Optical positioning device

Abstract

The present application relates to a kind of optical positioning device, the position of receiver is judged according to the light signal received by the receiver, the transmitter includes: light emitting device, the light emitting device can emit at least two kinds of flicker frequency light signal;Hollow hemispherical cover is provided with multiple groups of light blocking area;Rotary seat is fixedly connected with the cover, the rotary seat can drive the cover synchronous rotation when rotating;Rotation detection unit detects the rotation angle of the rotary seat according to the situation that the convex tooth passes through the notch;Base, the light emitting device, the rotary seat and rotation detection unit are housed.Therefore the optical positioning device provided by the present application can accurately obtain the angle of rotary seat rotation, the rotation angle of the convex tooth of gear disc is detected by optical coupler, the interference degree of internal jitter to produce non-uniform rotational speed is reduced, so that positioning is more accurate.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of spatial positioning technology, in particular to an optical positioning device. BACKGROUND

[0002] In emerging applications such as robots, large space virtual reality, positioning tracking is an important supporting technology. In the intelligent production environment, robots assist in assembling, transporting materials and products, and accurate position indication is needed to ensure that there is no error; entertainment robots may need to coordinate to complete certain actions with the help of accurate positions. Currently, the optical positioning device mainly detects time to determine the rotation angle. When internal shaking of the device causes uneven rotation speed, the angle and speed of rotation cannot be accurately determined, which reduces the positioning accuracy and increases the error. SUMMARY

[0003] Therefore, it is necessary to provide an optical positioning device for the problem of uneven rotation speed caused by internal shaking of the optical positioning device.

[0004] An optical positioning device, comprising a transmitter and a receiver, the transmitter being capable of transmitting an optical signal to the receiver, the receiver being capable of receiving the optical signal transmitted by the transmitter, the optical positioning device determining the position of the receiver according to the optical signal received by the receiver, the transmitter comprising:

[0005] A light emitting device capable of emitting optical signals of at least two flashing frequencies;

[0006] A hollow hemispherical cover body provided with a plurality of light blocking areas;

[0007] A rotating seat fixedly connected with the cover body, the rotating seat being capable of driving the cover body to rotate synchronously when the rotating seat rotates;

[0008] A rotation detection unit comprising an optical coupler and a gear disc, the optical coupler being provided with a notch, and the gear disc being provided with a plurality of protruding teeth around the gear disc, the plurality of protruding teeth forming a gear slot therebetween;

[0009] The gear disc is located in the rotating seat and is capable of rotating with the rotating seat, when the rotating seat rotates, the protruding teeth of the gear disc can pass through the notch of the optical coupler, and the rotation angle of the rotating seat is detected according to the passing condition of the protruding teeth through the notch;

[0010] A base accommodating the light emitting device, the rotating seat and the rotation detection unit.

[0011] In one embodiment, the gear disc comprises first protruding teeth and second protruding teeth, the first protruding teeth and the second protruding teeth being different in tooth thickness.

[0012] In one of the embodiments, the first convex tooth corresponds to a central angle of 8.25°, the tooth gap between the adjacent first convex teeth corresponds to a central angle of 3°, the tooth thickness of the second convex tooth corresponds to a central angle of 5.25°, the tooth gap between the first convex tooth on one side corresponds to a central angle of 3°, and the tooth gap between the first convex tooth on the other side corresponds to a central angle of 6°.

[0013] In one of the embodiments, the emitter is provided with at least a controller and a driving device.

[0014] The driving device is connected with the rotating seat to drive the rotating seat to rotate at a predetermined angular velocity.

[0015] The controller is connected with the driving device to control the operation of the driving device, and the light emitting device is controlled to have different flickering frequencies in the time interval swept by the adjacent light blocking areas according to the detection result of the rotating detection unit.

[0016] In one of the embodiments, the base is provided with a levelness adjusting device and a levelness detection device.

[0017] The levelness adjusting device is fixed to the base to adjust the levelness and height of the base.

[0018] The levelness detection device is fixed to the base to detect the levelness of the base.

[0019] In one of the embodiments, the levelness adjusting device is an extender, and the extender is provided with at least three adjusting knobs to adjust the levelness and height of the base.

[0020] The levelness detection device is a horizontal bead, and the number of the horizontal beads is two, which are located at the outer edges of the base.

[0021] In one of the embodiments, the emitter further comprises a transparent protective shell, and the transparent protective shell is fixed to the base to cover the hollow hemispherical cover.

