Disclosure of Invention
The invention aims to solve the technical problem of providing a multi-target plane position coordinate positioning method and system, which have high detection precision and can detect a plurality of targets with different heights.
The technical scheme adopted for solving the technical problems is as follows:
A multi-target plane position coordinate positioning method includes the steps of fixedly installing a first base station and a second base station, installing a master station k on each target to be detected, enabling the first base station and the second base station to emit rotary and planar vertical laser walls, collecting an angle alphak from the position of the master station k to the position of the second base station in a rotary scanning mode of the laser walls emitted by the first base station, collecting an angle betak from the position of the master station k to the position of the first base station in a rotary scanning mode of the laser walls emitted by the second base station, and calculating position coordinates (xk,yk) of the master station k according to the angles alphak and betak and position coordinates of the first base station and the second base station.
Preferably, the angles αk and βk are calculated by collecting time, and collecting time Δt1k of the rotational scanning of the laser wall from the first base station from the position of the master station k to the position of the second base station, collecting time Δt2k of the rotational scanning of the laser wall from the position of the master station k to the position of the first base station from the position of the second base station, and determining that the angular velocity of the laser wall is ω, then αk＝ωΔT1k,βk＝ωΔT2k.
Preferably, the first base station and the second base station send out N rotating radial laser walls, the N laser walls sent out by the first base station respectively correspond to N angles αk, the N laser walls sent out by the second base station respectively correspond to N angles βk, and in one rotation period, N position coordinates of the master station k are calculated according to the N angles αk and the angle βk.
Preferably, for each laser wall number Hi sent out by the same base station, the included angles γi(i+1) of each adjacent laser wall are known and different, the time interval ΔtH that the adjacent laser walls pass through the master station or the base station sequentially is detected, the angular velocity of the laser wall is ω, γi(i+1) equal to the angle ωΔtH is found, and the laser wall numbers are resolved.
Preferably, the time interval deltatHi(i+1) that two adjacent laser walls Hi and Hi+1 with an included angle gammai(i+1) emitted from one base station pass through the other base station is detected, and the angular velocity of the laser wall Hi+1 is
The angular velocity omegai+1' is taken as the angular velocity of the laser wall Hi+1 for calculating the k position coordinates of the master station.
Preferably, a third base station is added, the first base station, the second base station and the third base station move along with the position of the master station k on a coordinate plane, and the distances between the first base station, the second base station and the third base station and the master station k are kept within the distance range where the master station k can detect the laser wall signal.
Preferably, during the movement of the first base station, the second base station and the third base station, only one base station is moving and the other two base stations are fixed at each movement, and the two fixed base stations detect the position coordinates of the moving base station after the movement.
Preferably, two laser sensors are additionally arranged on the master station k, the connecting line of the two laser sensors is the same as the orientation of the target to be detected, and the first base station and the second base station detect the position coordinates of the two laser sensors to acquire the orientation of the target to be detected.
The utility model provides a multi-target plane position coordinate positioning system, including two basic stations, a plurality of target and the main website that await measuring, two basic stations are first basic station and second basic station respectively, install a main website on each target that awaits measuring, all be equipped with laser emitter on first basic station and the second basic station, all be equipped with laser sensor on first basic station, second basic station and the main website, laser emitter sends rotatory planar laser wall, still include angle acquisition module and data processing module, angle acquisition module gathers the angle of the rotatory scanning of laser wall that the basic station sent from the main website position to another basic station position, data processing module calculates the position coordinates of main website and corresponding target that awaits measuring.
Preferably, the angle acquisition module comprises a timer, and the first base station, the second base station and the master station are all provided with timers and also comprise a clock synchronization signal source capable of transmitting clock synchronization signals.
Preferably, the laser emitting device of the first base station and the laser emitting device of the second base station emit laser walls of two different wavelengths, and the laser sensor on the master station comprises a photoelectric sensor capable of detecting the laser walls of two different wavelengths.
Preferably, the system further comprises a third base station, the first base station, the second base station and the third base station are not on the same straight line, the first base station, the second base station and the third base station are provided with mobile devices, and the first base station, the second base station and the third base station move along with the position of the master station.
Preferably, the laser emitting device emits a plurality of rotating radial laser walls, and the included angles of each adjacent laser wall are known and different.
Preferably, the laser emission device comprises a laser emitter, a conical emission mirror is arranged at an emission port of the laser emitter, the laser emission device further comprises a rotary table coaxially arranged with the conical emission mirror, a plurality of radial tube cavities are arranged on the rotary table, and an optical lens for forming a laser wall by laser beams is arranged on the outer side of each tube cavity.
