CN105866739B

CN105866739B - A kind of space positioning system and method, location equipment and optical sensor module

Info

Publication number: CN105866739B
Application number: CN201610257245.1A
Authority: CN
Inventors: 李小虎; 张超; 周旭东
Original assignee: Chengdu Idealsee Technology Co Ltd
Current assignee: Chengdu Idealsee Technology Co Ltd
Priority date: 2016-04-22
Filing date: 2016-04-22
Publication date: 2018-02-09
Anticipated expiration: 2036-04-22
Also published as: CN105866739A

Abstract

The invention discloses a kind of space positioning system and method, location equipment and optical sensor module, space positioning system includes location equipment, N number of optical sensor module and master controller, wherein, light scanning apparatus is provided with location equipment, N number of optical sensor module is arranged in bit space undetermined, and each optical sensor module includes M light trigger；Light scanning apparatus is used to generate first direction and the scanning ray of second direction, and first direction and second direction are intersecting both direction；Light trigger is used to generate electric signal in the presence of scanning ray；Master controller is used for the electric signal generated according at least three not conllinear light triggers, determines position of the location equipment in bit space undetermined.This programme make use of characteristic and photoelectric effect of the light along straightline propagation, and sterically defined precision has been brought up into Centimeter Level from meter level, meet people to the higher and higher requirement of spatial positioning accuracy.

Description

A kind of space positioning system and method, location equipment and optical sensor module

Technical field

The present invention relates to space orientation field, more particularly to a kind of space positioning system and method, location equipment and light to pass Sensor module.

Background technology

Space orientation refers to location equipment in the position in space, for example, can pass through GPS (English：Global Positioning System；Chinese：Global positioning system) technology determines the position of equipment.But as people are to positioning The requirement more and more higher of precision, the meter accuracy that GPS technology provides can not meet the needs of people, and specific at some Space is such as indoor, basement, because the barriers such as wall can block gps signal, so GPS technology can not also be applied These specific spaces.

At present, indoors, the specific space such as basement, typically positioned by wireless location technology, be specifically Wireless aps (the English according to known to equipment receives multiple positions：Access Point；Chinese：Access point, be otherwise known as heat Point) signal intensity, then estimate distance of the mobile device apart from each AP using signal attenuation model, finally utilize triangle Location algorithm determines the position where the equipment.

But the precision that wireless location technology provides can not meet that people are more next to spatial positioning accuracy still in meter level Higher requirement.

The content of the invention

It is an object of the invention to provide a kind of space positioning system and method, location equipment and optical sensor module, meets People are to the higher and higher requirement of spatial positioning accuracy.

In order to realize foregoing invention purpose, first aspect of the embodiment of the present invention provides a kind of space positioning system, including Location equipment, N number of optical sensor module and master controller, wherein, light scanning apparatus, the N are provided with the location equipment Individual optical sensor module is arranged in bit space undetermined, and each optical sensor module includes M light trigger, and M and N are positive integer And it can be scanned at least three not conllinear light triggers during the location equipment single sweep operation；

The light scanning apparatus is used to generate first direction and the scanning ray of second direction, the first direction and described Second direction is intersecting both direction；

The light trigger is used to generate electric signal in the presence of the scanning ray；

The master controller is used for the electric signal generated according at least three not conllinear light triggers, determines the positioning Position of the equipment in the bit space undetermined.

Alternatively, the light scanning apparatus includes：

Scanning light source, for generating source light；

Beam shaping unit, it is arranged in the light path of the source light, for the source light to be shaped as into a wordline light Line；

Scanning element, be arranged in the light path of the wordline light, for by the wordline light respectively described First direction and the second direction are scanned, and form the scanning ray.

Alternatively, the light scanning apparatus also includes time zero light source, and the time zero light source is used to generate timing Starting point optical signal, the time zero optical signal are used to cause the light trigger generation time zero electric signal.

Alternatively, the time zero light source is LED light source.

Alternatively, the master controller is additionally operable to send time zero signal to the location equipment so that the positioning Equipment is scanned after the time zero signal is received in the first direction and the second direction.

Alternatively, the scanning light source is laser generating unit.

Alternatively, the laser generating unit includes two laser generation subelements, and the scanning element includes two one MEMS scanning galvanometers are tieed up, wherein, an one-dimensional MEMS scanning galvanometer and a generating device of laser coordinate, and form the first party To scanning ray, another one-dimensional MEMS scanning galvanometer and another generating device of laser coordinate, and forms the second direction Scanning ray.

Alternatively, the beam shaping unit is specially post lens, Bao Weier prism or a wordline wave prism.

Alternatively, the light trigger is specially photodiode.

Alternatively, the optical sensor module also includes：

M amplification and rectification circuit, be connected one by one with the M light trigger, for being amplified to the electric signal and Shape correction；

Processor, it is connected with the M amplification and rectification circuit；

Network interface, it is connected with the processor, for the electric signal after processing to be passed into the master controller.

Alternatively, by wired or wirelessly led between the master controller and the optical sensor module Letter.

Alternatively, the location equipment for it is multiple when, timesharing that each location equipment is sent according to the master controller Scanning signal is scanned at times.

Alternatively, it is J in the location equipment, and the light scanning apparatus in J location equipment can generate J kinds difference During the scanning ray of wavelength, each light trigger is corresponding with a kind of scanning ray of wavelength in J kind different wave lengths, each wavelength Scanning ray can single sweep operation to light triggers corresponding K, and in K light trigger at least 3 not collinearly, Wherein, J is the positive integer more than or equal to 2, and K is the positive integer more than or equal to 3.

Second aspect of the embodiment of the present invention also provides a kind of location equipment, applied in a space positioning system, the sky Between alignment system also include N number of optical sensor module and master controller, N number of optical sensor module is arranged on bit space undetermined In, each optical sensor module includes M light trigger, and M and N can be swept when being positive integer and the location equipment single sweep operation Retouch at least three not conllinear light triggers；The location equipment includes light scanning apparatus, and the light scanning apparatus includes：

Scanning light source, for generating source light；

Scanning element, be arranged in the light path of the wordline light, for by the wordline light respectively first Direction and second direction are scanned, and triggering the light trigger by the scanning ray of formation generates electric signal so that master control The electric signal that device processed generates according at least three not conllinear light triggers, determines the location equipment in the bit space undetermined In position.

Alternatively, the light scanning apparatus also includes：Time zero light source, the time zero light source are used to generate timing Starting point optical signal, the time zero optical signal are used to cause the light trigger generation time zero electric signal.

Alternatively, the time zero light source is LED light source.

Alternatively, the location equipment also includes communication unit, and the location equipment can be connect by the communication unit Receive the time zero signal that the master controller is sent, and according to the time zero signal in the first direction and described the Two directions are scanned.

Alternatively, the scanning light source is laser generating unit.

