CN107144848A - A kind of locating base station and alignment system - Google Patents
A kind of locating base station and alignment system Download PDFInfo
- Publication number
- CN107144848A CN107144848A CN201710205091.6A CN201710205091A CN107144848A CN 107144848 A CN107144848 A CN 107144848A CN 201710205091 A CN201710205091 A CN 201710205091A CN 107144848 A CN107144848 A CN 107144848A
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- Prior art keywords
- rotary shaft
- laser
- base station
- locating base
- laser scanning
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Classifications
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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
- 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
-
- 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
-
- 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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of locating base station and alignment system, the locating base station includes：Main body；Rotary shaft, it is arranged in the main body, the side of the rotary shaft is provided with two laser scanners, and two planes of the corresponding two laser scanning Surface scans of described two laser scanners into space during same point are misaligned, and any laser scanning face is not orthogonal to the rotary shaft；Mirror surface mechanism, is arranged in the main body, and the minute surface of the mirror surface mechanism is with the rotary shaft in the same side.Because the precision of laser measurement is in grade, and locating speed is in Millisecond, so positioning precision and locating speed are all greatly improved compared to prior art, realizes precisely and rapidly realizes sterically defined technique effect.
Description
Technical field
The present invention relates to space orientation field, more particularly to a kind of locating base station and alignment system.
Background technology
The content of the invention
The embodiments of the invention provide a kind of locating base station and alignment system, to realize precisely and rapidly space orientation.
In order to realize foregoing invention purpose, first aspect of the embodiment of the present invention provides a kind of locating base station, including：
Main body；
Rotary shaft, is arranged in the main body, and the side of the rotary shaft is provided with two laser scanners, described two
Two planes of the corresponding two laser scanning Surface scans of laser scanner into space during same point are misaligned, and any laser
Scanning plane is not orthogonal to the rotary shaft；
Mirror surface mechanism, is arranged in the main body, and the minute surface of the mirror surface mechanism is towards the side of the rotary shaft and energy
Enough reflect the laser scanning line of described two laser scanner outgoing.
Alternatively, two laser scanners in the rotary shaft point cycle is scanned.
Alternatively, two laser scanners in the rotary shaft distinguish the laser scanning line of outgoing different frequency.
Alternatively, by two laser scanners in the rotary shaft and perpendicular to two of the axle center of the rotary shaft
Angle between straight line is more than or equal to 180 ° of -2 α, and less than or equal to 180 °, wherein α is that described two laser scanning faces are described
Minimum angle of emergence when mirror surface mechanism reflects and do not blocked by the rotary shaft.
Alternatively, by two laser scanners in the rotary shaft and perpendicular to two of the axle center of the rotary shaft
Angle between straight line is 180 °.
Second aspect of the embodiment of the present invention provides a kind of alignment system, including：
Locating base station as described in claim any one of first aspect；
Light sensor is provided with positioning terminal, the positioning terminal；
Data processing equipment, for according to the positioning terminal by the locating base station outgoing laser scanning face triggering and
The electric signal of generation, determines position of the positioning terminal relative to locating base station.
Alternatively, it is provided with two light sensors, two light sensors and is respectively arranged with the positioning terminal
The different narrow band filter slice of frequency.
One or more technical scheme in the embodiment of the present invention, at least has the following technical effect that or advantage：
1st, as a result of the side that rotary shaft and the technical scheme, wherein rotary shaft of mirror surface mechanism are set in locating base station
Face is provided with two laser scanners, and the laser scanning faces of two laser scanner outgoing can be by the minute surface of mirror surface mechanism
Reflective scanning mode is carried out, equivalent to by another virtual rotary shaft of mirror surface mechanism, so the two rotary shafts are can
Four laser scanning faces of correspondence, according to this four laser scanning Surface scans to time point during positioning terminal, that is, it is fixed to can determine
Position terminal is relative to the position of locating base station, and because the precision of laser measurement is in grade, and locating speed is in Millisecond, institute
All greatly improved compared to prior art with positioning precision and locating speed, realize precisely and rapidly realize sterically defined
Technique effect.
