CN106707738A - Method for calibrating clocks of two ultrasonic modules - Google Patents
Method for calibrating clocks of two ultrasonic modules Download PDFInfo
- Publication number
- CN106707738A CN106707738A CN201710074351.0A CN201710074351A CN106707738A CN 106707738 A CN106707738 A CN 106707738A CN 201710074351 A CN201710074351 A CN 201710074351A CN 106707738 A CN106707738 A CN 106707738A
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- China
- Prior art keywords
- module
- modules
- ultrasonic wave
- time
- clock
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- G—PHYSICS
- G04—HOROLOGY
- G04R—RADIO-CONTROLLED TIME-PIECES
- G04R20/00—Setting the time according to the time information carried or implied by the radio signal
- G04R20/26—Setting the time according to the time information carried or implied by the radio signal the radio signal being a near-field communication signal
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Unknown Time Intervals (AREA)
Abstract
The invention discloses a method for calibrating clocks of two ultrasonic modules. The method comprises the steps that: a module A sends an ultrasonic wave to a module B, the module B receives the ultrasonic wave from the module A and then delays a predetermined time, and then the module B sends the ultrasonic wave to the module A, thus confirming the ultrasonic wave propagation time Tab from the module A to the module B; then the module A sends the ultrasonic wave to the module B, and the ultrasonic wave sending time Ta of the module A is recorded, and is sent to the module B through WIFI; the time Tb when the module B receives the ultrasonic wave sent by the module A and the time Ta sent by the WIFI are recorded, and then the time difference between the module A and the module B, i.e., t = Tb - Tab - Ta is given; and the clock of the module B is fixed so that the cloth of the module B is consistent with the clock of the module A. The method provided by the invention has the advantages that the clocks of the two modules are conveniently and quickly calibrated in air without any other wiring.
Description
Technical field
Clock is calibrated the present invention relates to a kind of method for calibrating clock, more particularly between a kind of two ultrasonic wave modules
Method.
Background technology
In indoor ultrasonic locating system, it is desirable to the clock synchronization of each ultrasonic wave module；In position fixing process, it is necessary to
The clock of all modules is calibrated at any time, and a module is arranged in robot, a ceiling mounted face of module, using letter
Number line connects two modules to realize clock synchronization, and line is wanted every time, operates cumbersome.
The content of the invention
In order to overcome disadvantages mentioned above, a kind of method the invention provides clock is calibrated between two ultrasonic wave modules.
The technical scheme that is used to achieve the above object of the present invention is：
The method that clock is calibrated between two ultrasonic wave modules, the described method comprises the following steps：
Here, the combination of modules A and module B all referring to ultrasonic distance measuring module and WIFI module；
1) assume that modules A and module B location are all motionless, in robot, module B is mounted in ceiling to modules A
On, then the distance between modules A and module B are determined that；
2) modules A transmission ultrasonic wave receives one determination of time delay again after the ultrasonic wave that modules A is sent to module B, module B
Time after, module B retransmits ultrasonic wave to A；By it is such a back and forth, just can determine that ultrasonic wave slave module A is traveled to
Time Tab used by module B；
3) and then, modules A to module B send ultrasonic wave, while modules A send ultrasonic wave time Ta record,
And module B is sent to by WIFI；
4) module B receives the record time Ta that time Tb and WIFI sent at that time when modules A sends ultrasonic wave, can just try to achieve
Time difference between A modules and B modules is t=Tb-Tab-Ta；
5) clock of correcting module B again, is allowed to consistent with the clock of modules A.
The beneficial effects of the invention are as follows two clocks of module of calibration, convenient and swift without other wiring in the air.
Brief description of the drawings
The present invention is further described with implementation below in conjunction with the accompanying drawings.Fig. 1 is schematic diagram of the invention.
In figure, 1 is modules A, and 2 is module B.
Specific embodiment
In Fig. 1, the method that clock is calibrated between two ultrasonic wave modules, the described method comprises the following steps：
A, calibration steps
1st, the time difference Tab of ultrasonic wave slave module A to module B is sought
1) modules A will carry out modules A to the time measurement of module B by WIFI notification module B, and module B cuts after receiving instruction
Change to corresponding pattern；
2) while modules A sends ultrasonic wave, record time T1 at that time after module B receives the ultrasonic wave of modules A transmission, prolongs
When for a period of time after Td, module B retransmits ultrasonic wave to modules A；
3) after modules A receives the ultrasonic wave of module B transmissions, current time T2 is recorded；
4) propagation time of the ultrasonic wave from A to B is asked
2nd, the clock of calibration module A and module B
1) modules A sends ultrasonic wave to module B, while recording time Ta now, and Ta is notified to module by WIFI
After B, module B receive the ultrasonic wave of modules A transmission, the time Tb of now module B is recorded；
2) the time difference t=Tb-Ta-Tab of modules A and module B is sought；
3) module B is according to the time difference t between two modules, the clock of recalibration oneself, now modules A clock and module B clocks
It is synchronous.