Alternatively, the laser generating unit includes two laser generation subelements, and the scanning element includes two one MEMS scanning galvanometers are tieed up, wherein, an one-dimensional MEMS scanning galvanometer and a laser occur subelement and coordinated, and form described first The scanning ray in direction, another one-dimensional MEMS scanning galvanometer occur subelement with another laser and coordinated, and form described second The scanning ray in direction.

Alternatively, the location equipment also includes communication unit, and the location equipment can be connect by the communication unit The Time share scanning signal that the master controller is sent is received, and is swept according to the Time share scanning signal in preset time period Retouch.

Alternatively, light trigger corresponding with the scanning ray of multi-wavelength difference is included in each optical sensor module When, the light scanning apparatus can generate the scanning ray of wherein at least one wavelength, and can single sweep operation given birth to K with it Into scanning ray corresponding to light trigger, and in K light trigger at least 3 it is not conllinear, wherein, K is more than or equal to 3 Positive integer.

The third aspect of the embodiment of the present invention also provides a kind of optical sensor module, applied in a space positioning system, institute Stating space positioning system also includes location equipment and master controller, and the location equipment includes light scanning apparatus, and N number of light passes Sensor module is arranged in bit space undetermined, and the optical sensor module includes：

M light trigger, the light trigger are used for raw in the presence of the scanning ray of light scanning apparatus generation Into electric signal, M and N can be scanned when being positive integer and the location equipment single sweep operation at least three not conllinear light triggerings Device；

M amplification and rectification circuit, it is connected one by one with the M light trigger；

Network interface, it is connected with the processor, for the electric signal to be passed into the master controller so that described The electric signal that master controller generates according at least three not conllinear light triggers, determines the location equipment described to be positioned Position in space.

Alternatively, it is J in the location equipment, and the light scanning apparatus in J location equipment can generate J kinds difference During the scanning ray of wavelength, each light trigger is corresponding with a kind of scanning ray of wavelength in J kind different wave lengths, J be more than etc. In 2 positive integer.

Alternatively, the light trigger is specially photodiode.

Alternatively, by wired or wirelessly led between the optical sensor module and the master controller Letter.

Fourth aspect of the embodiment of the present invention also provides a kind of space-location method, including：

N number of optical sensor module is set in bit space undetermined, each optical sensor module includes M light trigger, M and N is positive integer；

After location equipment enters in bit space undetermined, light scanning apparatus in location equipment generation first direction and The scanning ray of second direction is simultaneously scanned, and can be scanned during the location equipment single sweep operation not conllinear at least three Light trigger；

In the presence of the scanning ray, the light trigger generates electric signal；

The electric signal that master controller generates according at least three not conllinear light triggers, determines the location equipment in institute State the position in bit space undetermined.

Alternatively, in the location equipment light scanning apparatus generation first direction and second direction scanning ray simultaneously Before being scanned, methods described also includes：It is concurrent in first time point, the light scanning apparatus generation time zero optical signal Send；

In the first time point, the light trigger generates time zero in the presence of the time zero optical signal Electric signal.

Alternatively, in the location equipment light scanning apparatus generation first direction and second direction scanning ray simultaneously Before being scanned, methods described also includes：In first time point, the location equipment receives the meter that the master controller is sent When home signal.

Alternatively, the light scanning apparatus generation first direction in the location equipment and the scanning ray of second direction are gone forward side by side Row scanning, is specifically included：

The second time point after the first time point, the scanning that the light scanning apparatus passes through the first direction Light, the scanning on the first direction is carried out by the cycle very first time, second time point is that the first time point adds Upper predetermined time delay section；

The 3rd time point after second time point, the scanning that the light scanning apparatus passes through the second direction Light, the scanning in the second direction is carried out, the 3rd time point is to add the very first time at second time point Cycle.

Alternatively, the electric signal that the master controller generates according at least three not conllinear light triggers, it is determined that described Position of the location equipment in the bit space undetermined, is specifically included：

The master controller is set to origin with the optical scanning device, establishes local coordinate system；

The electric signal that the master controller generates according to each light trigger, it is determined that each light trigger and light scanning apparatus Between linear equation；

The master controller is according to the linear equation between at least three not conllinear light triggers and light scanning apparatus, really Fixed relative coordinate of wherein each light trigger in the local coordinate system；

Relative coordinate of the master controller according to each light trigger in the local coordinate system, and each light touch World coordinates of the device in world coordinate system is sent out, determines the conversion square between the local coordinate system and the world coordinate system Battle array；

The master controller determines generation of the light scanning apparatus in the world coordinate system according to the transformation matrix Boundary's coordinate, so that it is determined that going out position of the location equipment in the bit space undetermined.

Compared with prior art, the present invention has the advantages that：

Include the optical sensor module of light trigger as a result of being set in advance in bit space undetermined, and set by positioning The scanning ray of light scanning apparatus generation in standby scans light trigger, and master controller is according at least three not conllinear light The electric signal that trigger generates in the presence of scanning ray determines the technology of position of the location equipment in bit space undetermined Scheme, characteristic and photoelectric effect of the light along straightline propagation are make use of, sterically defined precision has been brought up to centimetre from meter level Level, meets people to the higher and higher requirement of spatial positioning accuracy.

Brief description of the drawings

In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also To obtain other accompanying drawings according to these accompanying drawings：

Fig. 1 is the schematic diagram of space positioning system provided in an embodiment of the present invention；

Fig. 2 is the module diagram of light scanning apparatus 1011 provided in an embodiment of the present invention；

Fig. 3 is the structural representation of light scanning apparatus 1011 provided in an embodiment of the present invention；

Fig. 4 A are the schematic diagram provided in an embodiment of the present invention that source light is shaped as to a wordline light；

Fig. 4 B are the deflection schematic diagram of one-dimensional MEMS scanning galvanometers provided in an embodiment of the present invention；

Fig. 4 C and Fig. 4 D are that light scanning apparatus 1011 provided in an embodiment of the present invention is reverse with second in a first direction respectively The schematic diagram being scanned；

Fig. 4 E are the schematic diagram that LED light source provided in an embodiment of the present invention sends time zero optical signal；

Fig. 5 is the module diagram of optical sensor module 102 provided in an embodiment of the present invention；

Fig. 6 is the front schematic view of optical sensor module 102 provided in an embodiment of the present invention；

Fig. 7 is the flow chart of space-location method provided in an embodiment of the present invention；

Fig. 8 is the schematic diagram provided in an embodiment of the present invention that optical sensor module 102 is set in bit space undetermined；

Fig. 9 is the schematic diagram of the light trigger output pulse signal of scanned light covering.

Embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made Embodiment, belong to the scope of protection of the invention.