2nd, locating base station provided in an embodiment of the present invention is due to using by setting mirror surface mechanism come reflection laser scanner
The technical scheme in the laser scanning face of outgoing, in the case where disclosure satisfy that locating base station is positioned, is reduced to laser
The demand of scanner, it is simple in construction, so as to reduce the cost of locating base station, reduce the complexity of locating base station structure design
Degree.
Brief description of the drawings
Fig. 1 is the structural representation of locating base station provided in an embodiment of the present invention；
Fig. 2 is light path schematic diagram when locating base station provided in an embodiment of the present invention is scanned；
Fig. 3 is the schematic diagram of the orientation range of locating base station provided in an embodiment of the present invention；
Fig. 4 is light path schematic diagram of two laser scanners provided in an embodiment of the present invention when position is too close to；
Fig. 5 is signal when two laser scanner point cycles are scanned in locating base station provided in an embodiment of the present invention
Figure；
Fig. 6 is that positioning is whole when two laser scanner point cycles are scanned in rotary shaft 20 provided in an embodiment of the present invention
The schematic diagram of electric signal is generated on end；
Fig. 7 is swashing for two laser scanners difference outgoing different frequency in rotary shaft 20 provided in an embodiment of the present invention
The schematic diagram for the electric signal that positioning terminal is generated during optical scanning line；
Fig. 8 A are to be provided in an embodiment of the present invention by two laser scanners 201 and 202 and perpendicular to rotary shaft 20
Angle between two straight lines in axle center is the first schematic diagram of minimum value；
Fig. 8 B are to be provided in an embodiment of the present invention by two laser scanners 201 and 202 and perpendicular to rotary shaft 20
Angle between two straight lines in axle center is second of schematic diagram of minimum value；
Fig. 9 is to be provided in an embodiment of the present invention by two laser scanners 201 and 202 and perpendicular to the axle of rotary shaft 20
The schematic diagram of electric signal is generated when angle is 180 ° between two straight lines of the heart in positioning terminal.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
The embodiments of the invention provide a kind of locating base station and alignment system, to realize precisely and rapidly space orientation.
First aspect of the embodiment of the present invention provides a kind of locating base station, refer to Fig. 1, Fig. 1 provides for the embodiment of the present invention
Locating base station structural representation, as shown in figure 1, the locating base station includes：
Main body 10, main body 10 is the device for carrying other parts in locating base station, and technical staff belonging to this area can be with
Round platform, square, cuboid or other forms are set to according to actual conditions, are not limited herein；
Rotary shaft 20, is arranged in main body 10, and two laser scanners, two laser correspondences are provided with rotary shaft 20
Two laser scanning planes when scanning the same point into space two planes being formed it is misaligned；
Mirror surface mechanism 30, is arranged in main body 10, mirror surface mechanism 30 minute surface is towards the side of rotary shaft and can reflect
The laser scanning line of two laser scanner outgoing, mirror surface mechanism 30 can be arranged in main body 10 by clamping apparatus etc.,
Can be integrally manufactured with main body 10, it is not limited herein.The minute surface of mirror surface mechanism 30 does not have particular/special requirement, can be specifically with
Silver, aluminium or the higher material of other reflecting properties are minute surface of reflecting surface etc., it is only necessary to ensure that it has good optics
Reflecting properties.
Please continue to refer to Fig. 2, Fig. 2 is light path schematic diagram when locating base station provided in an embodiment of the present invention is scanned, such as Fig. 2
Shown, rotary shaft 20 can be rotated under the drive of motor, so as to drive laser scanner to be scanned surrounding volume, together
When, as shown in Fig. 2 when the laser scanning line of laser scanner outgoing is radiated on the minute surface of mirror surface structure 30, minute surface is meeting
The laser scanning line of the laser scanner outgoing is reflected, with the rotation of rotary shaft 20, the laser scanning line of mirror-reflection also can
Correspondingly surrounding volume is scanned, virtual equivalent to by way of a mirror-reflection rotary shaft 21, this is virtual
The rotary shaft 20 of rotary shaft 21 and reality is symmetrical relative to minute surface, that is to say, that can be with by the laser scanning line of mirror-reflection
It is equal to the locating base station for carrying out self-virtualizing.
