CN100585530C - Method for controlling receiving end movement orientation capable of referencing relative orientation of transmitting end and receiving end - Google Patents
Method for controlling receiving end movement orientation capable of referencing relative orientation of transmitting end and receiving end Download PDFInfo
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- CN100585530C CN100585530C CN200710181386A CN200710181386A CN100585530C CN 100585530 C CN100585530 C CN 100585530C CN 200710181386 A CN200710181386 A CN 200710181386A CN 200710181386 A CN200710181386 A CN 200710181386A CN 100585530 C CN100585530 C CN 100585530C
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Abstract
The present invention relates to a method which can refer to the relative orientation of a transmitting terminal and a receiving terminal so as to control the motion orientation of the receiving terminal. The present invention comprises the following steps that: A. an included angle alpha between a reference orientation and a command target orientation of the transmitting terminal is acquired; B. a signal receiving unit of the receiving terminal receives a signal sent from the reference orientation of the transmitting terminal; C. the orientation of the signal source is judged by means of the intensity of the signal received by the signal receiving unit, and the signal receiving unit is provided with a plurality of inductors and can sense the pattern arrangement of the signal source of the transmitting terminal; D. an included angle beta between the source orientation of the signals and the original motion orientation of the receiving terminal is calculated; E. a new motion orientation is calculated via the included angle alpha and the included angle beta.
Description
Technical field
The present invention relates to the method for a kind of relative orientation with reference to transmitting terminal and receiving end with control receiving end motion orientation, refer in particular to the orientation of a kind of receiving end with received transmitting terminal signal, pass through angle calculation again, and the orientation adjustment angle that can cooperate receiving end to set, and then the identical new motion orientation, orientation that sets of generation and transmitting terminal.
Background technology
In the telechiric device (for example remote-control toy, remote-controlled robot etc.) of may command moving direction, generally included transmitting terminal and receiving end, be example with the telecar of remote-control toy, it controls telepilot is transmitting terminal, and telecar is a receiving end; Rely on the rocking bar of controlling on the telepilot; controlling telecar advances; retreat and turn; but at present to control the orientation all be that headstock with telecar is the reference bearing to telecar; so in controlling process; pull the opposite awkward situation in orientation through what regular meeting occurred that telecar advances orientation and rocking bar; that is; when telecar headstock during towards the manipulator; relative manipulator turns right if the manipulator will order about telecar; and turn right when pulling rocking bar; telecar just can take place be actually relative manipulator toward turning left, and then take place that telecar is advanced and the manipulator realizes the situation that the orientation fails to agree, and this situation regular meeting meets accident telecar to collide and lock in the obstacle or damage.
This kind fortuitous event carries out the occasion of bomb disposal or the occasion of other remote-controlled machinery some telecar high speed contest occasions, army and police with remote control bomb disposal car, also the inadvertent of judging for the orientation because of the manipulator easily takes place, the manipulator is produced the orientation obscure, and accurate control azimuth.
Summary of the invention
The objective of the invention is effectively to carry out the orientation that transmitting terminal sets, realize the different problem in orientation with the manipulator and receiving end reception signal is advanced to solve receiving end.
Technical scheme of the present invention is such: a kind of can the steps include: with reference to transmitting terminal and the receiving end relative orientation method with control receiving end motion orientation
A. obtain the reference bearing of transmitting terminal and the angle α between the order target azimuth.
B. make the signal that reference bearing that the unit receives transmitting terminal is sent of being interrogated of receiving end.
C. judge orientation, signal source by the reception signal of being interrogated the unit is strong and weak, and interrogated the inductor that unary system is provided with plural number, but and interrogated unary system and arrange with the kenel in orientation, sensing transmitting terminal signal source.
D. calculate the angle β between above-mentioned signal orientation, source and the former motion of receiving end orientation.
E. calculate a new motion orientation via angle α and angle β.
The above-mentioned unit of being interrogated is provided with the signal that plural inductor is accepted transmitting terminal.
The above-mentioned unit of being interrogated is provided with the signal that a position induction device is accepted transmitting terminal.
The above-mentioned unary system of being interrogated is arranged with circular, fashion.
The above-mentioned unary system of being interrogated is arranged in the polygonal mode of ring-type.
Above-mentioned transmitting terminal and the transmission interface between receiving end are wireless signal.
Above-mentioned transmission interface is one of following: infrared ray, radiowave, light wave, sound wave.
The present invention has following advantage:
1. when transmitting terminal will be controlled receiving end and advances the orientation, need not consider the former motion orientation in receiving end orientation, only need, just can directly order about the receiving end transfer and set the orientation toward transmitting terminal by the direct selection reference of transmitting terminal orientation.