[0022] In one of the embodiments, the light blocking area comprises a fixed angle light blocking segment and a variable angle light blocking segment, the part between the fixed angle light blocking segment and the starting point of the light blocking area is a light transmission area, the part between the fixed angle light blocking segment and the variable angle light blocking segment is a light transmission area, the arc length of the fixed angle light blocking segment on any latitude line of the cover corresponds to the same central angle, and the arc length of the variable angle light blocking segment on the latitude line of the cover corresponds to a central angle which monotonically decreases or increases with the increase of the latitude of the cover.

[0023] In one of the embodiments, the number of flickering frequency types is the same as the number of light blocking areas.

[0024] In one embodiment, the receiver is provided with at least a receiving single-chip microcomputer, a light sensor and a wireless module;

[0025] The light sensor receives the light signal emitted by the transmitter;

[0026] The receiving single-chip microcomputer is connected to the light sensor and processes the information of the light signal received by the light sensor;

[0027] The wireless module is connected to the receiving single-chip microcomputer and receives the information processing result of the receiving single-chip microcomputer and sends it to the server.

[0028] Therefore, the optical positioning device provided by the present application can accurately obtain the rotation angle of the rotating seat, detect the rotation angle of the convex teeth of the gear disc through the optical coupler, reduce the interference degree of the internal jitter to make the rotation speed uneven, and make the positioning more accurate. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is a schematic diagram of the optical positioning device of an embodiment of the present application;

[0030] Figure 2 It is a schematic diagram of the transmitter of the optical positioning device of the present application; Figure 1

[0031] It is a partial bird's eye view of the transmitter of the present application; Figure 3 Figure 2 It is a base top view of the transmitter of the present application;

[0032] Figure 4 Figure 2 It is a base side view of the transmitter of the present application;

[0033] Figure 5 It is a rotating seat bottom view of the transmitter of the present application; Figure 2

[0034] It is a rotating seat side view of the transmitter of the present application; Figure 6 Figure 2 It is a base bottom view of the transmitter of the present application;

[0035] Figure 7 Figure 2 It is a cover bottom view of the transmitter of the present application;

[0036] Figure 8 It is a schematic diagram of the receiver of the present application; Figure 2

[0037] It is a schematic diagram of the receiver of the present application; Figure 9 Figure 2 It is a schematic diagram of the receiver of the present application;

[0038] Figure 10 Figure 1 It is a schematic diagram of the receiver of the present application; ​​​​​​

[0039] Figure 11 Schematic diagram of light surface positioning algorithm Figure 1 ;

[0040] Figure 12 Schematic diagram of light surface positioning algorithm Figure 2 ;

[0041] Figure 13 Schematic diagram of light surface positioning algorithm Figure 1 ;

[0042] Figure 14 Schematic diagram of light surface positioning algorithm Figure 3 . DETAILED DESCRIPTION

[0043] For the purpose of facilitating the understanding of the present application, the optical positioning device will be described in more detail below with reference to the relevant drawings. The preferred embodiments of the optical positioning device are shown in the drawings. However, the optical positioning device can be realized in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the optical positioning device more thorough and comprehensive.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the description of the optical positioning device herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application.

[0045] As Figure 1 shown in an embodiment of the optical positioning device, the optical positioning device comprises a transmitter 10 and a receiver 30, the transmitter 10 is configured to emit a signal, and the receiver 30 is configured to receive the signal emitted by the transmitter 10 and determine its own position according to the received signal.

[0046] Please refer to Figure 2 In the embodiment, the transmitter 10 comprises a base 111, a controller 112, a driving device 113, a rotation detection unit 114, a cover 115, a light emitting device 116, and a rotating seat 117.

[0047] The light emitting device 116 is configured to emit a light signal with a predetermined flashing frequency, and the light emitting device 116 is capable of emitting light signals with at least two flashing frequencies. Specifically, the light emitting device 116 can be a LED lamp, a CFL lamp, or other lamps capable of emitting light signals that can be received by the light sensor 303.

[0048] In one embodiment, the light emitting device 116 is a LED lamp. The LED lamp is located at the center of the bottom surface of the cover 115.

[0049] Further, the light emitting device 116 is arranged on the base 111. Specifically, the base 111 has a cylindrical mounting portion 1118, which is coplanar with one side surface of the cover 115 and the bottom surface of the cover 115. The light emitting device 116 is arranged on the one side surface of the mounting portion 1118 and located at the center of the bottom surface.