It should be noted that the distance between the minute surface of mirror surface mechanism 30 and rotary shaft 20 can be from the positioning of locating base station
Considered in terms of volume of region, positioning accuracy, and locating base station etc., specifically, in the mirror of mirror surface mechanism 30
In the case that face is constant, minute surface and the distance between rotary shaft 20 are bigger, then the positioning accuracy of locating base station is higher, but positioning
Region can reduce therewith, while the volume of locating base station can increase therewith, be not convenient to use and transport storage, in addition, in order to
Avoid a part of laser of same laser scanner from being reflected by minute surface, the feelings that another part laser is not specularly reflected
Shape, this situation can reduce the localization region of locating base station equivalent to " light leak ", so the minute surface and rotary shaft of mirror surface mechanism 30
The distance between 20 is bigger, and the height of minute surface is also required to increase therewith, therefore, and the technical staff belonging to this area can be according to reality
Border situation, is set to suitable numerical value, to meet actual conditions by the distance between the minute surface of mirror surface mechanism 30 and rotary shaft 20
The need for, just repeat no more herein.
Certainly, as depicted in figs. 1 and 2, in the present embodiment, the axle center of the minute surface of mirror surface mechanism 30 and rotary shaft 20 is flat
Capable, namely the minute surface and rotary shaft 20 of mirror surface mechanism 30 are just to setting, in other embodiments, the minute surface of mirror surface mechanism 30
Axle center with rotary shaft 20 can be not parallel, namely the minute surface and rotary shaft 20 of mirror surface mechanism 30 are tiltedly to setting, herein
It is not limited.
As can be seen that virtual rotary shaft 21 and actual rotary shaft 20 constitute two independent rotations in space
Axle, each rotary shaft can outgoing twice laser scanning line, namely each rotary shaft can correspond to two laser scanning faces, institute
It is that can correspond to four laser scanning faces with two rotary shafts, and because two laser scanning faces in each rotary shaft are being swept
Retouch two planes formed during the same point into space misaligned, it is so, whole to positioning according to this four laser scanning Surface scans
Time point during end, that is, position of the positioning terminal relative to locating base station is can determine, because the precision of laser measurement is in millimeter
Level, and locating speed, so positioning precision and locating speed are all greatly improved compared to prior art, realizes in Millisecond
Precisely and rapidly realize sterically defined technique effect.
It should be noted that because the localization region of locating base station is actually by above-mentioned virtual locating base station and reality
The common factor in four laser scanning faces of the locating base station on border, so please continue to refer to Fig. 3, Fig. 3 is provided in an embodiment of the present invention
The schematic diagram of the orientation range of locating base station, as shown in figure 3, in two regions being divided into of minute surface of mirror surface mechanism 30,
Actual this side of locating base station has been divided into three regions A, B and C, it can be seen that due to blocking for rotary shaft 20, so B
Two laser scanning faces that region only has in actual rotary shaft 20 are scanned, so can not be to the location equipment in B regions
Positioned, namely equivalent to one, B regions blind area, the size in B regions depends on the diameter and rotary shaft of rotary shaft
The distance between with minute surface, just repeat no more herein.
In specific implementation process, because rotary shaft 20 drives two laser scanners to be scanned in rotary course,
If position of two laser scanners in rotary shaft 20 is too close to, the scanning sequency in two laser scanning faces can be caused to mix
Disorderly, Fig. 4 is refer to, Fig. 4 is light path schematic diagram of two laser scanners provided in an embodiment of the present invention when position is too close to,
As shown in figure 4, the corresponding laser scanning face of laser scanner 201 is 41, its laser scanning face after being specularly reflected is 411,
The corresponding laser scanning face of laser scanner 202 is 42, then in C1 regions, can be first scanned again by laser by laser scanning face 42
Scanning plane 411 is scanned, and in C2 regions, can be first scanned scanned by i.e. scanning plane 42 again by laser scanning face 411, right
When positioning terminal is positioned, meeting is calculated according to positioning terminal by the electric signal of the out-of-date generation of laser scanning Surface scan,
Therefore chaotic scanning sequency can cause the positioning result to positioning terminal incorrect.
