A short-distance mobile positioning system and method based on laser and wireless technology
A wireless technology and mobile positioning technology, applied in the field of short-distance mobile positioning system, can solve the problem of high cost, achieve high reliability, facilitate formation control, multi-robot mobile positioning and formation control effects
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Embodiment 1
[0037] Aiming at the problem that the price of the laser range finder of the existing short-range positioning system is relatively high, the present invention designs a short-range mobile positioning system based on laser and wireless technology, including a laser transmitter 1 and a processing module 5, and also includes a first Wireless communication module 3, receiving device and transmitting device, the laser transmitter 1 and the first wireless communication module 3 are installed on the described transmitting device, and the laser receiver 4 and the second wireless communication module 6 are installed on the described receiving device .
[0038] The emitting device includes a rotating shaft 2, on which the laser emitter 1 is vertically installed, and the rotating shaft 2 rotates at a constant angular velocity.
[0039] The receiving device includes a fixed frame, the laser receiver 4 is fixed on the upper end of the fixed frame, and the laser receiver 4 is a laser sensor...
Embodiment 2
[0052] A short-range mobile positioning system based on laser and wireless technology in this embodiment is similar to Embodiment 1, except that six laser receivers 4 are installed on the receiving device. When three laser receivers 4 are installed on the device, an angle measurement error may occasionally be caused by a small error (a few milliseconds) in the trigger time, thereby causing a deviation in distance measurement; The reason is that it cannot be triggered, and the algorithm cannot be used to calculate the distance at this time (because the algorithm is based on the triangle formula, when the number of triggered laser receivers 4 is less than 3, the triangle cannot be formed normally). Compared with three laser receivers 4, six laser receivers 4 can effectively reduce the occlusion effect, and can ensure that more than three laser receivers 4 are triggered each time the laser scans, so that multiple triangles can be formed, which can Choose a triangle with a more su...
Embodiment 3
[0054] A short-distance mobile positioning system based on laser and wireless technology in this embodiment is similar to Embodiment 1, but the difference is that the laser receiver 4 is a laser sensor, and the laser sensor is a silicon photocell. The photoelectric cell is transformed, and multiple battery panels are spliced together to increase the receiving angle from the previous 30-60 degrees to the entire ring surface, which can receive laser light from any angle in the plane.
[0055] Compared with the existing technology, the progress lies in the use of the algorithm designed in this example, and the use of relatively cheap hardware with low precision requirements to achieve more accurate positioning. After calculation, at a relative position of 100cm, the result of 25 measurements is : The maximum error is 3%, the average error is 0.7%, and the maximum error is 0.8°, all of which are higher than the highest level in the prior art.
[0056] Seen in the literature or o...
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