In a first aspect, refer to Fig. 1, Fig. 1 is the schematic diagram of space positioning system provided in an embodiment of the present invention, such as Fig. 1 Shown, the space positioning system includes：

Location equipment 101, location equipment 101 are provided with light scanning apparatus 1011, and the light scanning apparatus 1011 can generate The scanning ray of first direction and second direction, first direction and second direction are intersecting both direction；More preferably, first party To being orthogonal both direction with second direction.For example, first direction can be horizontal direction namely x-axis direction, second direction Can be vertical direction namely y-axis direction；

N number of optical sensor module 102, each optical sensor module include M light trigger 1021, M and N be positive integer and It can be scanned during 101 single sweep operation of location equipment at least three not conllinear light triggers 1021, each light triggering therein Device 1021 can generate electric signal in the presence of scanning ray；

Master controller 103.

It should be noted that N number of optical sensor module 102 needs to be set in advance in bit space undetermined, so, each Position of the position of optical sensor module 102 in bit space undetermined is known, and each light trigger 1021 is to be positioned Position in space is also known.

In specific implementation process, after location equipment 101 enters bit space undetermined, the optical scanning in location equipment 101 Device 1011 is to generate the scanning ray of first direction and second direction and be scanned so that light trigger 1021 is in scanning light In the presence of line, electric signal, the telecommunications that master controller 103 generates according at least three not conllinear light triggers 1021 are generated Number, so that it is determined that position of the location equipment 101 in bit space undetermined.

As can be seen that due to make use of characteristic and photoelectric effect of the light along straightline propagation, it is scanned according to scanning ray The electric signal of light trigger generation determine position of the location equipment in bit space undetermined, by sterically defined precision from rice Level has brought up to Centimeter Level, substantially increases sterically defined precision, it is higher and higher to spatial positioning accuracy to meet people It is required that.

In ensuing part, location equipment 101, optical sensor module 102 and master controller 103 will be introduced respectively Specific implementation.

In actual applications, location equipment 101 can be the handheld devices such as handle, gloves or head-mounted display It etc. headset equipment, or can also be other kinds of Wearable, not be limited herein.

Specifically, Fig. 2 is refer to, Fig. 2 is the module diagram of light scanning apparatus 1011 provided in an embodiment of the present invention, such as Shown in Fig. 2, light scanning apparatus 1011 includes：

Scanning light source 10111, for generating source light；For example, scanning light source 10111 can be laser generating unit, Can be LED (English：Light Emitting Diode；Chinese：Light emitting diode) light source；

Beam shaping unit 10112, it is arranged in the light path of source light, for source light to be shaped as into a wordline light, So that the wordline light of later use one is scanned；For example, beam shaping unit 10112 can be post lens, Bao Weier prism An or wordline wave prism etc.；

Scanning element 10113, it is arranged in the light path of a wordline light, for a wordline light to be distinguished in a first direction It is scanned with second direction, forms scanning ray；For example, scanning element 10113 can be MEMS (English：Micro- Electro-Mechanical System；Chinese：MEMS) scanning galvanometer.

To be laser generating unit with scanning light source 10111 in ensuing part, beam shaping unit 10112 is Post lens, scanning element 10113 are to be introduced exemplified by MEMS scanning galvanometers.

Please continue to refer to Fig. 3, Fig. 3 be light scanning apparatus 1011 provided in an embodiment of the present invention structural representation, such as Fig. 3 Shown, in the present embodiment, laser generating unit includes two laser and subelement occurs, and provides first direction and second party respectively To scanning ray source light；Beam shaping unit 10112 is also separately positioned on first direction and second direction including two Source light light path on post lens, the reverse source light of first direction and second is shaped as first by two post lens respectively Direction and a wordline light of second direction, refer to Fig. 4 A, and source light is shaped as by Fig. 4 A to be provided in an embodiment of the present invention The schematic diagram of one wordline light, as shown in Figure 4 A, the source light that laser generation subelement 101111 is sent is passed through into post lens 101121 are shaped as a wordline light, wherein, 21,22,23,24 be vertical divergence light beam, and 25 be horizontal divergence light beam；Scanning is single Member 10113 is also swept including two one-dimensional MEMS being separately positioned in the light path of first direction and a wordline light of second direction Galvanometer is retouched, refer to Fig. 4 B, Fig. 4 B are the deflection schematic diagram of one-dimensional MEMS scanning galvanometers provided in an embodiment of the present invention, wherein, 31 be an incident wordline light, and 32 scanning ray to be emitted, 33 be the encapsulating structure of one-dimensional MEMS scanning galvanometers, and 34 be one The mirror surface structure of MEMS scanning galvanometers is tieed up, generally rectangular, 35 be the rotary shaft of the one-dimensional MEMS scanning galvanometers, such as Fig. 4 B institutes Show, set the one-dimensional MEMS scanning galvanometers in a wordline light path in a first direction to be deflected in the presence of drive signal, can Enough scanning rays that a wordline light of first direction is converted into first direction, namely an one-dimensional MEMS scanning galvanometer and one Individual laser occurs subelement and coordinated, and can form the scanning ray of first direction, similarly, another one-dimensional MEMS scanning galvanometer with Another laser occurs subelement and coordinated, and the scanning ray of second direction can be formed, please continue to refer to Fig. 4 C and Fig. 4 D, Fig. 4 C It is that light scanning apparatus 1011 provided in an embodiment of the present invention is reversed showing for scanning with second in a first direction respectively with Fig. 4 D It is intended to.

In the present embodiment, because the directionality of laser is especially good, so being specially laser generating unit in scanning light source When, the positioning precision of space positioning system can also further lift grade；Also, as a result of MEMS scanning galvanometers To realize scanning, without using vibration components such as high-speed electric expreess locomotives, so greatly reducing the mistake of the electric signal of light trigger output Difference, so as to greatly reduce the error of positioning result.

In actual applications, when scanning element 10113 is scanned in the first direction and a second direction respectively, two sides Upward sweep speed may be different, but the sweep speed in each direction be it is constant, in general, in vertical direction Sweep speed it is very fast, sweep speed in the horizontal direction is slower, is not limited herein.

In order to avoid natural environment light impacts to result of calculation in environment to be positioned, for example, total in natural environment light Some light can also cause light trigger to generate electric signal, while also avoid causing vision to disturb user, for example, a certain The scan line of kind visible ray can be streaked rapidly from the visual field of user, therefore, in the present embodiment, laser generating unit hair The laser gone out is infrared laser, such as the wavelength of infrared laser can be 900nm, 940nm etc..

Certainly, in other embodiments, the intensity for the laser that laser generating unit is sent can also be set to be much larger than certainly Corresponding monochromatic intensity in right ambient light, and light trigger is arranged in the presence of the light more than the certain strength Can generate electric signal, or by light trigger be arranged on the visible rays such as sunlight can not direct irradiation position, so as to The influence of natural environment light can be avoided, is just repeated no more herein.