It should be noted that as shown in figure 3, the orientation range of locating base station provided in an embodiment of the present invention is a-quadrant and C
The two independent regions of region, so when being positioned using locating base station provided in an embodiment of the present invention, will can determine
Position terminal is disposed therein any one region, because positioning terminal will not move to another region within the extremely short time,
It is thus only necessary to pay close attention to the scanning sequency in an isolated area.
In order to avoid causing the incorrect defect of positioning result to positioning terminal because of chaotic scanning sequency, in this implementation
In example, it can be solved by several ways introduced below：
First way：Two laser scanners point cycle in rotary shaft 20 is scanned.
Specifically, it can be rotated a circle with rotary shaft 20 as a cycle, in a cycle, laser scanner
201 shoot laser scan lines are scanned, i.e., can quilt when the corresponding laser scanning Surface scan of laser scanner 201 is to minute surface
Minute surface carries out reflective scanning mode, and both obviously will not intersect in localization region, the not outgoing within this cycle of laser scanner 202
Laser scanning line, namely without scanning, in next cycle, the not shoot laser scan line of laser scanner 201, and laser
The shoot laser scan line of scanner 202 is scanned, and the scanning process of subsequent cycle can be obtained by that analogy, is just repeated no more herein
.
So, position when being started according to a cycle where laser scanner 201, that is, be capable of determining that current period
The scanning sequency in interior laser scanning face, for example, refer to Fig. 5, Fig. 5 swashs for two in locating base station provided in an embodiment of the present invention
Optical scanner divides schematic diagram of cycle when being scanned, as shown in figure 5, in a cycle at first, laser scanner
Position where 201 is shown in Fig. 5, and rotary shaft 20 is rotated by direction counterclockwise, then the scanning sequency in a-quadrant
Be first by the corresponding laser scanning face of laser scanner 201 reflected after laser scanning face, namely first by virtual rotary shaft
21 corresponding laser scannings are scanned in face of a-quadrant, then are directly swept by the corresponding laser scanning face of laser scanner 201
Retouch, and the scanning sequency in C regions is directly scanned by the corresponding laser scanning face of laser scanner 201, then by laser
The corresponding laser scanning face of scanner 201 reflected after laser scanning face, namely again by the virtual outgoing of rotary shaft 21 swash
Optical scanning is scanned in face of a-quadrant, in actual applications, can be by light sensor in positioning terminal by laser scanning face
The electric signal produced after scanning, is particularly located at which section in a cycle to determine that positioning terminal is to be located at a-quadrant or C
Region, such as two electric signals are located at the first half cycle in a cycle, then show that positioning terminal is located at a-quadrant, positioning
First electric signal in two electric signals of terminal generation is corresponding by the laser scanner 211 in virtual rotary shaft 21
The electric signal of laser scanning face triggering generation, second electric signal is by 201 pairs of laser scanner in actual rotary shaft 20
The electric signal for the laser scanning face triggering generation answered, certainly, if two electric signals are located at the later half cycle in a cycle,
Then show that first electric signal that positioning terminal is located in C regions, two electric signals of positioning terminal generation is by actual rotation
The electric signal of the corresponding laser scanning face of laser scanner 201 triggering generation in rotating shaft 20, second electric signal is virtual
Rotary shaft 21 on the corresponding laser scanning face of laser scanner 211 triggering generation electric signal, similarly, in next cycle
It is interior, that is, it is capable of determining that in next cycle that two electric signals are laser scanning face triggering corresponding by which rotary shaft respectively
Generation, so as to be capable of determining that position of the positioning terminal relative to locating base station.