[0050] The driving device 113 is connected to the controller 112 and located inside the base 111. The driving device 113 is connected to the rotating seat 117 and can drive the rotating seat 117 to rotate at a predetermined angular velocity. The controller 112 can control the driving device 113 to operate in a predetermined manner.

[0051] In the embodiment, the driving device 113 is arranged in the base 111 to drive the rotating seat 117 to rotate. It can be understood that the arrangement position of the driving device 113 is not limited as long as it can drive the rotating seat 117 to rotate.

[0052] The rotation detection unit 114 is used to detect the rotation angle of the rotating seat 117. In the embodiment, the rotation detection unit 114 generates a corresponding detection signal when the rotating seat 117 rotates by a predetermined angle, and transmits the detection signal to the controller 112. The controller 112 obtains the rotation angle of the rotating seat 117 according to the detection signal, and controls the light emitting device 116 to switch between the light signals at the first flickering frequency and the second flickering frequency when the rotation angle of the rotating seat 117 reaches a predetermined value.

[0053] Please refer to Figures 3-8 . Specifically, the rotation detection unit 114 includes an optical coupler 1141 and a gear disc 1142. The gear disc 1142 has a plurality of protruding teeth on the circumference, and a tooth slot is formed between adjacent protruding teeth. The optical coupler 1141 is arranged on the base 111, and the gear disc 1142 is arranged on the rotating seat 117 and can rotate with the rotating seat 117. The optical coupler 1141 is provided with a notch (not labeled in the figure) facing the rotating seat 117. During the rotation of the gear disc 1142 with the rotating seat 117, the protruding teeth of the gear disc 1142 can pass through the notch but not contact the optical coupler 1141. The light signal of the optical coupler 1141 passes through the notch, and when the protruding teeth are located in the notch of the optical coupler 1141, the light signal is blocked and the optical coupler 1141 cannot detect the light signal. The controller 112 obtains the rotation angle of the rotating seat 117, and controls the light emitting device 116 to switch the frequency when a certain angle is rotated.

[0054] Further, the toothed disc 1142 comprises first teeth 1143 and second teeth 1144, and the tooth thickness of the first teeth 1143 is different from that of the second teeth 1144 along the circumferential direction of the toothed disc. In the embodiment, the toothed disc 1142 is provided with 32 teeth, 31 of which are first teeth 1143 and 1 of which is a second tooth 1144. The central angle corresponding to the first teeth 1143 is 8.25°, and the central angle corresponding to the tooth gap between adjacent first teeth is 3°. The central angle corresponding to the second tooth 1144 is 5.25°, the central angle corresponding to the tooth gap between the second tooth 1144 and the first tooth 1143 on one side is 3°, and the central angle corresponding to the tooth gap between the second tooth 1144 and the first tooth 1143 on the other side is 6°. When the toothed disc 1142 rotates, each tooth will block the light of the notch of the light coupler 1141 when it passes through the light coupler 1141, triggering an interruption once. The length of the interruption is proportional to the tooth thickness. When the controller 112 is set to zero when the second tooth 1144 passes, the controller 112 can know that the rotating seat 117 has rotated one revolution each time the second tooth 1144 passes. It can be understood that the number of teeth can also be 6, 12, 18, 36 or other values, as long as each tooth can reflect the angle of rotation of the rotating seat.

[0055] The rotating seat 117 is fixedly connected with the cover 115, and the rotating seat 117 can drive the cover 115 to rotate synchronously when the rotating seat 117 rotates. Specifically, the rotating seat 117 can be selected as a disc, a ring or other annular structure. In one of the embodiments, the rotating seat 117 is in the form of a ring.

[0056] The base 111 is provided with a level adjusting device 1111 and a level detecting device 1112. The level adjusting device 1111 is fixed to the base 111 and is used for adjusting the level of the base 111, and the level detecting device 1112 is fixed to the base 111 and is used for detecting the level of the base 111. In the embodiment, the level adjusting device 1111 is an extender, which is provided with at least three adjusting knobs, and the level and height of the base 111 are adjusted by the adjusting knobs. The level detecting device 1112 is a level bubble, and the number of the level bubbles is two, which are located at the outer edges of the base 111. The extender is fixed to the bottom of the base 111 and is provided with three adjusting knobs, and the central angles between adjacent adjusting knobs are 120°, and the adjusting knobs are connected in the form of an equilateral triangle. The level and height of the base 111 are adjusted by rotating the adjusting knobs to elongate or shorten the parts corresponding to the adjusting knobs. When the bubbles of the two level bubbles are located in the middle position, the base 111 is in a horizontal state. It can be understood that the number of the level bubbles can also be 1, 3, 4 or other values.