In another embodiment, the laser generating unit in light scanning apparatus can also be arranged to a laser to occur Device, after the scanning that light scanning apparatus carries out first direction, the scanning means is entered by horizontal deflection by mechanical device so that light is swept Imaging apparatus output second direction scanning ray to carry out the scanning of second direction, so also disclosure satisfy that generation first direction and The requirement of the scanning ray of second direction, is just repeated no more herein.

In specific implementation process, during in order to ensure that light scanning apparatus 1011 is scanned with second direction in a first direction There can be an accurate time zero, light scanning apparatus 1011 provided in an embodiment of the present invention also includes time zero light source, The time zero light source is used to generate time zero optical signal, and the light trigger 1021 in optical sensor module 102 is in the timing In the presence of starting point optical signal, time zero electric signal can be generated, then can will generate the time of the time zero electric signal As time zero；For example, the generation time of time zero electric signal can be sent to master controller by optical sensor module 102 103, so that master controller 103 is handled.

In the present embodiment, time zero light source is specially LED light source.Likewise, the shadow in order to avoid natural environment light Ring, LED light source herein is infrared LED light source.

Fig. 4 E are refer to, Fig. 4 E are the schematic diagram that LED light source provided in an embodiment of the present invention sends time zero optical signal, As shown in Figure 4 E, the time zero optical signal that LED light source is sent covers a border circular areas in front, so that capped Light trigger 1021 can in the presence of time zero optical signal, generate time zero electric signal.LED light source specifically can be with The LED dot matrix being made up of multiple LED point light sources realize that the LED dot matrix can be arranged on the surrounding of light scanning apparatus 1011, also may be used To set the optional position in location equipment 101, it is only necessary to ensure region and the light scanning apparatus of time zero optical signal covering The region of 1011 scanning ray covering can substantially overlap, and just repeat no more herein.

Certainly, in actual applications, the region of time zero optical signal covering can be arbitrary shape, to meet actual feelings The needs of condition are defined, and are not limited herein.

In other embodiments, the intensity for the time zero optical signal that time zero light source is sent can also be set to long-range Monochromatic certain strength corresponding in natural environment light, and light trigger is arranged in the light more than the certain strength In the presence of can generate time zero electric signal, it is just no longer superfluous herein so as to can also avoid the influence of natural environment light State.

Certainly, in another embodiment, time zero signal can also be sent from master controller 103 to location equipment 101, Location equipment 101 can be scanned with second direction in a first direction after the time zero signal is received, therefore can So that location equipment 101 to be received to time point of time zero signal as time zero, so, location equipment 101 can will The time point for receiving time zero signal is sent to master controller 103, so that master controller 103 is handled.

After the specific implementation of location equipment 101 has been introduced, in ensuing part, optical sensor module will be introduced 102 specific implementation.

Please continue to refer to Fig. 5, Fig. 5 is the module diagram of optical sensor module 102 provided in an embodiment of the present invention, is such as schemed Shown in 2, the optical sensor module 102 includes：

M light trigger 1021, light trigger 1021 are used for the effect of the scanning ray generated in light scanning apparatus 1011 Lower generation electric signal, M can be scanned at least three not conllinear light triggers when being positive integer and location equipment single sweep operation；

M amplification and rectification circuit 1022, it is connected one by one with M light trigger 1021；

Processor 1023, it is connected with M amplification and rectification circuit 1022；

Network interface 1024, it is connected with processor 1023, for electric signal to be passed into master controller 103 so that master control The electric signal that device 103 processed generates according at least three not conllinear light triggers 1021, determines location equipment 101 in sky to be positioned Between in position.

In specific implementation process, light trigger 1021 can be photodiode, and the photodiode can respond specific The light irradiation of frequency and generate corresponding electric signal, certainly, in the present embodiment, photodiode can respond foregoing description The time zero optical signal for scanning ray and time zero the light source generation that light scanning unit 10113 generates.

In other embodiments, the light trigger 1021 belonging to this area can also select other conjunctions according to actual conditions Suitable device is realized, to meet the needs of actual conditions, is just repeated no more herein.

Please continue to refer to Fig. 6, Fig. 6 is the front schematic view of optical sensor module 102 provided in an embodiment of the present invention, is such as schemed Shown in 6, in the present embodiment, the optical sensor module 102 includes 16 light triggers 1021, and certainly, such as Fig. 5 is introduced When content, the optical sensor module also includes 16 amplification and rectification circuits 1022, in addition to processor 1023 and network interface 1024, it is necessary to explanation, processor herein are the processors on a logical meaning, physically can by one or Multiple entity handles devices are realized, are just repeated no more herein.

Certainly, in other embodiments, by the introduction of the present embodiment, light trigger 1021 in optical sensor module 102 Quantity can be configured as the those of ordinary skill belonging to this area according to actual conditions, to meet the need of actual conditions Will, it is not limited herein.

In specific implementation process, optical sensor module 102 can be by the network interface 1024 by light trigger 1021 The electric signal generated in the presence of scanning ray passes to master controller 103, specifically, can be by wired or wireless Mode is communicated.

Certainly, in actual applications, optical sensor module 102 can also be arranged as required to memory cell etc., herein Just repeat no more.

After the specific implementation of smooth optical sensor module 102 has been introduced, the specific implementation of master controller 103 will be introduced.

In the present embodiment, master controller 103 is mainly used in the electricity generated according to light trigger in optical sensor module 102 Signal, to determine position of the location equipment 101 in bit space undetermined, therefore, master controller 103 is on a logical meaning Processor, physically it can realize that master controller 103 can be arranged on any need by the processor of one or more entity The position wanted, for example, can be arranged on a main frame or server, the main frame or server can be with location equipments 101 Communicated with optical sensor module 102, then basis gets the generation of light trigger 1021 from optical sensor module 102 Electric signal, so that it is determined that location equipment 101 is in the position of bit space undetermined, it is of course also possible to be set directly at location equipment 101 On, just repeat no more herein.

By above-mentioned part can be seen that the present embodiment provide space positioning system, employ by scanning ray come The technical scheme for scanning the light trigger that pre-sets to position location equipment, light scanning apparatus and light trigger into This is very low, therefore system cost is relatively low, while locating effect is also preferable, and being advantageous to the extensive of space positioning system makes With.

Location equipment 101, the and of optical sensor module 102 in space positioning system provided in an embodiment of the present invention has been introduced After the specific implementation of master controller 103, in ensuing part, specifically how to determine location equipment 101 undetermined by introducing Position in bit space.

Fig. 7 is refer to, Fig. 7 is the flow chart of space-location method provided in an embodiment of the present invention, as shown in fig. 7, the party Method includes：

S1：N number of optical sensor module is set in bit space undetermined, each optical sensor module includes M light trigger, M and N is positive integer；

S2：After location equipment enters in bit space undetermined, light scanning apparatus in location equipment generation first direction and The scanning ray of second direction is simultaneously scanned, and can be scanned during location equipment single sweep operation at least three not conllinear light Trigger；

S3：In the presence of scanning ray, light trigger generation electric signal；

S4：The electric signal that master controller generates according at least three not conllinear light triggers, determines that location equipment is being treated Position in located space.