2. arrange with circular, fashion or the polygonal mode of ring-type by plural inductor of being interrogated the unit or position induction device, make receiving end be the direct of travel of transmitting terminal by the inductor orientation that receives the strongest signal.
3. it is humanized and simple and convenient by the present invention it to be controlled.
4. can avoid receiving end because of the orientation misjudgment, and cause unexpected situation to take place.
Description of drawings
Fig. 1 produces the synoptic diagram in new motion orientation for the signal of the receiving end reception transmitting terminal of first embodiment of the invention;
Fig. 2 first embodiment of the invention receiving end interrogated the unit exploded view;
The constitutional diagram of being interrogated unit reception signal of Fig. 3 first embodiment of the invention receiving end;
After the displacement of Fig. 4 first embodiment of the invention transmitting terminal receiving end, receiving end receives the signal of transmitting terminal once more and produces the synoptic diagram in new motion orientation;
Fig. 5 second embodiment of the invention receiving end receives the signal of transmitting terminal and produces the synoptic diagram in new motion orientation.
(1) transmitting terminal (11) reference bearing
(12) order target azimuth (13) signal
(2) the former motion of receiving end (21) orientation
(22) new motion orientation, signal orientation, source (23)
(3) interrogated unit (31) dividing plate
(32) inductor (33) cover body
(1A) transmitting terminal (11A) reference bearing
(12A) order target azimuth (13A) signal
(2A) the former motion of receiving end (21A) orientation
(22A) new motion orientation, signal orientation, source (23A)
Embodiment
At first, see also Fig. 1,2,3, the first embodiment of the invention step is:
A. obtain the reference bearing (11) of transmitting terminal (1) and order angle α between the target azimuth (12); It is an order that the numerical value of angle is sent to the recipient.
B. make the unit (3) of being interrogated of receiving end (2) receive the signal (13) (order angle α) that transmitting terminal (1) is sent.
C. rely on the orientation (22), the strong and weak judgement of reception signal (13) signal source of being interrogated the unit, be provided with a plural inductor (32) or a position induction device (not shown) and interrogate unit (3), and interrogated unit (3) but arrange with the kenel in orientation, sensing signal (13) source.
D. calculate the angle β between above-mentioned signal orientation (22), source and receiving end (2) former motion orientation (21).
E. calculate a new motion orientation (23) via angle α and angle β; Receiving end (2) ° is new motion orientation (23) with alpha+beta-180.
As shown in Figure 1, this figure is the left back that transmitting terminal (1) is positioned at receiving end (2), the reference bearing (11) of transmitting terminal (1) is towards receiving end (2), and order target azimuth (12) to be desired the orientation of advancing by receiving end (2), and angle is α (being 90 °) in graphic between reference bearing (11) and the order target azimuth (12), in addition, the former motion orientation (21) of receiving end (2) and receiving end (2) between the signal orientation, source (22) sent, the reference bearing (11) of the transmitting terminal that is received in (1) angle be β (being 225 °) in graphic, and being alpha+beta-180, the calculating formula in the new motion orientation (23) of receiving end (2) ° is 90 °+225 °-180 °=135 °, and according to calculating the back angle, transmitting terminal (1) case direction as shown in FIG. just can be carried out after rotating 135 °, or the tailstock retreat to the right 45 ° of directions also can, and its new motion orientation (23) (orientation of advancing) can be identical with the indicated order target azimuth (12) of transmitting terminal (1).
In addition, among Fig. 1, the signal that is received with left back inductor (32) is the strongest, so the orientation, signal source (22) that the reference bearing (11) of receiving end (2) the institute transmitting terminal that is received in (1) is sent is entered by the position of this inductor (32) (among the figure in the circle of solid line cloth profile line place), and with former motion orientation (21) the generation angle β of receiving end (2).
Again, as shown in Figure 2, receiving end of the present invention (2) is provided with one and is interrogated unit (3), this is interrogated unit (3) and is provided with some radial dividing plates (31), and each interval of being separated by dividing plate (31) is provided with inductor (32) separately, and interrogated unit (3) and cover with cover body (33) again, so can obtain better signal ratio, but not add dividing plate (31) and cover body (33) also can be judged strong and weak direction.Only present embodiment is described is interrogated unit (3), only be one of the present invention preferred embodiment, when the scope that can not limit the invention process with this, for example, interrogated assembly PSD (position sensitive device) as being interrogated the unit with the simulation relevant with the position, or other simple equivalent of being done according to the present patent application claim and invention description content changes and modifies, and all still belongs in the scope that patent of the present invention contains.