[0057] The emitter 10 further comprises a transparent protective shell (not shown in the figure) fixed to the base 111, covering the hollow hemispherical cover. In the embodiment, a protective groove 1113 is formed along the outer edge of the base 111, and the transparent protective shell is fixed in the protective groove 1113, covering the cover 115, preventing the cover 115 from falling and causing danger, and preventing external objects from entering the cover 115 and interfering with the light emitted by the emitter 10.

[0058] Optionally, the emitter 10 further comprises a power supply. Specifically, the power supply comprises an external power supply or a built-in power supply. In the embodiment, the power supply is an external power supply. An external power supply interface 1114 is provided on the base 111, connected with the external power supply to obtain operating voltage.

[0059] Please refer to Figure 9 , the cover 115 is substantially hollow hemispherical, and a hemispherical space is formed inside. Specifically, the cover 115 can be a hollow hemi-ellipsoidal cover, a hollow hemi-spherical cover, a hollow partial-ellipsoidal or spherical cover combined with a flat disc cover at the bottom, or other hollow convex structures. In the illustrated embodiment, the cover 115 is a hemi-spherical cover.

[0060] A light-blocking area 20 is formed on the spherical surface of the cover 115, which comprises a fixed-angle light-blocking segment and a variable-angle light-blocking segment. The fixed-angle light-blocking segment and the variable-angle light-blocking segment are non-transparent parts on the spherical surface of the cover 115, and other parts of the spherical surface of the cover 115 are transparent parts, i.e. the light signal of the light-emitting device 116 can pass through the transparent parts.

[0061] In the embodiment, the spherical surface is divided into four equal parts, including a first light-blocking area 21, a second light-blocking area 22, a third light-blocking area 23, and a fourth light-blocking area 24, and the flashing frequency of the light signal emitted by the light-emitting device 116 in each light-blocking area 20 is different.

[0062] The first light-blocking area 21 comprises a first fixed-angle light-blocking segment 210 and a first variable-angle light-blocking segment 220, and the second light-blocking area 22, the third light-blocking area 23, and the fourth light-blocking area 24 are the same, and are not described here.

[0063] It can be understood that the light-blocking area 20 of the present application is not limited to four, but can also be other numbers, such as 2, 3, 5, 6, 7, 8, etc.

[0064] The number of the flicker frequencies of the light emitting devices 116 corresponds to the number of the light blocking areas 20 in the cover 115. In the embodiment, the flicker frequency of the light emitting device 116 corresponding to the first light blocking area 21 is 10K, the flicker frequency of the light emitting device 116 corresponding to the second light blocking area 22 is 15K, the flicker frequency of the light emitting device 116 corresponding to the third light blocking area 23 is 20K, and the flicker frequency of the light emitting device 116 corresponding to the fourth light blocking area 24 is 25K. The receiver 30 determines the horizontal angle of the cover 115 rotating by the different flicker frequencies of the light emitting devices 116.

[0065] The normal projection of the variable angle light blocking section on the bottom surface circle of the cover 115 is surrounded by two arc-shaped edges and a straight edge, wherein the first arc-shaped edge 222 is an arc-shaped edge with the center of the bottom surface circle of the cover 115 as the center, the other arc-shaped edge and the straight edge intersect at the center of the bottom surface circle and respectively intersect with the two ends of the first arc-shaped edge 222. The other arc-shaped edge is convex to the first arc-shaped edge 222.

[0066] The cover 115 includes light blocking areas 20, and the central angles of the fixed angle light blocking sections of different light blocking areas 20 are different. The first fixed angle light blocking section 210 of the first light blocking area 21 is taken as an example to illustrate the specific shape, the normal projection of the first fixed angle light blocking section 210 on the bottom surface circle of the cover 115 is a sector, the arc-shaped edge of the sector has the same center as the center of the bottom surface circle, and the corresponding central angle is 4 degrees. It can be understood that the arc-shaped edge of the sector can also correspond to other degrees, such as 8 degrees, 12 degrees, 16 degrees, etc. The arc length of the first fixed angle light blocking section 210 on any latitude line of the cover 115 corresponds to the same central angle, so it is called a fixed angle light blocking section. The central angles of the fixed angle light blocking sections are different, and the shapes are consistent, so they will not be described again.

