Laser distance measuring device and positioning system with communication function

Abstract

The present invention provides a laser distance measuring device and positioning system with communication function, which relates to the field of positioning technology. The device includes a device body, a signal analysis and processing module with information encoding and decoding function, a laser, a photosensitive device and a lens group. The signal analysis and processing module with information encoding and decoding function is used to trigger modulation or demodulation of signals according to communication instructions or internal tasks, and realize time measurement and calculate distance according to the received pulse echo information. By modulating the communication signal in the laser signal used for distance measurement, the laser distance measuring device can perform laser communication to complete information transmission and reception while measuring the distance, which reduces the hardware complexity and cost of the system and increases reliability. At the same time, since the distance measurement and positioning share the same channel with the information exchange, the system efficiency is higher. Moreover, since laser communication is adopted, compared with traditional microwave, WIFI and other communication methods, the system has better confidentiality performance and better anti-interference performance.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and in particular to a laser distance measuring device and a positioning system with communication function. Background Art

[0002] With the continuous development of science and technology, there have been great advances in measurement technology and communication technology. In particular, the emergence of laser measurement has greatly promoted the development of laser measurement technology and laser communication technology. At present, from the perspective of simple laser ranging, the technical routes adopted include phase measurement, pulse measurement, linear frequency modulation measurement and other technical solutions. Through these measurement technologies or based on them, one-dimensional / two-dimensional / three-dimensional distance measurement is achieved and spatial perception of the corresponding dimensions is achieved. Finally, the data storage or other communication function modules (Bluetooth, WIFI, microwave, etc.) are completed through the internal system to send the data to the corresponding terminal.

[0003] After comprehensive analysis of various existing laser measurement systems, it is found that although the existing laser measurement equipment can measure the distance of the measured object, the subsequent transmission and processing of the measurement data requires the construction of corresponding communication function modules. These usage methods directly lead to the complexity of the laser measurement communication system, reduce the reliability of the module, and greatly increase the cost. The communication confidentiality performance is poor, thus limiting the market application. Summary of the invention

[0004] In view of this, an object of the embodiments of the present invention is to provide a laser distance measuring device and a positioning system with a communication function, so as to improve the problem that the existing laser distance measuring device does not have a communication function.

[0005] The embodiment of the present invention provides a laser ranging device with a communication function, the laser ranging device with a communication function comprises a device body, a signal analysis and processing module with an information encoding and decoding function, a data communication interface, a laser, a photosensitive device and a lens group, the signal analysis and processing module with an information encoding and decoding function, the laser and the photosensitive device are all arranged on the device body, the signal analysis and processing module with an information encoding and decoding function is connected to the data communication interface, and is used to trigger a modulation or demodulation signal according to a communication instruction or an internal task received by the data communication interface, the laser is electrically connected to the signal analysis and processing module with an information encoding and decoding function, and is used to convert a modulated signal generated by modulation into an optical signal for emission, the photosensitive device is electrically connected to the signal analysis and processing module with an information encoding and decoding function, and is used to receive an optical signal, perform photoelectric conversion on the received optical signal, and send the converted electrical signal to the signal analysis and processing module with an information encoding and decoding function, and the signal analysis and processing module with an information encoding and decoding function realizes time measurement and distance calculation according to the received signal.

[0006] Furthermore, the signal analysis and processing module with information encoding and decoding function includes a processor, an information modulation circuit module, a pulse generating circuit module, and a laser emitting module. The input end of the pulse generating circuit module is electrically connected to the information modulation circuit module for generating a pulse signal. The information modulation circuit module is electrically connected to the processor for modulating the modulation information to the pulse signal to generate a modulation signal under the control of the processor. The input end of the laser emitting circuit module is electrically connected to the output end of the pulse generating circuit module. The output end of the laser emitting circuit module is electrically connected to the laser for generating a laser electrical signal according to the modulation signal. The laser generates a laser according to the laser electrical signal for emission.