In ensuing part, the location equipment 101 of preceding sections introduction, optical sensor module 102 and total will be combined The specific implementation of controller 103, this method is discussed in detail.

In S1, the particular location that N number of optical sensor module 102 is arranged in bit space undetermined does not limit, to meet reality The needs of border situation are defined, in general, N number of optical sensor module 102 in bit space undetermined can with relatively uniform distribution, It can also be provided that setting accuracy requires that the quantity that higher place is set is relatively more, setting accuracy requires relatively low Place set quantity it is more relatively fewer.

Fig. 8 is refer to, Fig. 8 is showing in bit space undetermined setting optical sensor module 102 provided in an embodiment of the present invention It is intended to, as shown in figure 8, in the present embodiment, N number of optical sensor module 102 is evenly distributed in bit space undetermined.

After N number of optical sensor module 102 is arranged on into bit space undetermined, a world is established in the located space and is sat Mark system, i.e., the world coordinates value of these optical sensor modules 102 by equipment such as ruler, laser range finders, can be measured, The world coordinates value of each light trigger 1021 in optical sensor module 102 can be obtained.

After S1, after location equipment 101 enters in bit space undetermined, the light scanning apparatus in location equipment 101 Before 1011 generate the scanning ray of first directions and second direction and are scanned, in order to ensure that light scanning apparatus 1011 is being swept There can be an accurate time zero before retouching, method provided in an embodiment of the present invention also includes：In first time point, light is swept Imaging apparatus 1011 generates time zero optical signal and sent.In the present embodiment, namely light scanning apparatus 1011 is risen by timing Spot light have issued time zero optical signal.

After time zero light source have issued time zero optical signal, in the first time point, light trigger 1021 exists Time zero electric signal is generated in the presence of time zero optical signal, this first time point can be used as light scanning apparatus 1011 Carry out the time zero of the scanning of first direction and second direction.

Certainly, in another embodiment, time zero can also be sent to location equipment 101 by master controller 103 Signal, if location equipment 101 makes referrals to the time zero signal of the transmission of master controller 103 in first time point, it can also incite somebody to action The first time point carries out the time zero of the scanning of first direction and second direction as light scanning apparatus 1011.

After it is determined that light scanning apparatus 1011 carries out the time zero of the scanning of first direction and second direction, i.e., it can hold Row S2, i.e.,：The scanning ray of light scanning apparatus generation first direction and second direction in location equipment is simultaneously scanned.Specifically For, it can include：

The second time point after first time point, light scanning apparatus 1011 are pressed by the scanning ray of first direction The cycle very first time carries out the scanning on first direction, and the second time point was that first time point adds predetermined time delay section；In advance If delay period refers to after time zero light source sends time zero optical signal, the time margin reserved to light trigger, Of course, if location equipment 101 and light trigger 1021 are all sensitive enough, predetermined time delay section could be arranged to 0, herein Just repeat no more；

The 3rd time point after the second time point, light scanning apparatus 1011 are entered by the scanning ray of second direction Scanning in row second direction, the 3rd time point are to add the cycle very first time at the second time point.

After s 2, space-location method provided in an embodiment of the present invention enters S3, is sent in light scanning apparatus 1011 In the presence of first direction and the scanning ray of second direction, light trigger 1021 generates electric signal, in the present embodiment, due to Time zero light source in light scanning apparatus 1011 can also send time zero optical signal, so, be timed starting point optical signal and The light trigger 1021 of scanning ray covering can export 3 pulse signals.

Fig. 9 is refer to, Fig. 9 is to be timed starting point optical signal and the output pulse letter of light trigger 1021 of scanning ray covering Number schematic diagram, as shown in figure 9, pulse signal 901 is time zero electric signal, pulse signal 902 is the scanning of first direction The pulse signal exported when light scanning is to the light trigger, pulse signal 903 arrives for the scanning ray scanning of second direction should The pulse signal exported during light trigger.Optical sensor module 102 can when light trigger exports this 3 pulse signals, by this 3 Individual pulse signal marks the respective generation time, and is sent to master controller 103.

Of course, in another embodiment, if being risen using timing is sent to location equipment 101 by master controller 103 The mode of point signal, then light trigger 1021 can only generate two pulse signals, master controller 103, can be according to fixed when calculating The time that position equipment 101 receives time zero signal as the time zero time, just repeats no more herein.

As can be seen that by way of time zero light source output time zero optical signal, with by master controller 103 to The mode that location equipment 101 sends time zero signal is compared, and time delay is relatively shorter, and easily calculates, so light triggers The degree of accuracy for the signal that device 1021 exports is higher.

After S3, space-location method provided in an embodiment of the present invention enters S4, i.e.,：Master controller is according at least three The electric signal of not conllinear light trigger generation, determines position of the location equipment in bit space undetermined.

Specifically, S4 comprises the following steps：

First, master controller 103 is set to origin with optical scanning device, establishes local coordinate system；Establish the specific mistake of coordinate system Journey just repeats no more herein.

Second, the electric signal that master controller 103 generates according to each light trigger, it is determined that each light trigger 1021 and light Linear equation between scanning means 1011；

In the present embodiment, as introduced in S3, because the sweep speed of scanning ray in each direction is constant Speed, so the time point according to Fig. 9 is the deflection angle that can calculate first direction and the scanning ray of second direction Degree, for example, the deflection angle θ on first direction₁=f₁(t₁), wherein, θ₁For the light trigger 1021 in a first direction inclined Gyration, f₁() is the scanning function of scanning ray in a first direction, t₁For the generation time of pulse signal 902, similarly, root According to the generation time t of the pulse signal 903 in second direction₂, the light trigger 1021 can be calculated in a second direction Deflection angle, just repeat no more herein.

According to the deflection angle of light trigger 1021 in the first direction and a second direction, that is, it can determine that the light triggers Linear equation between device 1021 and light scanning apparatus 1011；Similarly, can be in the hope of each timing by light scanning apparatus 1011 Linear equation between optical signal and the light trigger 1021 and light scanning apparatus 1011 of scanning ray covering.

3rd, master controller 103 is according between at least three not conllinear light triggers 1021 and light scanning apparatus 1011 Linear equation, it is determined that relative coordinate of wherein each light trigger 1021 in local coordinate system；

In order to compactly illustrate the scheme in the embodiment of the present invention, in the present embodiment, will be touched with three not conllinear light Device is sent out to carry out citing introduction, it is respectively P to set three not conllinear light triggers₀、P₁And P₂。

Due to P being determined by abovementioned steps and respectively₀、P₁、P₂Linear equation between origin, simultaneously because Light trigger P₀、P₁、P₂World coordinates be, it is known that going out light trigger P so as to simultaneous solution₀、P₁、P₂In local coordinate system In coordinate value, detailed process can have a variety of computational methods by mathematical method, just repeat no more herein.

