挡光区212具有相同的形状，不再赘述。当所述罩体115以固定的角速度转动时，所述第一固定角挡光区211或者所述第二固定角挡光区212的阴影一次通过所述接收器30的时长也固定，故此可以根据所述第一固定角挡光区211以及/或者第二固定角挡光区212的阴影一次通过所述接收器30的时间校准所述罩体115的转动角速度，以提升所述光曲面定位装置的定位精度。
本实施方式中，所述第一固定角挡光区211以及所述第二固定角挡光区212在所述底面圆的正投影区域之间间隔角度为30度，可以了解，所述第一固定角挡光区211以及所述第二固定角挡光区212在所述底面圆的正投影区域之间间隔角度为也可以为数值，例如15度，30度，40度，45度、60度等。
所述可变角挡光区212在所述罩体115的底面圆上的正投影由三条弧形边组成，包括的第一弧形边270、第二弧形边230以及第三弧形边240，所述第一弧形边270以所述底面圆的圆心为圆心，所述第二弧形边230以及所述第三弧形边240相交于所述底面圆的圆心并且分别与所述第一弧形边270两端相交。本实施方式中，所述第二弧形边230与所述第三弧形边240为部分圆弧，本实施方式中，所述第二弧形边230与所述第三弧形边240对应的圆心角相同，所述第二弧形边230与所述第三弧形边240朝向所述第一弧形边270凸起。所述可变角挡光区212在所述罩体115任意纬度线上的弧长所对应圆心角均不相同，故称为可变角挡光区220，更具体地，所述可变角挡光区212在所述罩体纬度线上的弧长对对应的圆心角随所述罩体纬度的升高而递减。
可以理解，所述可变角挡光区212的形状于不限于图示的实施方式。例如，所述第二弧形边230与所述第三弧形边240不保持对称。再比如，所述可变角挡光区212在所述罩体纬度线上的弧度随所述罩体纬度的升高而递增，此时第二所述第一弧形边270与所述第二弧形边230背离所述第一弧形边270凸起。
另外可以理解，所述第二弧形边230与所述第三弧形边240可以为替换为其他任意合适形状的边，只要满足所述可变角挡光区212在所述罩体115纬度 线上的弧长所对应的圆心角随所述罩体115纬度的升高而递减或者递增均可。
以上实施方式中所描述罩体115纬度为所述罩体115表面的参照位置，所述罩体115表面纬度自所述罩体115的顶点(罩体115表面与所述底面圆之间的垂直距离最大的点)向底面圆逐渐降低。
如图4中示出一个实施例中的接收器的示意图。
在该实施例中，接收器30包括接收单片机301、无线模块302和光传感器303。其中光传感器303能够接收发射器10的发光装置116发射的光信号，经过模数转换后，传送至接收单片机301。接收单片机301根据光信号数据和预设信息计算出所述光传感器303相对于所述发光装置116的垂直角和水平角，传输计算结果给无线模块302；所述无线模块302能够与接收端通过无线方式传输数据，具体但不限制地，所述无线模块302可把所述接收单片机301数据计算结果传输至接收端。
具体地，所述无线模块302可以为蓝牙、GPRS、EDGE、WiFi、2G、3G、4G、5G通信设备或其他的无线传输装置。
具体的光曲面定位方法结合上述实施例与图5、图6、图7、图8进行说明：
在本实施例中，所述接收器30的预设信息为罩体底面圆半径411、可变角挡光区较短弧形边所对应的圆直径412、旋转座转速、固定角挡光区在罩体任意纬度线上的弧长所对应圆心角角度、发射器高度及发射器与接收器的之间的垂直高度差422。
由于固定角挡光区角度是事先固定并已知的，所以从光传感器采集光信号获取采样频率Rate和旋转座转速Rev可以算得基准宽度，所述基准宽度为固定角挡光区210所对应的阴影宽度。
所述接收器30将发射器10的旋转座117旋转一周期间采集的光信号，模拟形成环形缓冲区，获取第一固定角挡光区阴影宽度416、第二固定角挡光区阴影宽度417以及可变角挡光区阴影宽度414相对位置。根据第一固定角挡光区阴影宽度416和第二固定角挡光区阴影宽度417和相对位置可得出水平角θ。
请参阅图5，图5为图1的发射器投影在地面形成的极坐标区域图。
所述水平角θ为由极坐标中心至转动起点直线423和极坐标中心至接收器 直线420所形成的夹角。
结合图6，环形缓冲区a以O点旋转至环形缓冲区b。以第一固定角挡光区阴影宽度416和第二固定角挡光区阴影宽度417的中心线与极坐标中心至转动起点直线423重合，此时θ＝0°。当所述旋转座117旋转，所述从第一固定角挡光区阴影宽度416和第二固定角挡光区阴影宽度417的中心线与极坐标中心至转动起点直线的夹角为水平角θ。
在上图中，可以测得可变角挡光区的阴影宽度414，即该阴影扫过接收器的时间间隔内，接收器采样的个数。
在图7的运算例中，可变角挡光区的两个较短圆弧由两个圆生成，这两个圆的直径等于罩体底面圆半径，并均通过底面圆圆心，且与底面圆相切，令：
Rshade为罩体底面圆半径411；
Rcut为可变角挡光区较短弧形边所对应的圆直径412；
Rsense为Q点411纬度线形成圆的半径413；
ShadowLen为可变角挡光区的阴影宽度414，即该阴影扫过接收器的时间间隔内，接收器采样的个数；
PeriodLen为帧长，即罩体旋转一周期间接收器所得到的采样个数，由PeriodLen＝Rate*60/Rev得出；
r为发光装置与接收器的水平距离421；
H为发射器与接收器的之间的垂直高度差422。
结合图7、图8可得：