[0007] Furthermore, the signal analysis and processing module with information encoding and decoding function includes a signal amplification processing circuit, an analog-to-digital conversion circuit and an information demodulation module. The signal amplification processing circuit is connected to the photosensitive device and is used to amplify the signal converted by the photosensitive device. The analog-to-digital conversion circuit is electrically connected to the signal amplification processing circuit and is used to perform analog-to-digital conversion on the amplified signal. The information demodulation module is electrically connected to the analog-to-digital conversion circuit and is used to demodulate the information in the analog-to-digital converted signal. The information demodulation module sends the demodulated signal to the processor for processing.

[0008] Furthermore, the signal analysis and processing module with information encoding and decoding functions also includes a time measurement and distance solution module, the input end of the time measurement and distance solution module is electrically connected to the information demodulation module, the output end of the time measurement and distance solution module is electrically connected to the processor, the time measurement and distance solution module is used to calculate the measured time and the measured distance according to the information demodulated by the information demodulation module, and the processor completes the accurate calculation of the distance according to the environmental parameters and the distance solved by the time measurement and distance solution module.

[0009] Furthermore, the device includes a first lens group, the first lens group is connected to the laser, and the first lens group is used to emit the laser emitted by the laser according to a preset divergence angle.

[0010] Furthermore, the device includes a second lens group, the second lens group is connected to the photosensor, and the second lens group is used to receive light signals and converge the received light signals to the photosensor.

[0011] Furthermore, the photosensitive device includes at least one of an avalanche photodiode, a PIN photodiode, and a photomultiplier tube.

[0012] Furthermore, the data interface unit is electrically connected to the processor, and the data interface unit is also used to connect to an external device to implement data exchange between the processor and the external device.

[0013] Furthermore, the device also includes a power module, which is electrically connected to the processor, the signal processing module and the laser, and is used to supply power to the processor, the signal processing module and the laser.

[0014] The present invention also provides a positioning system, which includes a communication host and a plurality of laser distance measuring devices with communication functions, wherein the plurality of laser distance measuring devices with communication functions are communicatively connected to the communication host.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present invention provides a laser distance measuring device with communication function and a positioning system. The laser distance measuring device with communication function includes a device body, a signal analysis and processing module with information encoding and decoding function, a data communication interface, a laser, a photosensitive device and a lens group. The signal analysis and processing module with information encoding and decoding function, the laser and the photosensitive device are all arranged on the device body. The signal analysis and processing module with information encoding and decoding function is connected with the data communication interface and is used to trigger modulation or demodulation of signals according to communication instructions or internal tasks received by the data communication interface. The laser is electrically connected with the signal analysis and processing module with information encoding and decoding function and is used to convert the modulated signal generated by modulation into an optical signal for emission. The photosensitive device is electrically connected with the signal analysis and processing module with information encoding and decoding function and is used to receive an optical signal, perform photoelectric conversion on the received optical signal, and send the converted electrical signal to the signal analysis and processing module with information encoding and decoding function. The signal analysis and processing module with information encoding and decoding function realizes time measurement and distance calculation according to the received signal. By modulating the communication signal in the laser signal used for distance measurement, the laser distance measuring device can perform laser communication while measuring the distance and complete the function of sending and receiving information. On the one hand, it reduces the complexity and cost of the system hardware and increases reliability; at the same time, since ranging and positioning share the same channel for information exchange, the system efficiency is higher; and, since laser communication is adopted, the system has better confidentiality and anti-interference performance than traditional microwave, WIFI and other communication methods.

[0017] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic diagram of a laser distance measuring device with communication function provided by the present invention is shown.

[0020] Figure 2 A schematic block diagram of a signal analysis and processing module with information encoding and decoding functions is shown.

[0021] Figure 3 A schematic diagram of a CPU is shown.

[0022] Figure 4 A schematic diagram of a pulse generation circuit module is shown.

[0023] Figure 5 A schematic diagram of a laser emission circuit module is shown.

[0024] Figure 6 A schematic diagram of an information modulation circuit module is shown.

[0025] Figure 7 A schematic diagram of a signal amplification processing circuit is shown.

[0026] Figure 8 A schematic diagram of a small signal amplification processing circuit is shown.

[0027] Fig. 9 A schematic diagram of an analog switch is shown.

[0028] Fig.10 The information demodulation and time analysis FPGA hardware unit circuit is shown.