The invention has the beneficial effects that: according to the multi-target plane position coordinate positioning method and system, a first base station and a second base station emit laser walls, the laser walls rotate and scan, the angles alphak and betak are collected, then the position coordinates (xk,yk) of a target to be detected are calculated according to the position coordinates of the first base station and the second base station, the laser walls are adopted for rotation and scanning, a plurality of targets on different height planes can be detected, the laser walls rotate continuously to refresh the positions of the targets, and the targets are dynamically monitored.
Detailed Description
Referring to fig. 1 to 8, the present invention provides a multi-target plane position coordinate positioning method, a first base station and a second base station are fixedly installed, a master station k (k is a master station number) is installed on each target to be measured, the first base station and the second base station emit rotating planar vertical laser walls, an angle αk from the master station k position to the second base station position of the rotating scan of the laser walls emitted by the first base station is collected, an angle βk from the master station k position to the first base station position of the rotating scan of the laser walls emitted by the second base station is collected, and as shown in fig. 2 and 3, the position coordinate (xk,yk) of the master station k, that is, the corresponding target to be measured, is calculated according to the angle αk, the angle βk and the position coordinates of the first base station and the second base station. And the first base station, the second base station and the master station k are respectively provided with a laser sensor, so that a laser wall can be detected.
According to the multi-target plane position coordinate positioning method, a first base station and a second base station emit laser walls, the laser walls are rotated and scanned, angles alphak and betak are collected, and then the position coordinates (xk,yk) of a target to be detected are calculated according to the position coordinates of the first base station and the second base station. The plane where the first base station and the second base station are located is a coordinate plane, the horizontal plane is taken as the coordinate plane, the laser wall rotates perpendicular to the coordinate plane, the coordinate of the first base station is (X1,Y1), the coordinate of the second base station is (X2,Y2), the first base station, the second base station and a master station k form a triangle, as shown in fig. 4, the first base station, the second base station and one of the master stations k form DeltaP1P2P3, and the method can be obtained according to sine theorem:
Then:
xk＝X1+|P1P3|cosαk (1-3)；
yk＝Y1+|P1P3|sinαk (1-4)；
resulting in the coordinates (xk,yk) of the primary station 1. For the convenience of calculation, the coordinates of the first base station may be set to (0, 0), the coordinates of the second base station may be set to (L, 0), and the connection line between the first base station and the second base station may be the x-axis.
The laser wall is adopted for rotary scanning, a plurality of targets at different heights, such as objects on land and in air, can be detected, and the angles alphak and betak corresponding to all the main stations can be collected by one rotation of the laser wall, so that the positions of all the targets are obtained. The laser wall continuously rotates to refresh the target position, and the target is dynamically monitored and positioned.
Preferably, the angles αk and βk are obtained indirectly by collecting the time and calculating, as shown in fig. 2 and 3, the time Δt1k from the position of the master station k to the position of the second base station is collected by collecting the time Δt2k from the position of the master station k to the position of the first base station by the rotation scanning of the laser wall by the first base station, and if the angular velocity of the laser wall is ω, then αk＝ωΔT1k,βk＝ωΔT2k is known. The detection time can be high-precision timers, such as ns-level timers, so that the measurement and calculation precision of the angle is improved to the greatest extent. Compared with the method for measuring the angle by adopting a stepping motor or an encoder in two patent documents in the background art, the common stepping motor and the encoder have lower precision, the stepping motor and the encoder with high precision have high cost, and the method for measuring the time is adopted, so that the structure is simple, and meanwhile, the precision is high.
As shown in fig. 7, the first base station and the second base station emit N (N is greater than 1) rotating radial laser walls, the N laser walls emitted by the first base station respectively correspond to N angles αk, the N laser walls emitted by the second base station respectively correspond to N angles βk, and in one rotation period, N position coordinates of the master station k are calculated according to the N angles αk and the angle βk. Therefore, the data refreshing frequency can be increased, the positioning time is shortened, and the number of the moving track points of the target to be measured is increased, so that more accurate measurement is carried out on the moving track of the target to be measured. The greater the number of laser walls, the faster the data refresh rate. It should be noted that when a plurality of laser walls are used, each laser wall needs to be resolved to identify its corresponding angle αk and angle βk, where the following method may be used: a plurality of laser walls of different wavelengths are emitted and a plurality of corresponding laser sensors sensing the different wavelengths are arranged on the master station, but the method requires a plurality of laser emitters and laser sensors, The laser emitting device has a complex structure, and preferably, in the case of using only one laser wall with one wavelength, the following method is adopted to distinguish different laser walls: each laser wall sent out by the same base station is numbered as Hi, the included angles gammai(i+1) of each adjacent laser wall are known and different, the time interval delta TH of the adjacent laser walls passing through the master station or the base station in sequence is detected, Knowing the angular velocity of the laser wall is ω, finding γi(i+1) equal or closest to the angle ωΔtH, and resolving the laser wall number. For example, as shown in fig. 7, if the master station k sequentially detects that the time interval between two adjacent laser walls is ΔtH, the rotation angle of the laser wall is ωΔtH in the time period, ωΔtH is compared with each γi(i+1), Gamma12 is determined so as to distinguish that two laser walls passing by in sequence are H1 and H2 respectively. By adopting the method to distinguish the laser walls, the structure of the laser emitting device can be simplified to the greatest extent.