[0067] Each adjacent fixed angle light blocking section is provided with a variable angle light blocking section, and the fixed angle light blocking section corresponds to the variable angle light blocking section one by one.

[0068] When the cover 115 rotates at a fixed angular velocity, the time length for the shadow of each fixed angle light blocking section to sweep the receiver 30 once is also fixed, so it can be judged which fixed angle light blocking section is swept according to the time for the shadow of each fixed angle light blocking section to sweep the receiver 30 once.

[0069] In the embodiment, the interval angle between the normal projection areas of the adjacent light blocking areas on the bottom surface circle is 10 degrees. It can be understood that the interval angle between the normal projection areas of the adjacent light blocking areas on the bottom surface circle can also be other values, such as 15 degrees, 20 degrees, 25 degrees, 30 degrees, 35 degrees, etc.

[0070] The orthographic projection of the variable angle light-blocking segment on the bottom circle of the cover body 115 consists of two arcuate edges and one straight edge. The following takes the first fixed angle light-blocking segment 210 of the first light-blocking area 21 as an example to illustrate its specific shape. The first variable angle light-blocking segment 220 includes a first arcuate edge 222, a second arcuate edge 221 and a first straight edge 223. The first arcuate edge 222 and the center of the bottom circle are the center of the circle. The second arcuate edge 221 and the first straight edge 223 intersect at the center of the bottom circle and intersect with the two ends of the first arcuate edge 222 respectively. In this embodiment, the second arcuate edge 221 is a partial arc, and the first straight edge 223 is a straight line. The second arcuate edge 221 is an arc of a circle, and the circumference of the circle passes through the center of the bottom circle. If the diameter of the circle is less than or equal to the radius of the bottom circle, the point on the circumference of the circle farthest from the center of the bottom circle is the inscribed point, and the arc between the inscribed point and the center of the bottom circle is the second arcuate edge 221. If the diameter of the circle is greater than the radius of the bottom circle, there are two intersection points between the circumference of the circle and the bottom circle, of which the intersection point closer to the first straight edge 223 is the interception point; the arc between the interception point and the center of the bottom circle is the second arcuate edge 221. In this embodiment, the second arcuate edge 221 protrudes toward the first arcuate edge 222. The central angle corresponding to the arc length of the variable angle light blocking segment on any latitude line of the cover body 115 is not the same, so it is called a variable angle light blocking segment. More specifically, the central angle corresponding to the arc length of the variable angle light blocking segment on the latitude line of the cover body 115 decreases as the latitude of the cover body 115 increases. The shapes of the various variable angle light blocking segments are consistent, so they are not described in detail.

[0071] In the illustrated embodiment, the orthographic projection of the first light-blocking area 21 on the bottom circle is located in the interval [0°, 90°], the orthographic projection of the second light-blocking area 22 on the bottom circle is located in the interval [90°, 180°], the orthographic projection of the third light-blocking area 23 on the bottom circle is located in the interval [180°, 270°], and the orthographic projection of the fourth light-blocking area on the bottom circle is located in the interval [270°, 360°]; the central angle of the projection of the fixed-angle light-blocking segment corresponding to the first light-blocking area 21 on the bottom circle is 16°, the central angle of the projection of the fixed-angle light-blocking segment corresponding to the second light-blocking area 22 on the bottom circle is 4°, the central angle of the projection of the fixed-angle light-blocking segment corresponding to the third light-blocking area 23 on the bottom circle is 12°, and the central angle of the projection of the fixed-angle light-blocking segment corresponding to the fourth light-blocking area 24 on the bottom circle is 8°.

[0072] It can be understood that the shape of the variable-angle light-blocking segment is not limited to the illustrated embodiments. For example, the arc length of the variable-angle light-blocking segment on the latitude line of the cover body 115 increases with the increase of the latitude of the cover body 115, at which time the second arc-shaped edge 221 protrudes away from the first arc-shaped edge 222.

[0073] It can also be understood that the second arc-shaped edge 221 and the first straight edge 223 can be replaced by other edges of any suitable shape, as long as the central angle corresponding to the arc length of the variable-angle light-blocking segment on the latitude line of the cover body 115 decreases or increases with the increase of the latitude of the cover body 115.