[0029] Fig.11 A schematic diagram of an analog-to-digital conversion circuit is shown.

[0030] Fig.12 A schematic diagram of an information demodulation module is shown.

[0031] Fig.13 A schematic diagram of the time measurement and distance calculation module is shown.

[0032] Fig.14 A schematic diagram of the positioning system is shown.

[0033] Icons: 100-laser distance measuring device with communication function; 110-device body; 111-display; 112-laser; 113-first lens group; 114-second lens group; 115-photosensitive device; 116-posture sensing module; 12-signal analysis and processing module; 120-processor; 131-time measurement and distance resolution module; 132-information modulation circuit module; 133-pulse generation circuit module; 134-laser emission circuit module; 135-analog switch; 136-information demodulation module; 137-analog-digital conversion circuit; 138-signal amplification and processing circuit; 139-small signal amplification and processing circuit; 140-data interface unit; 10-positioning system; 200-communication host. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present invention.

[0035] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0036] In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "inside", "outside", etc. are based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0037] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly stipulated and limited, the terms "set", "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements.

[0038] In the description of the present invention, it should also be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Terms such as "horizontal", "vertical", "overhanging" and the like do not mean that the components are absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted. The terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also include elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements defined by the sentence "include one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific circumstances.

[0039] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0040] First embodiment

[0041] This embodiment provides a laser distance measuring device 100 with a communication function, so as to realize a low-cost and high-confidentiality communication function for the laser distance measuring device.

[0042] The laser ranging device 100 with communication function is used to emit a modulated laser signal, and calculate the distance between the laser ranging device 100 with communication function and a reflective object or other laser ranging devices 100 with communication function according to the time of emitting the modulated laser signal and the time of receiving the reflected modulated laser signal or other modulated laser signal emitted by the laser ranging device 100 with communication function.

[0043] The laser ranging device 100 with communication function demodulates the received modulated laser signal, demodulates the received modulated laser to obtain the emission time, unique identification information and other information contained in the received modulated laser. When the unique identification information matches the unique identification information of the laser ranging device 100 with communication function, the laser ranging device 100 with communication function determines that the received modulated laser is emitted by itself. The distance between the laser ranging device 100 with communication function and the reflector is calculated based on the emission time, reception time and light speed of the modulated laser. The reflector can be another laser ranging device 100 with communication function, or a fixed target.

[0044] When the unique identification information contained in the received modulated laser does not match the unique identification information of the laser ranging device 100 with communication function, the laser ranging device 100 with communication function determines that the received modulated laser is a modulated laser emitted by other laser ranging devices 100 with communication function, and then obtains its communication content according to the demodulated information of the modulated laser, and this communication content includes the unique identification information of the sender and the information content transmitted. In particular, if unified timing is implemented for the relevant laser ranging devices, the receiving side ranging device can also calculate the distance between the laser ranging device 100 with communication function and the device emitting the modulated laser according to the unique identification information of the modulated laser, the emission time, the reception time and the speed of light.

[0045] See also Figure 1 , Figure 1 The schematic diagram of the laser distance measuring device 100 with communication function provided in this embodiment is shown. The laser distance measuring device 100 with communication function includes a device body 110, a posture sensing module 116, a signal analysis and processing module 12 with information encoding and decoding function, a data interface unit 140, a laser 112, a first lens group 113, a display 111, a photosensitive device 115 and a second lens group 114. The posture sensing module 116, the signal analysis and processing module 12 with information encoding and decoding function, the laser 112, the first lens group 113, the display 111, the photosensitive device 115 and the second lens group 114 are all arranged on the device body 110. By adding modulation information to the emitted laser, a laser signal is generated by the laser 112, and the generated laser signal is emitted by the first lens group 113 to complete the transmission of information. At the same time, the second lens group 114 receives the reflected laser signal sent by other laser ranging devices 100 with communication functions, and focuses the laser signal to the photosensitive device 115. The photosensitive device 115 performs photoelectric conversion on the received laser signal to complete the reception of information.

[0046] See also Figure 2 , Figure 2 A schematic diagram of the signal analysis and processing module 12 with information encoding and decoding functions is shown.