Please continue to refer to Fig. 6, Fig. 6 is that two laser scanners divide the cycles to enter in rotary shaft 20 provided in an embodiment of the present invention
The schematic diagram of electric signal is generated during row scanning in positioning terminal, as shown in Figure 5 and Figure 6, is often rotated a circle as one with rotary shaft 20
Individual cycle, cycle start signal namely synchronizing signal are 60, in a cycle, and electric signal 61 is the correspondence of laser scanner 201
Laser scanning face reflected after laser scanning face, namely the virtual outgoing of rotary shaft 21 laser scanning Surface scan to positioning
During terminal, the electric signal that positioning terminal is triggered and generated, in second period, electric signal 62 is the correspondence of laser scanner 201
Laser scanning face when being directly scanned out positioning terminal, the electric signal that positioning terminal is triggered and generated, in the 3rd cycle, electricity
Signal 63 is the laser scanning face after the corresponding laser scanning face of laser scanner 202 is reflected, namely virtual rotary shaft 21
When the laser scanning Surface scan of outgoing is to positioning terminal, the electric signal that positioning terminal is triggered and generated, in the 4th cycle, electricity
When signal 64 is that the corresponding laser scanning face of laser scanner 202 is directly scanned out positioning terminal, positioning terminal is triggered and given birth to
Into electric signal.
So, i.e., can be true respectively respectively according to the time difference between electric signal 61,62,63 and 64 and synchronizing signal 60
Make the corresponding four laser scanning faces in electric signal 61,62,63 and 64, since lock in time to scanning to positioning terminal when it
Between deflection angle, so, this corresponding deflection equation in four laser scanning faces of simultaneous, in theory for, it is only necessary to wherein three
The corresponding deflection angle in individual laser scanning face, that is, be capable of determining that position of the positioning terminal relative to locating base station, specific number
Learning computational methods has a variety of, just repeats no more herein.
Certainly, it is necessary to explanation, because two laser scanners 201 in rotary shaft 20 and 202 points of cycles are swept
Retouch, so, the laser scanning face of two laser scanner outgoing will not obscure, therefore in this way, in locating base station
Relative position between two laser scanners is not limited, and reduces the design and manufacture difficulty of locating base station.
The second way：Two laser scanners in rotary shaft 20 distinguish the laser scanning line of outgoing different frequency.
Specifically, laser scanner 201 and 202 can the laser of both wavelength of outgoing 808nm, 910nm respectively sweep
Line is retouched, needs to be provided with two light sensors certainly, in positioning terminal, the two certain light sensors can be set more
Close place, can be with while set corresponding narrow band filter slice on two light sensors, on such as one light sensor
Correspondence 910nm narrow band filter slice can be set by setting on correspondence 808nm narrow band filter slice, another light sensor, this
Sample, under the drive of rotary shaft 20, laser scanner 201 and 202 can distinguish outgoing 808nm and 910nm infrared laser
Localization region is scanned, because the frequency of the laser scanning line of two laser scanner outgoing is differed, so can be true
Determine four electric signals of light sensor generations different in positioning terminal, swashed by which laser scanner is corresponding respectively
The triggering generation of optical scanning face, so as to be capable of determining that position of the positioning terminal relative to locating base station.
Because two laser scanners 201 and 202 in rotary shaft 20 distinguish the laser scanning line of outgoing different frequency, institute
As long as with the light sensor and the set-up mode of narrow band filter slice introduced in positioning terminal using such as preceding sections, i.e., can
Two corresponding laser scanning faces of laser scanner 201 and 202 are recorded respectively by reflecting or being directly scanned out positioning terminal
Time point, therefore in this way, in the case where guaranteeing to position positioning terminal, in locating base station two
Relative position between individual laser scanner is not limited, and reduces the design and manufacture difficulty of locating base station.