4th, relative coordinate of the master controller 103 according to each light trigger 1021 in local coordinate system, and each World coordinates of the light trigger 1021 in world coordinate system, determine the conversion square between local coordinate system and world coordinate system Battle array；

In the present embodiment, light trigger P is determined in master controller 103₀、P₁、P₂Coordinate in local coordinate system Value, further according to world coordinates value of these three light triggers in world coordinate system, it becomes possible to determine local coordinate system and generation Transformation matrix between boundary's coordinate system, detailed process can equally have a variety of computational methods by mathematical method, herein also no longer Repeat.

5th, master controller 103 determines that the world of the light scanning apparatus 1011 in world coordinate system is sat according to transformation matrix Mark, so that it is determined that going out position of the location equipment 101 in bit space undetermined；

In the present embodiment, because light scanning apparatus 1011 is the origin in local coordinate system, so knowing local seat After transformation matrix between mark system and world coordinate system, i.e., the world coordinates of light scanning apparatus 1011 can be easily tried to achieve, due to Light scanning apparatus 1011 is provided in location equipment 101, so being capable of determining that location equipment 101 in bit space undetermined In position.

As can be seen that space positioning system provided in an embodiment of the present invention extremely simple convenience in installation and debugging, is only needed Optical sensor module is pre-set in bit space undetermined positioning can be achieved, while the size for treating located space does not limit System, can expand to types of applications scene, be easy to use.

Certainly, in specific implementation process, in the case where computing capability, time delay allow, space positioning system can To contrast the signal of more light trigger outputs, noise signal therein is rejected, the noise signal refers to light trigger output Signal is generated in the presence of the scanning ray by light scanning apparatus, then is sat to calculate the world of light scanning apparatus 1011 Mark, the accuracy of last result of calculation can be so greatly improved, can also improve the robustness of space positioning system, for example, Space positioning system obtains the pulse signal of 20,30 or more light trigger outputs simultaneously, then passes through RANSAC (English Text：RANdom SAmple Consensus；Chinese：Random sampling uniformity) algorithm rejects noise signal therein, then root The world coordinates of light scanning apparatus is calculated according to remaining pulse signal, is just repeated no more herein.

Preceding sections describe the detailed process that a location equipment is positioned in bit space undetermined, ensuing In part, detailed process that will introduce multiple location equipments and positioned in bit space undetermined in the present embodiment, will be introduced Two kinds of modes that multiple location equipments are positioned.

The first：By the way of timesharing.

Specifically, after multiple location equipments 101 for needing to position enter bit space undetermined, for example, each positioning is set Standby 101 can be by sending the signals of request positioning to master controller 103, and master controller 103 is according to the number of location equipment 101 Amount, a sweep time section is distributed for each location equipment 101, specifically can be by sending Time share scanning to each location equipment Signal notifies when it is scanned, location equipment 101 can determine that itself should be after Time share scanning signal is received Which is scanned the period, is then scanned in the corresponding period.

Certainly, follow-up processing procedure and how being positioned to a location equipment for preceding sections introduction are treated Journey is similar, just repeats no more herein.

Second：By the way of crossover rate.

Specifically, such as need the location equipment 101 that positions J is the positive integer more than or equal to 2, and the J fixed for J Light scanning apparatus in the equipment of position can generate the scanning ray of J kind different wave lengths, can be each location equipment specifically In light scanning apparatus can generate the scanning rays of J kind different wave lengths, during being positioned to location equipment, often Individual location equipment uses can be only generated J with the scanning ray of other location equipment different wave length or each location equipment A kind of scanning ray of wavelength in the scanning ray of kind different wave length, is not limited herein.

Also, each light trigger is corresponding with the scanning ray of one of which wavelength in optical sensor module, namely can Electric signal is generated in the presence of corresponding scanning ray, it is also desirable to the position by setting light optical sensor module Put, ensure scanning ray that each location equipment sends can single sweep operation to K corresponding light triggers, K be more than Positive integer equal to 3, also, in K light trigger at least 3 be not conllinear, can be so situated between by preceding sections The localization method to continue positions to location equipment, and how follow-up processing procedure positions with preceding sections introduction to one The processing procedure that equipment is positioned is similar, just repeats no more herein.

To sum up, include the optical sensor module of light trigger as a result of being set in advance in bit space undetermined, and pass through The scanning ray of light scanning apparatus generation in location equipment scans light trigger, and master controller according at least three not altogether The electric signal that the light trigger of line generates in the presence of scanning ray determines position of the location equipment in bit space undetermined Technical scheme, make use of characteristic and photoelectric effect of the light along straightline propagation, sterically defined precision brought up to from meter level Centimeter Level, meets people to the higher and higher requirement of spatial positioning accuracy.

Based on same inventive concept, second aspect of the embodiment of the present invention also provides a kind of location equipment, applied to a space In alignment system, space positioning system also includes N number of optical sensor module and master controller, and N number of optical sensor module is arranged on In bit space undetermined, each optical sensor module includes M light trigger, when M and N are positive integer and location equipment single sweep operation It can scan at least three not conllinear light triggers；Location equipment includes light scanning apparatus, and light scanning apparatus includes：

Scanning light source, for generating source light；

Beam shaping unit, it is arranged in the light path of source light, for source light to be shaped as into a wordline light；

Scanning element, be arranged in the light path of a wordline light, for by a wordline light respectively in a first direction with the Two directions are scanned, and triggering light trigger by the scanning ray of formation generates electric signal so that master controller is according at least The electric signal of three not conllinear light trigger generations, determines position of the location equipment in bit space undetermined.

In specific implementation process, light scanning apparatus also includes：Time zero light source, time zero light source is based on generating Shi Qidian optical signals, time zero optical signal are used to cause light trigger generation time zero electric signal.

In specific implementation process, time zero light source is LED light source.

In specific implementation process, location equipment also includes communication unit, and location equipment can be received by communication unit The time zero signal that master controller is sent, and be scanned in a first direction with second direction according to time zero signal.

In specific implementation process, scanning light source is laser generating unit.

In specific implementation process, laser generating unit includes two laser and subelement occurs, and scanning element includes two One-dimensional MEMS scanning galvanometers, wherein, an one-dimensional MEMS scanning galvanometer and a laser occur subelement and coordinated, and form first party To scanning ray, another one-dimensional MEMS scanning galvanometer and another laser occurs subelement and coordinates, and forms second direction Scanning ray.

In specific implementation process, beam shaping unit is specially post lens, Bao Weier prism or a wordline wave prism.