[0047] The signal analysis and processing module 12 with information encoding and decoding function includes a processor 120, an information modulation circuit module 132, a pulse generating circuit module 133, and a laser emitting circuit module 134. The input end of the pulse generating circuit module 133 is electrically connected to the information modulation circuit module 132 for generating a pulse signal. The information modulation circuit module 132 is electrically connected to the processor 120 for modulating the modulation information to the pulse signal to generate a modulation signal under the control of the processor 120. The input end of the laser emitting circuit module 134 is electrically connected to the output end of the pulse generating circuit module 133. The output end of the laser emitting circuit module 134 is electrically connected to the laser 112 for generating a laser electrical signal according to the modulation signal. The laser 112 generates a laser according to the laser electrical signal for emission.

[0048] The first lens group 113 is connected to the laser 112, and the first lens group 113 is used to emit the laser generated by the laser 112 according to a preset divergence angle. Preferably, the first lens group 113 and the laser 112 can rotate 360° at a preset angular velocity to emit the generated laser signal at various angles.

[0049] The modulation information may include the unique identification information of the laser ranging device 100 with communication function, the emission time of the laser, etc., so that each modulated laser signal has unique identification information. The signal analysis and processing module 12 with information encoding and decoding function can measure the distance between different laser ranging devices 100 with communication function according to different modulated laser signals.

[0050] The signal analysis and processing module 12 with information encoding and decoding function includes a signal amplification processing circuit 138, an analog-to-digital conversion circuit 137 and an information demodulation module 136. The signal amplification processing circuit 138 is connected to the photosensitive device 115 and is used to amplify the signal converted by the photosensitive device 115. The analog-to-digital conversion circuit 137 is electrically connected to the signal amplification processing circuit 138 and is used to perform analog-to-digital conversion on the amplified signal. The information demodulation module 136 is electrically connected to the analog-to-digital conversion circuit 137 and is used to demodulate the information in the analog-to-digital converted signal. The information demodulation module 136 sends the demodulated signal to the processor 120 for processing.

[0051] The processor 120 determines whether the information is sent by the device based on the demodulated information. Generally, the modulation information includes unique identification information, emission time, and communication information sent by the laser ranging device 100 with communication function, which marks which device or equipment sent the modulated laser signal and when. When the processor 120 determines that the demodulated modulated laser signal is a modulated laser signal sent by itself, the communication content is obtained based on the demodulated information of the modulated laser. This communication content includes the unique identification information of the sender and the information content transmitted. In particular, if unified timing is implemented for the relevant laser ranging devices, the receiving device can also calculate the distance between the laser ranging device 100 with communication function and the device that emits the modulated laser based on the unique identification information, emission time, receiving time and light speed of the modulated laser.

[0052] In this embodiment, the signal analysis and processing module 12 with information encoding and decoding functions also includes a time measurement and distance solution module 131, the input end of the time measurement and distance solution module 131 is electrically connected to the information demodulation module 136, and the output end of the time measurement and distance solution module 131 is electrically connected to the processor 120. The time measurement and distance solution module 131 is used to calculate the measured time and the measured distance according to the information demodulated by the information demodulation module 136, and the processor 120 completes the accurate calculation of the distance according to the environmental parameters and the distance calculated by the time measurement and distance solution module 131.

[0053] The processor 120 may be an integrated circuit chip with signal processing capabilities. The above-mentioned processor 120 may be a general-purpose processor 120, including a central processing unit 120 (CPU), a network processor 120 (NP), a voice processor 120, and a video processor 120, etc.; it may also be a digital signal processor 120, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The general-purpose processor 120 may be a microprocessor 120 or the processor 120 may also be any conventional processor 120, such as a PLC (Programmable Logic Controller), a single-chip microcomputer, etc. In this embodiment, the processor 120 may select a chip from the STM32 series, such as the STM32F103 embedded CPU. Please refer to Figure 3 , Figure 3 A schematic diagram of the STM32F103 embedded CPU is shown.