[0074] The latitude of the cover body 115 described in the above embodiments is a reference position on the surface of the cover body 115, and the latitude of the surface of the cover body 115 gradually decreases from the vertex of the cover body 115 (the point at which the vertical distance between the surface of the cover body 115 and the bottom circle is the largest) to the bottom circle.

[0075] As Figure 10 a schematic diagram of the receiver 30 in one embodiment is shown.

[0076] In this embodiment, the receiver 30 includes a receiving single-chip microcomputer 301, a wireless module 302, and a light sensor 303. The light sensor 303 can receive the light signal emitted by the light-emitting device 116 of the transmitter 10, and after analog-to-digital conversion, transmit the light signal to the receiving single-chip microcomputer 301. The receiving single-chip microcomputer 301 calculates the vertical angle, horizontal angle, and final position of the light sensor 303 relative to the light-emitting device 116 according to the light signal data and preset information, and transmits the calculation results to the wireless module 302; the wireless module 302 can transmit the calculation results to a remote monitor or server.

[0077] Specifically, the wireless module 302 can be a Bluetooth, GPRS, EDGE, WiFi, 2G, 3G, 4G, 5G communication device, or other wireless transmission device.

[0078] The specific light curved surface positioning method is described in combination with the above embodiments and Figure 11 、 Figure 12 、 Figure 13 、 Figure 14 as follows:

[0079] In this embodiment, the preset information of the receiver 30 is the radius 411 of the bottom circle of the cover body 115, the diameter 412 of the circle corresponding to the shorter arc-shaped edge of the variable-angle light-blocking segment, the rotation speed of the rotating seat, the central angle corresponding to the arc length of the fixed-angle light-blocking segment on any latitude line of the cover body 115, the height of the transmitter, and the vertical height difference 422 between the transmitter and the receiver 30.

[0080] Since the angle of the fixed angle light blocking section is fixed and known in advance, the reference width corresponding to the shadow width of the fixed angle light blocking section 210 can be calculated from the sampling frequency Rate and the rotation speed Rev of the rotating seat obtained from the light signal collected by the light sensor.

[0081] Referring to Figure 11 and Figure 12 , Figure 12 Q is the intersection point of the line connecting the light emitting device 116 to the light sensor 303 in the receiver 30 and the cover 115, and let

[0082] Rshade is the radius 411 of the circle on the bottom surface of the cover 115;

[0083] Rcut is the diameter 412 of the circle on which the second arc-shaped edge of the variable angle light blocking section is located, and in this embodiment, Rcut = cos(Pi / 16) Rshade;

[0084] Rsense is the radius 413 of the circle formed by the latitude line of the cover 115 at the Q point;

[0085] ShadowLen is the shadow width 414 of the variable angle light blocking section, i.e., the number of samples of the receiver 30 within the time interval during which the shadow sweeps the receiver 30;

[0086] PeriodLen is the rotation circumference, i.e., the number of sampling points in one rotation of the cover: PeriodLen = Rate 60 / Rev

[0087] r is the horizontal distance 421 between the light emitting device 116 and the receiver 30;

[0088] H is the vertical height difference 422 between the transmitter and the receiver 30.

[0089] Combining Figure 11 , Figure 12 we get

[0090]

[0091]

[0092] we get

[0093] Combining Figure 11 , we get

[0094]

[0095]

[0096] From Figure 11It can be seen in

[0097] It can be concluded that:

[0098]

[0099]

[0100] The shadow width ShadowLen and the rotation circumference PeriodLen of the variable angle light blocking segment are measured by the receiver 30 and substituted into the above formula to obtain the vertical angle γ.

[0101] See also Figure 13 , Figure 13 for Figure 1 Polar coordinate area diagram formed by the projection of the transmitter on the ground.

[0102] The horizontal angle θ is the angle formed by the straight line 423 from the polar coordinate center to the rotation starting point and the straight line 420 from the polar coordinate center to the receiver 30. The method for determining the horizontal angle of this embodiment will be described in detail below with reference to the accompanying drawings.

[0103] Please combine Figure 14 The receiver 30 detects the flickering frequency, collects the light signal emitted by the transmitter, and the light signal emitted by rotating the transmitter by 3 / 2 light blocking areas is considered as one frame.