Specifically, please continue to refer to Fig. 7, Fig. 7 is that two laser in rotary shaft 20 provided in an embodiment of the present invention are swept
The schematic diagram of the electric signal of positioning terminal generation when device distinguishes the laser scanning line of outgoing different frequency is retouched, as shown in fig. 7, S1 is
The electric signal of a light sensor generation in positioning terminal, S2 is the telecommunications of another light sensor generation in positioning terminal
Number, because two laser scanners in rotary shaft 20 distinguish the laser scanning line of outgoing different frequency, so electric signal in Fig. 7
71 and 72 be positioning terminal by the outgoing of laser scanner 201 in rotary shaft 20 laser scanning face reflection triggering and directly triggering when
Generation, electric signal 73 and 74 is that positioning terminal reflects tactile by the laser scanning face of the outgoing of laser scanner 202 in rotary shaft 20
Generated when hair and directly triggering, so, respectively according to the time difference between electric signal 71,72,73 and 74 and synchronizing signal 70,
The corresponding four laser scanning faces in electric signal 71,72,73 and 74 can be determined respectively, since lock in time to scanning to
Deflection angle between during positioning terminal, so, this corresponding deflection equation in four laser scanning faces of simultaneous, in theory for,
The corresponding deflection angle in wherein three laser scanning faces is only needed, that is, is capable of determining that position of the positioning terminal relative to locating base station
Put, specific mathematic calculation has a variety of, just repeats no more herein.
The third mode：Two by two laser scanners in rotary shaft 20 and perpendicular to the axle center of rotary shaft are straight
Angle between line is more than or equal to 180 ° of -2 α and less than or equal to 180, and wherein α is that two laser scanning faces are reflected by mirror surface mechanism
And it is not rotated minimum angle of emergence when axle is blocked.
Fig. 8 A and Fig. 8 B, Fig. 8 A be refer to be provided in an embodiment of the present invention by two laser scanners and perpendicular to rotation
Angle between two straight lines in the axle center of rotating shaft 20 is the first schematic diagram of minimum value, and Fig. 8 B provide for the embodiment of the present invention
Two laser scanners of process and angle between two straight lines in the axle center of rotary shaft 20 is the second of minimum value
Schematic diagram is planted, as shown in figs. 8 a and 8b, rotary shaft 20 is rotated by direction counterclockwise, as shown in Figure 8 A, and angle β is most
Small value appear in the outgoing of laser scanner 201 laser scanning face reflected after direction, with the shoot laser of laser scanner 202
When the direction of scanning plane is parallel, if two by two laser scanners 201 and 202 and perpendicular to the axle center of rotary shaft 20 are straight
Angle β between line further reduces, then after the laser scanning face of the outgoing of laser scanner 201 is reflected, i.e., can be swept with laser
The laser scanning face for retouching the outgoing of device 202 is intersected, and therefore, this is the minimum value in the case of the first, similarly, as shown in Figure 8 B, should
Angle β second of minimum value appear in the outgoing of laser scanner 201 laser scanning face reflected after direction, swept with laser
Retouch the outgoing of device 202 direction it is parallel when, if by two laser scanners 201 and 202 and perpendicular to the axle center of rotary shaft 20
Angle β between two straight lines further increases, then after the laser scanning face of the outgoing of laser scanner 201 is reflected, i.e., can be with
The laser scanning face of the outgoing of laser scanner 202 is intersected, and therefore, this is a minimum value in another case.
In specific implementation process, because the laser scanning line of laser scanner outgoing is usually to be spread by dot laser and obtained
Arrive, this depends on the diverging angular dimensions of laser scanner, and two laser scanning faces can be respectively relative to axle center and carry out necessarily
The deflection of degree, to ensure that corresponding two scanning planes of two laser scanners are scanning the same point into space in rotary shaft 20
When two planes being formed it is misaligned, so, by two laser scanners 201 and 202 and perpendicular to the axle of rotary shaft 20
Angle between two straight lines of the heart is smaller, and the angle of divergence of laser scanner it is larger when, the two of two laser scanner outgoing
Bar laser scanning line is possible to intersecting, in order to avoid the appearance that this situation occurs, can adjust two Hes of laser scanner 201
202 position, thus by by two laser scanners 201 and 202 and perpendicular to the axle center of rotary shaft 20 two straight lines it
Between angle be set to 180 °.