[0054] Preferably, in this embodiment, the PU_ST_CTL port of the CPU module is connected to the information modulation circuit module 132 (see Figure 6 ) of the ST_CTL_SIG_IN port; the output signal MOD_SIG_OUT of the information modulation circuit module 132 is connected to the pulse generating circuit module 133 (see FIG. Figure 4 ) MOD_CTL_IN port; the output signal MOD_CTL_OUT of the pulse generating circuit module 133 is connected to the laser emitting circuit module 134 (see Figure 5 ) PU_SIG_IN port; the output signal port PU_ST_TRIG of the pulse generating circuit module 133 is connected to the information demodulation and time analysis FPGA hardware unit circuit PU_ST_TRIG_IN; the laser emitting circuit module 134 (see Figure 5 ) is connected to the laser 112 at its output port PU_DRV_OUT. In this embodiment, the information demodulation module 136 and the time measurement and distance calculation module 131 are both implemented in software, and the hardware carrier is the information demodulation and time analysis FPGA hardware unit circuit, see Fig.10 .

[0055] The output end of the photosensitive device 115 is connected to the signal amplification processing circuit 138 (see Figure 7 ) of the RT_IN_FST port; the output signal port FST_AMP_OUT of the signal amplification processing circuit 138 and the small signal amplification processing circuit 139 (see Figure 8 ) and the analog switch 135 (see Fig. 9 ) are connected to the input terminal PRE_SIG_IN of the small signal amplification processing circuit 139; the output terminal S_AMP_OUT of the small signal amplification processing circuit 139 is connected to the MIG_SIG_IN terminal of the analog switch 135; the output signal port S_MUX_OUT of the analog switch 135 is connected to the AD_SIG_IN port of the analog-to-digital conversion circuit 137; the analog-to-digital conversion circuit 137 (see Fig.11 ) The relevant data transmission and control lines are connected to the information demodulation module 136 and the hardware unit circuit of the time analysis and distance settlement module; in this embodiment, the information demodulation module 136 and the time measurement and distance settlement module 131 are both implemented by software, and the hardware carrier is the information demodulation and time analysis FPGA hardware unit circuit, please refer to Fig.10 .

[0056] In this embodiment, please refer to Fig.12The information demodulation module 136 includes a pulse envelope extraction unit and a differential decoding circuit. According to the pulse envelope extracted by the pulse envelope unit, the code stream is shaped, and the modulated envelope is obtained by processing the shaped code stream. The time measurement and distance solution module 131 (see Fig.13 ) The measured distance length is obtained through pulse waveform shaping, multi-echo pulse solution, multi-echo pulse edge recognition and time identification calculation.

[0057] It should be noted that, in this embodiment, the photosensitive device 115 is at least one of an avalanche photodiode, a PIN photodiode, a photomultiplier tube or a DSPAD. The photosensitive device 115 generates current after absorbing the light signal, thereby converting the light signal into an electrical signal.

[0058] The laser distance measuring device with communication function 100 further includes a display 111, which is disposed on the device body 110 and is electrically connected to the processor 120. The display 111 is used to display data information received by the processor 120, or to display data information processed by the processor 120. For example, the measured distance or other information received from other laser distance measuring devices with communication function 100 is displayed.

[0059] Preferably, the laser distance measuring device 100 with communication function further includes a data interface unit 140, the data interface unit 140 is electrically connected to the processor 120, and the data interface unit 140 is also used to connect to an external device to realize data exchange between the processor 120 and the external device. The data interface unit 140 can be a USB hub, such as a LAN9512 chip, which is a fully integrated high-speed USB 2.0 hub and a high-performance 10 / 100 Ethernet controller. The chip can receive serial USB protocol communication data sent by the processor 120, and forward it to other devices, so as to realize data exchange between the laser distance measuring device 100 with communication function and other devices.

[0060] Preferably, the laser distance measuring device 100 with communication function further includes a posture sensing module 116, the posture sensing module 116 is electrically connected to the processor 120, and the posture sensing module 116 is used to measure the posture information of the laser distance measuring device 100, and the posture information includes angle information, rotation information and pitch information. The posture sensing module 116 sends the posture information of the laser distance measuring device 100 sensed to the signal analysis and processing module 12 with information encoding and decoding function, and the signal analysis and processing module 12 with information encoding and decoding function can modulate the posture information of the laser distance measuring device 100 into the emitted laser, so as to emit it to other laser distance measuring devices 100 or the communication host 200.