Figure PCTCN2017118499-appb-000001
2Rcut＝Rshade
可以得出
Figure PCTCN2017118499-appb-000002
结合图7，我们得到，
Figure PCTCN2017118499-appb-000003
Figure PCTCN2017118499-appb-000004
从图7中可知Rsense＝Rshade·Sinγ
可以得出：
Figure PCTCN2017118499-appb-000005
这里
Figure PCTCN2017118499-appb-000006
根据接收器测量得到的帧长PeriodLen和可变角挡光区阴影宽度ShadowLen，代入上述公式得到垂直角γ。
通过计算得到水平角θ和垂直角γ，从而确定接收器的二维坐标。
若发射器与接收器的之间的垂直高度差422相对高度未知，则使用两个发射器10，采用频分复用方法根据两个发射器10的闪烁频率不同，所述接收器30通过接收所述发射器10发射光信号确定所述接收器30所位于的垂直高度，计算出所述接收器30的三维位置。
所述光曲面定位装置和方法在使用时，通过发射器10发射光信号至接收器30，接收器30根据接收到的光信号进行数据处理和计算，得到接收器30位置，通过无线模块302发送接收器30位置至接收端。
因此本发明提供的光曲面定位装置和方法，可精准定位接收器30位置，接收器30可放置在物体表面接收发射器10的光信号，可进行室内精准定位，在智能生产环境中，使机器人能够精准辅助组装、运送物料和产品。本发明的定位精准度可达到厘米至毫米级的定位要求。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (10)

  1. 一种光曲面定位装置，包括发射器和接收器，所述发射器能够发射光信号至所述接收器，所述接收器能够接收所述发射器发射的光信号，所述光曲面定位装置根据所述接收器接收到的光信号判断接收器的位置，其特征在于，所述发射器包括：
    发光装置，所述发光装置能够发射至少两种闪烁频率的光信号；
    中空半球形罩体，所述罩体上设有固定角挡光区和可变角挡光区，所述固定角挡光区和所述可变角挡光区之间的部分为透光区，所述固定角挡光区在所述罩体任意纬度线上的弧长所对应圆心角均相同，所述可变角挡光区在所述罩体纬度线上的弧长所对应的圆心角随所述罩体纬度的升高而单调递减或者递增。
  2. 根据权利要求1所述的光曲面定位装置，其特征在于，所述固定角挡光区包括第一固定角挡光区和第二固定角挡光区，所述第一固定角挡光区与第二固定角挡光区在所述罩体底面圆上的正投影为扇形。
  3. 根据权利要求1所述的光曲面定位装置，其特征在于，所述可变角挡光区在所述罩体底面圆上的正投影由三条弧形边围成，其中一条所述弧形边以所述罩体的底面圆的圆心为圆心，另外两条所述弧形边相交于所述底面圆的圆心并且分别与所述第一弧形边两端相交。
  4. 根据权利要求3所述的光曲面定位装置，其特征在于，所述另外两条弧形边对应的圆心角相同，且朝向所述一条第一弧形边凸起。
  5. 根据权利要求1所述的光曲面定位装置，其特征在于，所述发射器至少设置有控制器、驱动装置、基座和旋转座
    所述控制器与所述驱动装置相连接，控制所述驱动装置的运行；
    所述驱动装置与所述旋转座相连接，带动所述旋转座以预定的角速度进行旋转；
    所述旋转座与所述罩体固定连接，所述旋转座转动时能够带动所述罩体同步转动。
  6. 根据权利要求5所述的光曲面定位装置，其特征在于，所述发射器还设置有转动检测单元，所述转动检测单元检测旋转所述座旋转的旋转周期，所述控制器根据所述转动检测单元的检测结果控制所述发光装置在相邻的转动周期内的闪烁频率不同。
  7. 根据权利要求6所述的光曲面定位装置，其特征在于，所述转动检测单元包括光耦合器和挡光片，所述光耦合器上设置有凹口；
    所述挡光片位于旋转座位置与光耦合器相对应，当旋转座旋转时所述挡光片可穿过所述光耦合器的凹口。
  8. 根据权利要求1所述的光曲面定位装置，其特征在于，所述接收器至少设置有接收单片机、光传感器和无线模块；
    所述光传感器接收发射器发射的光信号；
    所述接收单片机与光传感器相连接，处理所述光传感器接收光信号的信息；
    所述无线模块与接收单片机相连接，接收所述接收单片机信息处理结果，发送至服务器。
  9. 一种光曲面定位方法，其采用如权利要求1-8任一项所述的光曲面定位装置，其特征在于，
    发射器通过发光装置发送预设闪烁频率的光信号，通过罩体的挡光区产生阴影；
    发射器启动驱动装置使所述罩体以预定角速度进行旋转；
    接收器以预定的采样频率接收光信号，通过光传感器的模数转换，获取可变角挡光区的阴影宽度和帧长；
    接收器中接收单片机根据预设信息，计算得出接收器的位置。
  10. 根据权利要求9所述光曲面定位方法，其特征在于，所述预设信息至少包括罩体半径、可变角挡光区弧形边所对应的圆直径、旋转座转速、固定角挡光区在罩体任意纬度线上的弧长所对应圆心角角度、发射器高度及发射器与接收器的之间的垂直高度差。
PCT/CN2017/118499 2017-11-27 2017-12-26 光曲面定位方法和装置 WO2019100513A1 (zh)

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