[0104] When the shadows of the fixed-angle light block and the variable-angle light block pass through the receiver, the light signal collected by the receiver is in a low-level state. When the light signal emitted by the transmitter is not blocked, the light signal collected by the receiver is in a high-level state. The receiver 30 determines the level range of the corresponding light signal by collecting the light signal.

[0105] "Oversampling" represents the time interval during which the low level state of the receiver 30 continues;

[0106] "Level" represents the time interval during which the high level state of the receiver 30 lasts;

[0107] The "level state" represents the time interval during which the high level state generated by the interval angle lasts;

[0108] The high level generated by the interval angle is represented by ", which indicates the time interval during which the low level state generated by the fixed angle light blocking segment lasts.

[0109] “” indicates the duration of the low level state generated by the variable angle light blocking section;

[0110] “…” indicates a sequence of undefined level state duration intervals.

[0111] In one embodiment, for each light blocking region, the state sequence of the receiver 30 in a frame can include the following cases:

[0112] The first state sequence 801 is (-, gap, -gap_var, +, in)

[0113] The second state sequence 802 is (+,?, gap, -gap_var, +, +)

[0114] The third state sequence 803 is (-, +,?, gap, -gap_var, +, out)

[0115] The fourth state sequence 804 is (+, -gap_var, +,?, gap, -gap_var, +, signal)

[0116] Since the fixed angle light blocking segment width of each light blocking region is different, the time interval gap of the high level state generated by the interval angle and the time interval -gap_var of the low level state generated by the fixed angle light blocking segment form a combination (gap, -gap_var) that can determine a light blocking region. By detecting the state sequence of a frame of signals, the light blocking region experienced by the current frame can be determined. The variables that can be counted from the light signals collected by the receiver 30 include:

[0117] 1) The two frequencies of the emitted light signals of the light emitting device 116 experienced by the current frame;

[0118] 2) The inner mask offset angle: the starting angle of the light blocking region corresponding to the time interval gap of the low level state generated by the fixed angle light blocking segment in the (gap, -gap_var) combination segment.

[0119] 3) The frame offset length: the sum of the number of data points of all intervals before the (gap, -gap_var) combination segment of the current frame;

[0120] 4) The number of data points generated by the variable angle light blocking segment, i.e. the shadow width of the variable angle light blocking segment.

[0121] The horizontal angle θ can be calculated from three variables:

[0122] 1) Let the mask angle θ at the start of the frame be θstart, which is the angle of the light blocking region corresponding to the flashing frequency at the start of a frame. θstart is determined by the flashing frequency, and when the flashing frequency corresponds to the first light blocking region, θstart is 0.

[0123] 2) The inner mask offset angle θoffset.

[0124] 3) Intra-frame offset angle θframe, (intra-frame offset length / rotation circumference) 360 offset length angle

[0125] The horizontal angle θ is the horizontal offset length angle.

[0126] In the illustrated embodiment, the cover intra-frame offset angle is the angle of the fixed-angle light-blocking segment corresponding to -gap_var in the light-blocking area, if the angle corresponding to -gap_var is 4, since the angles of the fixed-angle light-blocking segments of each light-blocking area are 16, 46, 12, and 82 in turn, the second light-blocking area can be determined, and the cover intra-frame offset angle is θ, which can be determined. The lampshade angle at the start of the frame is determined by the flicker frequency collected in a frame, and the flicker frequency collected in the frame is (f1, f2), if f1=25KHz, and the 25KHZ corresponds to the fourth light-blocking area, then the cover angle at the start of the frame is θlight-blocking area.

[0127] The horizontal angle θ and the vertical angle γ can be calculated by the above method, thereby determining the two-dimensional coordinates of the receiver 30.

[0128] If the vertical height difference 422 between the transmitter and the receiver 30 is unknown, two transmitters 10 are used, and the frequency division multiplexing method is used according to the different flicker frequencies of the two transmitters 10, and the receiver 30 determines the vertical height at which the receiver 30 is located by receiving the light signals emitted by the transmitters 10, and calculates the three-dimensional position of the receiver 30.

[0129] The optical positioning device and method are used by transmitting light signals from the transmitter 10 to the receiver 30, and the receiver 30 performs data processing and calculation according to the received light signals to obtain the position of the receiver 30, and transmits the position of the receiver 30 to the server or the remote monitoring end through the wireless module 302.