Please continue to refer to Fig. 9, Fig. 9 is provided in an embodiment of the present invention by two laser scanners 201 and 202 and vertical
The schematic diagram of electric signal, such as Fig. 9 are generated when angle is 180 ° between two straight lines in the axle center of rotary shaft 20 in positioning terminal
Shown, when being started according to the cycle, the position in rotary shaft 20 where two laser scanners is capable of determining that four electric signals
91st, 92,93 and 94, be respectively by the triggering generation of which laser scanner corresponding laser scanning face, so, basis respectively
Time difference between electric signal 91,92,93 and 94 and synchronizing signal 90, i.e., electric signal 91,92,93 and 94 can be determined respectively
Corresponding four laser scanning faces, since the deflection angle lock in time to when scanning to positioning terminal, so, simultaneous
This corresponding deflection equation in four laser scanning faces, in theory for, it is only necessary to the corresponding deflection in wherein three laser scanning faces
Angle, that is, be capable of determining that position of the positioning terminal relative to locating base station, and specific mathematic calculation has a variety of, herein
Repeat no more.
Certainly, by the introduction of the present embodiment, the technical staff belonging to this area can select other according to actual conditions
Suitable mode is avoided because chaotic scanning sequency causes the incorrect defect of positioning result to positioning terminal, to meet reality
The need for the situation of border, just repeat no more herein.
It is can be seen that by above-mentioned part as a result of the setting rotary shaft in locating base station and the technology of mirror surface mechanism
The side of scheme, wherein rotary shaft is provided with two laser scanners, the laser scanning face energy of two laser scanner outgoing
Enough reflective scanning mode is carried out by the minute surface of mirror surface mechanism, equivalent to passing through mirror surface mechanism virtual another rotary shaft, institute
It is that can correspond to four laser scanning faces with the two rotary shafts, according to this four laser scanning Surface scan to during positioning terminal
Time point, that is, position of the positioning terminal relative to locating base station is can determine, because the precision of laser measurement is in grade, and
Locating speed is in Millisecond, so positioning precision and locating speed are all greatly improved compared to prior art, realize precisely and
Rapidly realize sterically defined technique effect.
It should be noted that although there is this asking of can not ignore of blind area in locating base station provided in an embodiment of the present invention
Topic, but be due to using by setting mirror surface mechanism come the technical scheme in the laser scanning face of reflection laser scanner outgoing,
It disclosure satisfy that in the case of being positioned to locating base station, reduce the demand to laser scanner, it is simple in construction, so as to reduce
The cost of locating base station, reduces the complexity of locating base station structure design.
Based on same inventive concept, second aspect of the embodiment of the present invention also provides a kind of alignment system, the alignment system bag
Include：
The locating base station that first aspect is provided；
Light sensor, the particular number and set-up mode of light sensor are provided with positioning terminal, positioning terminal
It can be determined according to actual conditions, to meet the demand of actual conditions, such as two laser scanners in locating base station go out
Two light sensors, and two light sensors can be set when penetrating the laser scanning line of different frequency, in positioning terminal
The narrow band filter slice of upper setting respective frequencies, is just repeated no more herein；
Data processing equipment, for being positioned the electricity that the laser scanning face of base station outgoing is triggered and generated according to positioning terminal
Signal, determines position of the positioning terminal relative to locating base station, the detailed process of data processing equipment in aforementioned process
It is described in detail, just repeats no more herein.
In actual applications, data processing equipment can be an independent equipment, and such as data processing equipment is independent
Host computer, positioning terminal be head-mounted display, can also be integrated in locating base station or positioning terminal, for example positioning terminal
To wear all-in-one etc., it is not limited herein.
One or more technical scheme in the embodiment of the present invention, at least has the following technical effect that or advantage：
1st, as a result of the side that rotary shaft and the technical scheme, wherein rotary shaft of mirror surface mechanism are set in locating base station
Face is provided with two laser scanners, and the laser scanning faces of two laser scanner outgoing can be by the minute surface of mirror surface mechanism
Reflective scanning mode is carried out, equivalent to by another virtual rotary shaft of mirror surface mechanism, so the two rotary shafts are can
Four laser scanning faces of correspondence, according to this four laser scanning Surface scans to time point during positioning terminal, that is, it is fixed to can determine
Position terminal is relative to the position of locating base station, and because the precision of laser measurement is in grade, and locating speed is in Millisecond, institute
All greatly improved compared to prior art with positioning precision and locating speed, realize precisely and rapidly realize sterically defined
Technique effect.