In specific implementation process, location equipment also includes communication unit, and location equipment can be received by communication unit The Time share scanning signal that master controller is sent, and be scanned according to Time share scanning signal in preset time period.

In specific implementation process, include in each optical sensor module corresponding respectively with the scanning ray of multi-wavelength During light trigger, light scanning apparatus can generate the scanning ray of wherein at least one wavelength, and can single sweep operation to K with Light trigger corresponding to its scanning ray generated, and in K light trigger at least 3 it is not conllinear, wherein, K for more than etc. In 3 positive integer.

The structure and concrete principle for the location equipment that second aspect provides have been carried out being discussed in detail in the first aspect, Just repeat no more herein.

Based on same inventive concept, the third aspect of the embodiment of the present invention also provides a kind of optical sensor module, applied to one In space positioning system, space positioning system also includes location equipment and master controller, and location equipment includes light scanning apparatus, N Individual optical sensor module is arranged in bit space undetermined, and optical sensor module includes：

M light trigger, light trigger are used to generate electric signal in the presence of the scanning ray of light scanning apparatus generation, M and N can be scanned at least three not conllinear light triggers when being positive integer and location equipment single sweep operation；

M amplification and rectification circuit, it is connected one by one with M light trigger；

Processor, it is connected with M amplification and rectification circuit；

Network interface, it is connected with processor, for electric signal to be passed into master controller so that master controller is according at least The electric signal of three not conllinear light trigger generations, determines position of the location equipment in bit space undetermined.

It it is J in location equipment, and the light scanning apparatus in J location equipment can generate J in specific implementation process During the scanning ray of kind different wave length, each light trigger is corresponding with a kind of scanning ray of wavelength in J kind different wave lengths, and J is Positive integer more than or equal to 2.

In specific implementation process, light trigger is specially photodiode.

In specific implementation process, by wired or wirelessly carry out between optical sensor module and master controller Communication.

The structure and concrete principle for the optical sensor module that the third aspect provides have been carried out in detail in the first aspect Introduce, just repeat no more herein.

One or more technical scheme in the embodiment of the present invention, at least with following technical characteristic or advantage：

The embodiment of the invention discloses following technical scheme：

A1. a kind of space positioning system, it is characterised in that including location equipment, N number of optical sensor module and master control Device, wherein, light scanning apparatus is provided with the location equipment, N number of optical sensor module is arranged in bit space undetermined, Each optical sensor module includes M light trigger, and M and N can be scanned when being positive integer and the location equipment single sweep operation The light trigger not conllinear at least three；

A2, the space positioning system as described in A1, it is characterised in that the light scanning apparatus includes：

Scanning light source, for generating source light；

A3, the space positioning system as described in A2, it is characterised in that the light scanning apparatus also includes time zero light Source, the time zero light source are used to generate time zero optical signal, and the time zero optical signal is used to the light is touched Send out device generation time zero electric signal.

A4, the space positioning system as described in A3, it is characterised in that the time zero light source is LED light source.

A5, the space positioning system as described in A2, it is characterised in that the master controller is additionally operable to the location equipment Send time zero signal so that the location equipment after the time zero signal is received, in the first direction and The second direction is scanned.

A6, the space positioning system as described in A2, it is characterised in that the scanning light source is laser generating unit.

A7, the space positioning system as described in A6, it is characterised in that the laser generating unit includes two laser and occurred Subelement, the scanning element include two one-dimensional MEMS scanning galvanometers, wherein, an one-dimensional MEMS scanning galvanometer and one swash Light generating apparatus coordinates, and forms the scanning ray of the first direction, another one-dimensional MEMS scanning galvanometer and another laser Generating means coordinates, and forms the scanning ray of the second direction.

A8, the space positioning system as described in A2, it is characterised in that the beam shaping unit is specially post lens, Bao Weir prism or a wordline wave prism.

A9, the space positioning system as described in A1, it is characterised in that the light trigger is specially photodiode.

A10, the space positioning system as described in any claim in A1, it is characterised in that the optical sensor module also wraps Include：

A11, the space positioning system as described in A10, it is characterised in that the master controller and the optical sensor module Between by wired or wirelessly communicated.

A12, the space positioning system as described in any claims of A1-A11, it is characterised in that in the location equipment be more When individual, the Time share scanning signal that each location equipment is sent according to the master controller is scanned at times.

A13, the space positioning system as described in any claims of A1-A11, it is characterised in that in the location equipment be J It is individual, and when the light scanning apparatus in J location equipment can generate the scanning ray of J kind different wave lengths, each light trigger and J A kind of scanning ray of wavelength is corresponding in kind of different wave length, the scanning ray of each wavelength can single sweep operation to K it is individual and its Corresponding light trigger, and in K light trigger at least 3 it is not conllinear, wherein, J is the positive integer more than or equal to 2, and K is big In the positive integer equal to 3.

B14, a kind of location equipment, applied in a space positioning system, it is characterised in that the space positioning system is also Including N number of optical sensor module and master controller, N number of optical sensor module is arranged in bit space undetermined, and each light passes Sensor module includes M light trigger, and M and N can scan at least three when being positive integer and the location equipment single sweep operation Individual not conllinear light trigger；The location equipment includes light scanning apparatus, and the light scanning apparatus includes：

Scanning light source, for generating source light；

B15, the location equipment as described in B14, it is characterised in that the light scanning apparatus also includes：Time zero light source, The time zero light source is used to generate time zero optical signal, and the time zero optical signal is used to cause the light trigger Generate time zero electric signal.

B16, the location equipment as described in B15, it is characterised in that the time zero light source is LED light source.

B17, the location equipment as described in B14, it is characterised in that the location equipment also includes communication unit, described fixed Position equipment can receive the time zero signal that the master controller is sent by the communication unit, and be risen according to the timing Point signal is scanned in the first direction and the second direction.

B18, the location equipment as described in B14, it is characterised in that the scanning light source is laser generating unit.

B19, the location equipment as described in B18, it is characterised in that the laser generating unit includes two laser and son occurs Unit, the scanning element include two one-dimensional MEMS scanning galvanometers, wherein, an one-dimensional MEMS scanning galvanometer and a laser Generation subelement coordinates, and forms the scanning ray of the first direction, another one-dimensional MEMS scanning galvanometer and another laser Generation subelement coordinates, and forms the scanning ray of the second direction.

B20, the location equipment as described in B14, it is characterised in that the beam shaping unit is specially post lens, Bao Wei That prism or a wordline wave prism.

B21, the location equipment as described in any claims of B14-20, it is characterised in that the location equipment also includes communication Unit, the location equipment can receive the Time share scanning signal that the master controller is sent, and root by the communication unit It is scanned according to the Time share scanning signal in preset time period.