[0061] Preferably, the laser ranging device with communication function 100 further includes a power module, and the power module is electrically connected to the processor 120, the signal processing module and the laser 112, and the power module is used to supply power to the processor 120, the signal processing module and the laser 112. The power module can be a rechargeable battery, such as a lithium-ion battery.

[0062] Second embodiment

[0063] This embodiment provides a positioning system 10. Fig.14 The positioning system 10 includes a communication host 200 and a plurality of laser distance measuring devices 100 with communication functions. The plurality of laser distance measuring devices 100 with communication functions are connected to the communication host 200 via laser communication.

[0064] The communication host 200 can receive the laser signal emitted by the laser ranging device 100 with communication function, and decode and obtain the information in the laser. Generally, the information in the laser includes the position information of the laser ranging device 100 with communication function itself and the distance information between the other laser ranging devices 100 with communication function and it, so as to achieve positioning.

[0065] The present invention provides a laser distance measuring device with communication function and a positioning system. The laser distance measuring device with communication function comprises a device body, a posture sensing module, a signal analysis and processing module with information encoding and decoding function, a data communication interface, a laser, a photosensitive device and a lens group. The posture sensing module, the signal analysis and processing module with information encoding and decoding function, the laser and the photosensitive device are all arranged on the device body. The posture sensing module is used to measure the posture information of the laser distance measuring device, and the posture information includes angle information, rotation information and pitch information. The signal analysis and processing module with information encoding and decoding function is connected to the data communication interface and is used to trigger modulation or demodulation of signals according to communication instructions or internal tasks received by the data communication interface. The laser is electrically connected to the signal analysis and processing module with information encoding and decoding function and is used to convert the modulation signal generated by modulation into an optical signal for emission. The photosensitive device is electrically connected to the signal analysis and processing module with information encoding and decoding function and is used to receive an optical signal, perform photoelectric conversion on the received optical signal, and send the converted electrical signal to the signal analysis and processing module with information encoding and decoding function. The signal analysis and processing module with information encoding and decoding function realizes time measurement and distance calculation according to the received signal. By modulating the communication signal in the laser signal used for distance measurement, the laser distance measuring device can perform laser communication while measuring distance, completing the function of sending and receiving information. On the one hand, the system hardware complexity and cost are reduced, and reliability is increased; at the same time, since distance measurement and information exchange share the same channel, the system efficiency is higher; and, since laser communication is adopted, compared with traditional microwave, WIFI and other communication methods, the system has better confidentiality and anti-interference performance.

[0066] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A positioning system, characterized in that: The positioning system includes a communication host and a plurality of laser distance measuring devices with communication functions connected to the communication host; The communication host is used to receive the laser signal emitted by the laser ranging device with communication function, and decode the laser signal to obtain information in the laser; the information in the laser includes the position information of the laser ranging device with communication function itself and the distance information between the laser ranging device with communication function and other laser ranging devices with communication function, so as to achieve positioning; The laser distance measuring device with communication function comprises a device body, a signal analysis and processing module with information encoding and decoding function, a data communication interface, a laser, a photosensitive device and a lens group, wherein the signal analysis and processing module with information encoding and decoding function, the laser and the photosensitive device are all arranged on the device body; The signal analysis and processing module with information encoding and decoding function is connected to the data communication interface and is used to trigger modulation or demodulation of signals according to communication instructions or internal tasks received by the data communication interface; The laser is electrically connected to the signal analysis and processing module with information encoding and decoding function, and is used to convert the modulated signal generated by modulation into an optical signal for transmission; The photosensitive device is electrically connected to the signal analysis and processing module with information encoding and decoding function, and is used to receive an optical signal, perform photoelectric conversion on the received optical signal, and send the converted electrical signal to the signal analysis and processing module with information encoding and decoding function; The signal analysis and processing module with information encoding and decoding function realizes time measurement and distance calculation according to the received signal; Wherein, the laser distance measuring device with communication function also includes a posture sensing module, which is electrically connected to the signal analysis and processing module with information encoding and decoding function, and is used to measure the posture information of the laser distance measuring device, and the posture information includes angle information, rotation information and pitch information; the posture sensing module is also used to send the posture information to the signal analysis and processing module with information encoding and decoding function; the signal analysis and processing module with information encoding and decoding function is used to modulate the posture information into the emitted laser, so as to emit it to other laser distance measuring devices or the communication host; Wherein, the laser distance measuring device with communication function further comprises a display arranged on the device body, the display is electrically connected to the processor, and is used to display the data information received by the processor or the data information processed by the processor; Wherein, the laser distance measuring device with communication function further comprises a data interface unit arranged on the device body, the data interface unit is electrically connected to the processor, and the data interface unit is also used to connect to an external device to realize data exchange between the processor and the external device; Among them, multiple laser ranging devices with communication functions are all provided with a unified timing function. When a laser ranging device with communication function receives a modulated laser signal, it is used to: demodulate the modulated laser signal to obtain demodulation information, and the demodulation information includes unique identification information and emission time. When it is determined based on the demodulation information that the modulated laser signal is sent by another laser ranging device with communication function, the distance between the device and the other laser ranging device with communication function is calculated based on the unique identification information, the emission time, the receiving time of the modulated laser signal and the speed of light.