The above, is only presently preferred embodiments of the present invention, and any formal limitation is not made to the present invention, is appointed
What without departing from the present invention program content, any simple modification made to above example according to technical spirit of the invention, etc.
With change and modification, still fall within the range of technical solution of the present invention.
Claims (1)
1. the method that clock is calibrated between two ultrasonic wave modules, the described method comprises the following steps：
1) assume that modules A and module B location are all motionless, in robot, module B is mounted in ceiling to modules A
On, then the distance between modules A and module B are determined that；
2) modules A transmission ultrasonic wave receives one determination of time delay again after the ultrasonic wave that modules A is sent to module B, module B
Time after, module B retransmits ultrasonic wave to A；By it is such a back and forth, just can determine that ultrasonic wave slave module A is traveled to
Time Tab used by module B；
3) and then, modules A to module B send ultrasonic wave, while modules A send ultrasonic wave time Ta record,
And module B is sent to by WIFI；
4) module B receives the record time Ta that time Tb and WIFI sent at that time when modules A sends ultrasonic wave, can just try to achieve
Time difference between A modules and B modules is t=Tb-Tab-Ta；
5) clock of correcting module B again, is allowed to consistent with the clock of modules A；
Here, the combination of modules A and module B all referring to ultrasonic distance measuring module and WIFI module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710074351.0A CN106707738A (en) | 2017-02-10 | 2017-02-10 | Method for calibrating clocks of two ultrasonic modules |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710074351.0A CN106707738A (en) | 2017-02-10 | 2017-02-10 | Method for calibrating clocks of two ultrasonic modules |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106707738A true CN106707738A (en) | 2017-05-24 |
Family
ID=58909062
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710074351.0A Pending CN106707738A (en) | 2017-02-10 | 2017-02-10 | Method for calibrating clocks of two ultrasonic modules |
Country Status (1)
| Country | Link |
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| CN (1) | CN106707738A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1359689A1 (en) * | 2002-05-02 | 2003-11-05 | Thomson Licensing S.A. | Interactive network adapter for a CATV network |
| CN102104475A (en) * | 2011-01-31 | 2011-06-22 | 上海交通大学 | IEEE 1588-based synchronization system and synchronization method thereof |
| CN102118211A (en) * | 2011-01-25 | 2011-07-06 | 西安电子科技大学 | Timing and synchronization method for media-sharing STDM system |
| CN103763056A (en) * | 2013-12-31 | 2014-04-30 | 电信科学技术第五研究所 | Method for time synchronization high-precision remote monitoring |
| CN103945525A (en) * | 2014-04-30 | 2014-07-23 | 国家电网公司 | Hierarchical structure based wireless sensor network time synchronization method |
| CN104243079A (en) * | 2014-10-09 | 2014-12-24 | 四川省绵阳西南自动化研究所 | Microsecond clock synchronization method for real-time Ethernet |
-
2017
- 2017-02-10 CN CN201710074351.0A patent/CN106707738A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1359689A1 (en) * | 2002-05-02 | 2003-11-05 | Thomson Licensing S.A. | Interactive network adapter for a CATV network |
| CN102118211A (en) * | 2011-01-25 | 2011-07-06 | 西安电子科技大学 | Timing and synchronization method for media-sharing STDM system |
| CN102104475A (en) * | 2011-01-31 | 2011-06-22 | 上海交通大学 | IEEE 1588-based synchronization system and synchronization method thereof |
| CN103763056A (en) * | 2013-12-31 | 2014-04-30 | 电信科学技术第五研究所 | Method for time synchronization high-precision remote monitoring |
| CN103945525A (en) * | 2014-04-30 | 2014-07-23 | 国家电网公司 | Hierarchical structure based wireless sensor network time synchronization method |
| CN104243079A (en) * | 2014-10-09 | 2014-12-24 | 四川省绵阳西南自动化研究所 | Microsecond clock synchronization method for real-time Ethernet |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170524 |