The rotation of the laser wall is controlled by the rotation of a motor, and the angular speed of the motor is the angular speed omega of the laser wall. However, in the actual process, a certain error exists in the angular speed or rotation speed control of the motor, and even if a high-precision servo motor is adopted, the rotation speeds at different angular positions still have fluctuation in one period, so if the angular speed of the motor is directly adopted as the rotation angular speed of the laser wall, a certain error exists in the calculation of angles alphak and betak, and the position coordinate detection precision of the master station k is reduced. In order to improve the position coordinate detection precision of the master station k, the actual angular velocity of the laser wall is taken as a calculated parameter, and preferably, the time interval between two adjacent laser walls Hi and Hi+1 with an included angle gammai(i+1) sent by one base station and passing through the other base station is deltatHi(i+1), so that the actual angular velocity of the laser wall Hi+1 is calculated to be:
The angular velocity omegai+1' is used as the angular velocity of the laser wall Hi+1 for calculating the k position coordinates of the master station, namely alphak＝ωi+1′ΔT1k,βk＝ωi+1′ΔT2k, and then the formulae (1-1) to (1-4) are substituted, and the laser walls with other numbers are analogized in sequence. In this way, compared with a method of directly using the angular velocity of the motor as the calculation of the position coordinates of the master station k, the position coordinate detection accuracy of the master station k can be improved to the maximum extent.
The calculation of the target position using the above equations (1-1) to (1-4) is premised on the first base station, the second base station, and the master station k forming a triangle, and if the master station k is on the same line as the first base station and the second base station, the above equations will fail. Preferably, a third base station is added, the first base station, the second base station and the third base station are not on the same straight line, the position coordinates of the third base station can be detected by the first base station and the second base station, when the acquisition angles alphak and betak are 0 degrees or 2 pi, the third base station is started, and the acquisition angles thetak and thetaAs shown in fig. 5, the position coordinates of the target are calculated as (xk, 0). Wherein,
In this way, it is ensured that targets at all positions can be detected. In addition, considering the case of being blocked by the obstacle 1 during the laser wall scanning, as shown in fig. 6, when the first base station or the second base station cannot scan the master station k, the third base station is started to operate instead of the blocked base station.
Furthermore, the emission and detection of the laser wall are limited in a certain working range, and if the movement of the object to be detected is out of the range, the object to be detected cannot be positioned. Preferably, a third base station is added, the first base station, the second base station and the third base station move along with the position of the master station k on a coordinate plane, and the distances between the first base station, the second base station and the third base station and the master station k are kept within the distance range where the master station k can detect the laser wall signal. Further, in the moving process of the first base station, the second base station and the third base station, only one base station moves and the other two base stations are fixed in each moving process, and the two fixed base stations detect the position coordinates of the moving base stations after the moving base stations move, and then the coordinate data of the moving base stations are modified and updated. Therefore, the detection range of the movement of the target to be detected can be infinitely enlarged, and the target to be detected is prevented from being separated from the detection range of the base station. Of course, a fourth base station, a fifth base station, or more base stations may be additionally provided as needed.
Preferably, as shown in fig. 9, two laser sensors, namely a first laser sensor 7 and a second laser sensor 8, are added on the master station k, the connection lines of the two laser sensors are the same as the direction of the target to be measured, the first base station and the second base station detect the position coordinates of the two laser sensors, and the included angle between the connection lines of the two laser sensors and the x-axis is calculated through the position coordinates, so that the direction of the target to be measured is obtained, and the movement direction of the target to be measured is predicted.
The invention provides a multi-target plane position coordinate positioning system which comprises two base stations, a plurality of targets to be detected and a main station, wherein the two base stations are a first base station and a second base station respectively, each target to be detected is provided with the main station, the first base station and the second base station are respectively provided with a laser emitting device, the first base station, the second base station and the main station are respectively provided with a laser sensor and a communication module, the laser emitting devices emit rotating planar laser walls, the multi-target plane position coordinate positioning system further comprises an angle acquisition module and a data processing module, the angle acquisition module acquires the angle of the laser walls emitted by the base stations from the main station to the other base station in a rotating mode, and the data processing module calculates the position coordinates of the main station and the corresponding targets to be detected. Where a plurality of objects to be measured refers to more than one (including one) object to be positioned. The laser wall rotates perpendicular to the horizontal plane.