2. The positioning system according to claim 1, characterized in that The signal analysis and processing module with information encoding and decoding function includes a processor, an information modulation circuit module, a pulse generation circuit module, and a laser emission circuit module; The input end of the pulse generating circuit module is electrically connected to the information modulating circuit module, and is used to generate a pulse signal; The information modulation circuit module is electrically connected to the processor and is used to modulate the modulation information onto the pulse signal to generate a modulation signal under the control of the processor; The input end of the laser emission circuit module is electrically connected to the output end of the pulse generation circuit module, and the output end of the laser emission circuit module is electrically connected to the laser, for generating a laser electrical signal according to the modulation signal; The laser is used to generate laser light for emission according to the laser electrical signal.

3. The positioning system according to claim 2, characterized in that The signal analysis and processing module with information encoding and decoding function also includes a signal amplification processing circuit, an analog-to-digital conversion circuit and an information demodulation module; The signal amplification processing circuit is connected to the photosensitive device and is used to amplify the signal converted by the photosensitive device; The analog-to-digital conversion circuit is electrically connected to the signal amplification processing circuit, and is used to perform analog-to-digital conversion on the amplified signal; The information demodulation module is electrically connected to the analog-to-digital conversion circuit and is used to demodulate the information in the signal after analog-to-digital conversion.

4. The positioning system according to claim 3, characterized in that: The signal analysis and processing module with information encoding and decoding function also includes a time measurement and distance calculation module; the input end of the time measurement and distance calculation module is electrically connected to the information demodulation module, and the output end of the time measurement and distance calculation module is electrically connected to the processor; The time measurement and distance calculation module is used to calculate the measured time and the measured distance according to the information demodulated by the information demodulation module; The processor completes accurate calculation of the distance based on environmental parameters and time measurement and the distance calculated by the distance calculation module.

5. The positioning system according to claim 1, characterized in that: The laser distance measuring device with communication function comprises a first lens group, the first lens group is connected to the laser, and the first lens group is used to emit the laser emitted by the laser according to a preset divergence angle.

6. The positioning system according to claim 1, characterized in that The laser distance measuring device with communication function comprises a second lens group, the second lens group is connected to the photosensitive device, and the second lens group is used to receive light signals and converge the received light signals to the photosensitive device.

7. The positioning system according to claim 1, characterized in that: The photosensitive device includes at least one of an avalanche photodiode, a PIN photodiode, and a photomultiplier tube.

8. The positioning system according to claim 2, characterized in that: The data interface unit is electrically connected to the processor, and is also used to connect to an external device to implement data exchange between the processor and the external device.

9. The positioning system according to claim 2, characterized in that: The laser ranging device with communication function also includes a power module, which is electrically connected to the processor, the signal processing module and the laser, and is used to supply power to the processor, the signal processing module and the laser.

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