B22, the location equipment as described in any claims of B14-20, it is characterised in that include in each optical sensor module During with the scanning ray corresponding light trigger of difference of multi-wavelength, the light scanning apparatus can generate wherein at least one ripple Long scanning ray, and can single sweep operation to K light triggers corresponding with the scanning ray that it is generated, and K light triggers In device at least 3 it is not conllinear, wherein, K is the positive integer more than or equal to 3.

C23, a kind of optical sensor module, applied in a space positioning system, it is characterised in that the space orientation system System also includes location equipment and master controller, and the location equipment includes light scanning apparatus, and N number of optical sensor module is set In bit space undetermined, the optical sensor module includes：

C24, the optical sensor module as described in C23, it is characterised in that it is individual for J in the location equipment, and J positioning When light scanning apparatus in equipment can generate the scanning ray of J kind different wave lengths, in each light trigger and J kind different wave lengths A kind of scanning ray of wavelength is corresponding, and J is the positive integer more than or equal to 2.

C25, the optical sensor module as described in C23, it is characterised in that the light trigger is specially photodiode.

C26, the optical sensor module as described in C23, it is characterised in that the optical sensor module and the master controller Between by wired or wirelessly communicated.

D27, a kind of space-location method, it is characterised in that including：

D28, the space-location method as described in D27, it is characterised in that

The scanning ray of light scanning apparatus generation first direction and second direction in the location equipment is simultaneously swept Before retouching, methods described also includes：In first time point, the light scanning apparatus generates time zero optical signal and sent；

D29, the space-location method as described in D27, it is characterised in that the light scanning apparatus life in the location equipment Into first direction and the scanning ray of second direction and before being scanned, methods described also includes：It is described in first time point Location equipment receives the time zero signal that the master controller is sent.

D30, the space-location method as described in D28 or D29, it is characterised in that the optical scanning device in the location equipment Put the scanning ray of generation first direction and second direction and be scanned, specifically include：

D31, the space-location method as described in D27, it is characterised in that the master controller is not conllinear according at least three Light trigger generation electric signal, determine position of the location equipment in the bit space undetermined, specifically include：

All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive Feature and/or step beyond, can combine in any way.

Any feature disclosed in this specification (including any accessory claim, summary and accompanying drawing), except non-specifically chatting State, can alternative features equivalent by other or with similar purpose replaced.I.e., unless specifically stated otherwise, each feature It is an example in a series of equivalent or similar characteristics.

The invention is not limited in foregoing embodiment.The present invention, which expands to, any in this manual to be disclosed New feature or any new combination, and disclose any new method or process the step of or any new combination.

Claims

A kind of 1. space positioning system, it is characterised in that including location equipment, N number of optical sensor module and master controller, its In, light scanning apparatus is provided with the location equipment, N number of optical sensor module is arranged in bit space undetermined, each Optical sensor module includes M light trigger, M and N can be scanned when being positive integer and the location equipment single sweep operation to Few three not conllinear light triggers；

The light scanning apparatus is used to generate first direction and the scanning ray of second direction, the first direction and described second Direction is intersecting both direction；

The light trigger is used to generate electric signal in the presence of the scanning ray；

The master controller is used for the electric signal generated according at least three not conllinear light triggers, determines the location equipment Position in the bit space undetermined.
2. space positioning system as claimed in claim 1, it is characterised in that the light scanning apparatus includes：

Scanning light source, for generating source light；

Beam shaping unit, it is arranged in the light path of the source light, for the source light to be shaped as into a wordline light；

Scanning element, be arranged in the light path of the wordline light, for by the wordline light respectively described first Direction and the second direction are scanned, and form the scanning ray.
3. space positioning system as claimed in claim 2, it is characterised in that the light scanning apparatus also includes time zero light Source, the time zero light source are used to generate time zero optical signal, and the time zero optical signal is used to the light is touched Send out device generation time zero electric signal.
4. space positioning system as claimed in claim 3, it is characterised in that the time zero light source is LED light source.
5. space positioning system as claimed in claim 2, it is characterised in that the master controller is additionally operable to set to the positioning Preparation send time zero signal so that the location equipment is after the time zero signal is received, in the first direction It is scanned with the second direction.
6. space positioning system as claimed in claim 2, it is characterised in that the scanning light source is laser generating unit.
7. space positioning system as claimed in claim 6, it is characterised in that the laser generating unit includes two laser and sent out Raw subelement, the scanning element include two one-dimensional MEMS scanning galvanometers, wherein, an one-dimensional MEMS scanning galvanometer and one Generating device of laser coordinates, and forms the scanning ray of the first direction, and another one-dimensional MEMS scanning galvanometer swashs with another Light generating apparatus coordinates, and forms the scanning ray of the second direction.
8. a kind of location equipment, applied in a space positioning system, it is characterised in that the space positioning system also includes N Individual optical sensor module and master controller, N number of optical sensor module are arranged in bit space undetermined, each optical sensor mould Group includes M light trigger, and M and N can scan uncommon at least three when being positive integer and the location equipment single sweep operation The light trigger of line；The location equipment includes light scanning apparatus, and the light scanning apparatus includes：

Scanning light source, for generating source light；

Beam shaping unit, it is arranged in the light path of the source light, for the source light to be shaped as into a wordline light；

Scanning element, it is arranged in the light path of the wordline light, for the wordline light to be distinguished in a first direction It is scanned with second direction, triggering the light trigger by the scanning ray of formation generates electric signal so that master controller The electric signal generated according at least three not conllinear light triggers, determines the location equipment in the bit space undetermined Position.
9. a kind of optical sensor module, applied in a space positioning system, it is characterised in that the space positioning system also wraps Location equipment and master controller are included, the location equipment includes light scanning apparatus, and N number of optical sensor module is arranged on undetermined In bit space, the optical sensor module includes：

M light trigger, the light trigger are used to generate electricity in the presence of the scanning ray of light scanning apparatus generation Signal, M and N can be scanned at least three not conllinear light triggers when being positive integer and the location equipment single sweep operation；

M amplification and rectification circuit, it is connected one by one with the M light trigger；

Processor, it is connected with the M amplification and rectification circuit；

Network interface, it is connected with the processor, for the electric signal to be passed into the master controller so that the master control The electric signal that device processed generates according at least three not conllinear light triggers, determines the location equipment in the bit space undetermined In position.
A kind of 10. space-location method, it is characterised in that including：

N number of optical sensor module is set in bit space undetermined, and each optical sensor module includes M light trigger, and M and N are Positive integer；

After location equipment enters in bit space undetermined, the light scanning apparatus generation first direction and second in the location equipment The scanning ray in direction is simultaneously scanned, and can be scanned during the location equipment single sweep operation at least three not conllinear light Trigger；

In the presence of the scanning ray, the light trigger generates electric signal；

The electric signal that master controller generates according at least three not conllinear light triggers, determines that the location equipment is treated described Position in located space.