2nd, locating base station provided in an embodiment of the present invention is due to using by setting mirror surface mechanism come reflection laser scanner
The technical scheme in the laser scanning face of outgoing, in the case where disclosure satisfy that locating base station is positioned, is reduced to laser
The demand of scanner, it is simple in construction, so as to reduce the cost of locating base station, reduce the complexity of locating base station structure design
Degree.
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine in any way.
Any feature disclosed in this specification (including any accessory claim, summary and accompanying drawing), except non-specifically is chatted
State, can alternative features equivalent by other or with similar purpose replaced.I.e., unless specifically stated otherwise, each feature
It is an example in a series of equivalent or similar characteristics.
The invention is not limited in foregoing embodiment.The present invention, which is expanded to, any in this manual to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (7)
1. a kind of locating base station, it is characterised in that including：
Main body；
Rotary shaft, is arranged in the main body, and the side of the rotary shaft is provided with two laser scanners, described two laser
Two planes of the corresponding two laser scanning Surface scans of scanner into space during same point are misaligned, and any laser scanning
Face is not orthogonal to the rotary shaft；
Mirror surface mechanism, is arranged in the main body, and the minute surface of the mirror surface mechanism is towards the side of the rotary shaft and can be anti-
Penetrate the laser scanning line of described two laser scanner outgoing.
2. locating base station as claimed in claim 1, it is characterised in that two laser scanners point cycle in the rotary shaft
It is scanned.
3. locating base station as claimed in claim 1, it is characterised in that two laser scanners in the rotary shaft go out respectively
Penetrate the laser scanning line of different frequency.
4. locating base station as claimed in claim 1, it is characterised in that by two laser scanners in the rotary shaft and
Angle between two straight lines in the axle center of the rotary shaft is more than or equal to 180 ° of -2 α, and less than or equal to 180 °, wherein
α is minimum angle of emergence when described two laser scanning faces are reflected and do not blocked by the rotary shaft by the mirror surface mechanism.
5. locating base station as claimed in claim 4, it is characterised in that by two laser scanners in the rotary shaft and
Angle between two straight lines in the axle center of the rotary shaft is 180 °.
6. a kind of alignment system, it is characterised in that including：
Locating base station as described in any claim in claim 1-5；
Light sensor is provided with positioning terminal, the positioning terminal；
Data processing equipment, is generated for being triggered according to the positioning terminal by the laser scanning face of the locating base station outgoing
Electric signal, determine position of the positioning terminal relative to locating base station.
7. alignment system as claimed in claim 6, it is characterised in that two light sensors are provided with the positioning terminal
The different narrow band filter slice of frequency is respectively arranged with device, two light sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710205091.6A CN107144848A (en) | 2017-03-31 | 2017-03-31 | A kind of locating base station and alignment system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710205091.6A CN107144848A (en) | 2017-03-31 | 2017-03-31 | A kind of locating base station and alignment system |
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| Publication Number | Publication Date |
|---|---|
| CN107144848A true CN107144848A (en) | 2017-09-08 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710205091.6A Pending CN107144848A (en) | 2017-03-31 | 2017-03-31 | A kind of locating base station and alignment system |
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| CN (1) | CN107144848A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107811331A (en) * | 2017-11-08 | 2018-03-20 | 季孝伟 | A kind of manufacture method of 3D frivolous ventilatives athletic undergarment |
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| US5294970A (en) * | 1990-12-31 | 1994-03-15 | Spatial Positioning Systems, Inc. | Spatial positioning system |
| EP1024343A2 (en) * | 1999-01-29 | 2000-08-02 | Kabushiki Kaisha Topcon | Rotary laser irradiating system |
| JP2001147269A (en) * | 1999-11-22 | 2001-05-29 | Tokin Corp | Three-dimensional location measuring device |
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Application publication date: 20170908 |