See also Fig. 3, receive the signal (13) that the reference bearing (11) of transmitting terminal (1) is sent by inductor (32), and because of inductor (32) be to separate out with dividing plate (31), so only the signal (13) that receives towards the inductor (32) of this signal (13) is the strongest, the inductor of both sides (32) induction can be successively decreased, even the inductor (32) that dividing plate (31) covers can not receive signal; Signal (13) power of being responded to by inductor (32) is judged the orientation and the position of transmitting terminal (1) again, calculate by its orientation that receives and position again, and adjust the angle that it should rotate, identical to guarantee the receiving end orientation of advancing with the order target azimuth (12) of transmitting terminal.
As shown in Figure 4, the transmitting terminal of this figure (1) is positioned at the left back of receiving end (2), in Fig. 1 to 22.5 ° of top offsets, angle is α (being 90 °) in graphic between the reference bearing (11) of transmitting terminal (1) and the order target azimuth (12) of transmitting terminal (1), and the former motion orientation (21) of receiving end (2) and receiving end (2) between the signal orientation, source (22) sent, the reference bearing (11) of the transmitting terminal that is received in (1) angle be β (being 247.5 °) in graphic, and being alpha+beta-180, the calculating formula in this new motion orientation (23) ° is 90 °+247.5 °-180 °=157.5 °, and according to calculating the back angle, transmitting terminal (1) promptly as shown in FIG. direction just can carry out after rotating 157.5 °, and its new motion orientation (23) (orientation of advancing) can be identical with the indicated order target azimuth (12) of transmitting terminal (1).
Among above-mentioned Fig. 4, the signal that is received between the two with left back inductor (32) and left inductor (32) is the strongest, so the orientation, signal source (22) that the reference bearing (11) of receiving end (2) the institute transmitting terminal that is received in (1) is sent enters by receiving the strongest position of signal (among the figure in the circle of dotted line cloth profile line place), and with former motion orientation (21) the generation angle β of receiving end (2).
By the orientation, source of the signal among Fig. 1 and Fig. 4 (22) as can be known, receiving end (2) the reference bearing (11) of the transmitting terminal that is received in (1), except directly entering by inductor (32), and can be the course in signal orientation, source (22) by receiving the strength of signal, and the angle β that is obtained with the angle that the strength of signal enters be the most accurate.
Moreover, seeing also Fig. 5, the second embodiment of the invention step is:
A. obtain the reference bearing (11A) of transmitting terminal (1A) and the angle α 1 between order target azimuth (12A).
B. make the signal (13A) that reference bearing (11A) that unit (3) receives transmitting terminal (1A) is sent of being interrogated of receiving end (2A).
C. rely on the orientation (22A), the strong and weak judgement of reception signal signal source of being interrogated unit (3).
D. utilize the reception signal power of being interrogated unit (3) to declare and calculate angle β 1 between above-mentioned signal orientation (22A), source and the former motion of the receiving end orientation (21A).
E. receiving end (2A) is new motion orientation (23A) with α 1+ β 1.
As shown in Figure 5, being interrogated unit (3) is to be provided with inductor (32), to receive the signal that transmitting terminal (1A) transmits; And being transmitting terminal (1A), this figure is positioned at receiving end (2A) left back, the reference bearing (11A) of transmitting terminal (1A) is towards receiving end (2A), and order target azimuth (12A) is the orientation that receiving end (2A) is desired to advance, and angle is α 1 (being 90 °) in graphic between reference bearing (11A) and the order target azimuth (12A), in addition, the former motion orientation (21A) of receiving end (2A) and receiving end (2A) between the signal orientation, source (22A) sent, the reference bearing (11A) of the transmitting terminal that is received in (1A) angle be β 1 (being 45 °) in graphic, and being α 1+ β 1, the calculating formula in the new motion orientation (23A) of receiving end (2A) is 90 °+45 °=135 °, and according to calculating the back angle, transmitting terminal (1A) can be as shown in FIG. direction just can carry out after rotating 135 °, and its new motion orientation (23A) (orientation of advancing) can be identical with the indicated order target azimuth (12A) of transmitting terminal (1A).
Second embodiment is identical with first embodiment, is to be the course in signal orientation, source (22A) with the strength of the signal of reception, with this signal the strongest enter angle calculation angle β 1.
Because plural inductor relative position to each other is known, therefore be that the orientation is calculated outside the reference point divided by the strength of the signal between inductor, other arbitrary position sensor also all can be the orientation and calculates reference point, for example signal the weakest point inductor, signal time weak place inductor, signal time strength inductor etc.
In addition, the inductor of first and second embodiment of the present invention system arranges with circular, fashion, but other equivalence around formula layout, matrix arrangements etc., all belong to possible embodiments of the present invention.