[0130] Therefore, the optical positioning device provided by the present application can accurately obtain the angle of rotation of the rotating seat, detect the rotation angle of the convex teeth of the gear disc through the optical coupler, reduce the interference degree of internal jitter to make the positioning more accurate.

[0131] The technical features of the above-described embodiments can be combined in any manner, and to make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, however, as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present application.

[0132] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, several modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. An optical positioning device, comprising a transmitter and a receiver, wherein the transmitter can transmit an optical signal to the receiver, and the receiver can receive the optical signal transmitted by the transmitter, and the optical positioning device determines the position of the receiver based on the optical signal received by the receiver, characterized in that: The transmitter comprises: A light-emitting device capable of emitting light signals of at least two flashing frequencies; the light-emitting device comprises an LED lamp or a CFL lamp; The hollow hemispherical cover is provided with multiple groups of light-blocking areas; the multiple groups of light-blocking areas include fixed-angle light-blocking segments and variable-angle light-blocking segments; the central angles corresponding to the arc lengths of the fixed-angle light-blocking segments on any latitude line of the cover are the same, and the central angles corresponding to the arc lengths of the variable-angle light-blocking segments on the latitude line of the cover monotonically decrease or increase with the increase of the latitude of the cover; A rotating seat is fixedly connected to the cover body, and when the rotating seat rotates, it can drive the cover body to rotate synchronously; A rotation detection unit comprising an optical coupler and a toothed disc, wherein the optical coupler is provided with a notch, and the toothed disc is provided with a plurality of protruding teeth on its periphery, with tooth grooves formed between the plurality of protruding teeth; the toothed disc comprises first protruding teeth and second protruding teeth, wherein the central angle corresponding to the first protruding teeth is 8.25°, the central angle corresponding to the tooth grooves between adjacent first protruding teeth is 3°, the central angle corresponding to the tooth thickness of the second protruding teeth is 5.25°, the central angle corresponding to the tooth grooves between adjacent first protruding teeth on one side is 3°, and the central angle corresponding to the tooth grooves between adjacent first protruding teeth on the other side is 6°; The toothed disc is located on the rotating base and can rotate with the rotation of the rotating base. When the rotating base rotates, the protruding teeth of the toothed disc can pass through the notch of the optical coupler, and the rotation angle of the rotating base is detected according to the situation that the protruding teeth pass through the notch. A base, accommodating the light-emitting device, the rotating base, and the rotation detection unit; The receiver is provided with at least a receiving single chip microcomputer, a light sensor and a wireless module; The light sensor receives the light signal emitted by the transmitter; The receiving single chip microcomputer is connected to the light sensor and processes information of the light signal received by the light sensor; The wireless module is connected to the receiving single chip microcomputer, receives the information processing result of the receiving single chip microcomputer, and sends it to the server.

2. The optical positioning device according to claim 1, wherein: The first protruding teeth and the second protruding teeth have different tooth thicknesses.

3. The optical positioning device according to claim 1, wherein: The transmitter is provided with at least a controller and a driving device; The driving device is connected to the rotating seat, driving the rotating seat to rotate at a predetermined angular velocity; The controller is connected to the driving device, controls the operation of the driving device, and controls the light emitting device to have different flashing frequencies within a time interval when adjacent light blocking areas are swept according to the detection result of the rotation detection unit.

4. The optical positioning device according to claim 1, wherein: The base is provided with a level adjustment device and a level detection device; The level adjustment device is fixed to the base and is used to adjust the level and height of the base; The level detection device is fixed to the base and is used to detect the horizontal state of the base.

5. The optical positioning device according to claim 4, characterized in that: The level adjustment device is a telescoping device, which is provided with at least three adjustment knobs, and the levelness and height of the base are adjusted by the adjustment knobs; The level detection device is a level bead, and there are two level beads, which are respectively located at the outer edge of the base.

6. The optical positioning device according to claim 1, characterized in that The transmitter further comprises a transparent protective shell, which is fixed to the base and covers the hollow hemispherical cover.

7. The optical positioning device according to claim 1, characterized in that: The portion between the fixed-angle light-blocking segment and the start of the light-blocking area is a light-transmitting area, and the portion between the fixed-angle light-blocking segment and the variable-angle light-blocking segment is a light-transmitting area.

8. The optical positioning device according to claim 1, wherein: The number of the flashing frequency types is the same as the number of the light blocking areas.

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