Optionally, the communication module adopts wireless communication, such as wireless communication technologies including ZigBee, bluetooth, wiFi, and the like, and the communication module is used for communication between the first base station, the second base station, and the master station. The data processing module can adopt a CPU or an integrated singlechip, a PLC and the like for summarizing and processing calculation of data.
Preferably, the angle acquisition module comprises a timer, and the first base station, the second base station and the master station are all provided with timers and also comprise a clock synchronization signal source capable of transmitting clock synchronization signals. The clock synchronization signal source transmits a clock synchronization signal to synchronize or reset timers on the first base station, the second base station, and the master station. As shown in fig. 2 and fig. 3, a laser wall sent by a first base station rotates and scans, a master station k records a time T1k after receiving a laser wall signal, a second base station records a time T'1k after receiving the laser wall signal, and sends the signal to the master station k through a communication module, and then deltat1k＝T′1k-T1k is obtained; similarly, the laser wall sent by the second base station rotates and scans, the master station k records the time T2k after receiving the laser wall signal, the first base station records the time T'2k after receiving the laser wall signal, and the first base station sends the laser wall signal to the master station k through the communication module, and then deltaT2k＝T′2k-T2k is achieved. And the data processing module on the master station k calculates angles alphak and betak according to the delta T1k、ΔT2k and the laser wall angular velocity omega, and then the position coordinates of the master station k are obtained by adopting the formula (1-1), the formula (1-2) and the formula (1-3).
Preferably, the laser emitting means of the first base station and the laser emitting means of the second base station emit laser walls of two different wavelengths, and the laser sensor on the master station comprises a photosensor capable of detecting the laser walls of the two different wavelengths, so that when the master station detects a laser wall, it can be distinguished whether the laser wall is from the first base station or the second base station.
Preferably, the system further comprises a third base station, the first base station, the second base station and the third base station are not on the same straight line, and optionally, two laser emitting devices are arranged on the first base station and respectively regarded as the first base station and the third base station, so that the position coordinates of the master station k on the connection line of the first base station and the second base station can be detected. Further, mobile devices are arranged on the first base station, the second base station and the third base station, and the first base station, the second base station and the third base station move on a coordinate plane along with the position of the master station k.
Preferably, the laser emitting device emits a plurality of rotating radial laser walls, so that the data refreshing frequency is increased, the positioning time is shortened, and the number of moving track points of the target to be detected is increased. As shown in fig. 7, the angles between the adjacent laser walls are different, so as to distinguish the laser walls.
Further, as shown in fig. 8, the laser emitting device comprises a laser emitter 2, a conical emitting mirror 3 is arranged at the emitting port of the laser emitter 2, and an annular rotary table 4 coaxially arranged with the conical emitting mirror 3, a plurality of radial tube cavities 41 are arranged on the rotary table 4, and an optical lens 5 for forming a laser beam into a laser wall is arranged outside the tube cavities 41. The laser transmitter 2 emits a laser beam, which is reflected by a conical mirror to form a plurality of horizontal laser beams, wherein a part of the laser beams passes through the lumen 41 and then forms a laser wall by the optical lens 5. The angles of the adjacent laser walls are determined by the angles of the adjacent lumens 41, and if the angles of the adjacent lumens are different, the angles of the formed laser walls are different, as shown in fig. 7. The laser transmitter 2 is fixed, but because the laser beam is emitted through the lumen 41 on the turntable 4, the turntable 4 rotates, so that the laser wall has a rotation effect, and the rotation speed of the turntable 4 is the rotation speed of the laser wall, and the turntable 4 is driven to rotate by a motor. The optical lens 5 may be a cylindrical glass lens or a glass lens having a saw-tooth-shaped end.
The position coordinates of the plurality of targets are transmitted to the computer through wireless communication and displayed on the display screen, so that the dynamic changes of the plurality of targets can be visually observed.
The invention can be used for dynamically positioning a plurality of moving objects in real time under the environment without identification, has the advantages of simple operation principle, low realization cost, high positioning precision, high response speed, strong reliability and high cost performance, and is not influenced by electromagnetic interference and severe environment.
In this document, terms such as front, rear, upper, lower, etc. are defined with respect to the positions of the components in the drawings and with respect to each other, for clarity and convenience in expressing the technical solution. It should be understood that the use of such orientation terms should not limit the scope of the claimed application.
The embodiments described above and features of the embodiments herein may be combined with each other without conflict.
The application is of course not limited to the embodiments described above, but equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the application, which are intended to be included within the scope of the application as defined in the appended claims.