Again, transmission interface wireless signal between the present invention's first and second embodiment transmitting terminal and the receiving end, and this wireless signal includes but not limited to infrared ray, radiowave, light wave transmissions or sound wave.
Claims (7)
1. one kind with reference to the relative orientation of transmitting terminal and the receiving end method with control receiving end motion orientation, it is characterized in that the steps include:
A. obtain angle α between transmitting terminal reference bearing and the order target azimuth;
B. make the signal that reference bearing that the unit receives transmitting terminal is sent of being interrogated of receiving end;
C. rely on the reception signal interrogated the unit strong and weak judge be provided with plural inductor and interrogate the unit in orientation, signal source, but and interrogated the unit and arranged with the kenel in orientation, sensing transmitting terminal signal source;
D. angle β between calculating between above-mentioned signal orientation, source and the former motion of receiving end orientation;
E. calculate a new motion orientation via angle α and angle β.
2. as the method for the described a kind of relative orientation with reference to transmitting terminal and receiving end of claim 1, it is characterized in that the described unit of being interrogated is provided with the signal that plural inductor is accepted transmitting terminal with control receiving end motion orientation.
3. a kind of relative orientation with reference to transmitting terminal and receiving end as claimed in claim 2 is with the method in control receiving end motion orientation, it is characterized in that described inductor of being interrogated the unit arranges with circular, fashion.
4. a kind of relative orientation with reference to transmitting terminal and receiving end as claimed in claim 2 is with the method in control receiving end motion orientation, it is characterized in that described inductor of being interrogated the unit arranges in the polygonal mode of ring-type.
5. a kind of relative orientation with reference to transmitting terminal and receiving end as claimed in claim 1 is characterized in that with the method in control receiving end motion orientation the described unit of being interrogated is provided with a position induction device.
6. as the method for the described a kind of relative orientation with reference to transmitting terminal and receiving end of claim 1, it is characterized in that the transmission interface between described transmitting terminal and the receiving end is a wireless signal with control receiving end motion orientation.
7. as the method for the described a kind of relative orientation with reference to transmitting terminal and receiving end of claim 6, it is characterized in that described transmission interface is one of following: infrared ray, radiowave, light wave, sound wave with control receiving end motion orientation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710181386A CN100585530C (en) | 2007-10-19 | 2007-10-19 | Method for controlling receiving end movement orientation capable of referencing relative orientation of transmitting end and receiving end |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710181386A CN100585530C (en) | 2007-10-19 | 2007-10-19 | Method for controlling receiving end movement orientation capable of referencing relative orientation of transmitting end and receiving end |
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| Publication Number | Publication Date |
|---|---|
| CN101251757A CN101251757A (en) | 2008-08-27 |
| CN100585530C true CN100585530C (en) | 2010-01-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN200710181386A Active CN100585530C (en) | 2007-10-19 | 2007-10-19 | Method for controlling receiving end movement orientation capable of referencing relative orientation of transmitting end and receiving end |
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Families Citing this family (3)
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| CN102903214B (en) * | 2011-07-28 | 2014-08-20 | 富泰华工业（深圳）有限公司 | Car with remote door opening and closing function, remote control system and remote control method |
| KR102441844B1 (en) * | 2015-02-04 | 2022-09-08 | 삼성전자주식회사 | Method for controlling a rotating apparatus and electronic device thereof |
| CN110658853A (en) * | 2018-06-29 | 2020-01-07 | 天津深之蓝海洋设备科技有限公司 | Remote control method for delivery vehicle, remote controller and remote control system |
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Owner name: HL TECHNOLOGY LIMITED Free format text: FORMER OWNER: NANTAI SCIENCE + TECHNOLOGY UNIV. Effective date: 20130823 |
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Effective date of registration: 20130823 Address after: The new lake Chinese Taiwan Taipei City Neihu district road No. 143 4 floor Patentee after: HONGLIN TECHNOLOGY CO., LTD. Address before: Taiwan Tainan County, Yongkang China Nantai Street No. 1 Patentee before: Nantai Science & Technology Univ. |
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Effective date of registration: 20160308 Address after: The new lake Chinese Taiwan Taipei City Neihu district road No. 143 4 floor Patentee after: Aifon Wireless Communication Technology Co. Ltd. Address before: The new lake Chinese Taiwan Taipei City Neihu district road No. 143 4 floor Patentee before: HONGLIN TECHNOLOGY CO., LTD. |
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Address after: The new lake Chinese Taiwan Taipei City Neihu district road No. 143 4 floor Patentee after: Aifon Wireless Communication Technology Co Ltd Address before: The new lake Chinese Taiwan Taipei City Neihu district road No. 143 4 floor Patentee before: Aifon Wireless Communication Technology Co. Ltd. |