CN102540144A - Ultrasonic wave and wireless-based jointed location method - Google Patents

Abstract

The invention discloses an ultrasonic wave and wireless-based jointed location method, relating to a location method. One datum point and a plurality of points to be located are included, wherein the datum point comprises an ultrasonic wave transmitting module, a wireless ratio transmitting module and a timing module; and each point to be located comprises an ultrasonic wave receiving module, a wireless radio receiving module and a main processing module for processing an ultrasonic wave and a wireless radio signal. The datum point periodically simultaneously transmits an ultrasonic wave signal and a wireless radio signal, the points to be located continuously receive the wireless radio signal; when the wireless radio signal is received, a corresponding timer is started and stops timing until the ultrasonic wave signal is received, and the main processing module processes the distance from each probe to the datum point, and figures a position of each point to be located, thus location is realized. The ultrasonic wave and wireless-based jointed location method has the advantages of simple structure, convenience for installation, low cost, multi-target location, strong interference and the like, and is very suitable for fields of intelligent location of families and enterprises.

Description

Based on ultrasound wave and wireless combined positioning-method

Technical field

The present invention relates to a kind of localization method, especially relate to a kind of based on ultrasound wave and wireless combined positioning-method.

Background technology

Current society is more and more intelligent, and people's life is also intelligent progressively, as robot, intelligent wheel chair and intelligent cleaning car of looking after child or the like.Though these intelligentized products are all very convenient, they all need charging, and these machines can be located the position of charger, seek charger and charging automatically, and this just relates to orientation problem.Ultrasonic locating technology of the present invention just can solve this type problem.

Common indoor positioning technology has infrared technique, image recognition technology and ultrasonic technology at present.But existing technology all has a lot of shortcomings: as using the ultrasonic locating of Network Environment among the Chinese patent CN201010609587.8, though can locate a plurality of targets, because installed device is more, cost is higher.Though only use ultrasound wave among the Chinese patent CN200710026504.0 for another example, cost is low, complicacy is installed, need place 4 receiving traps in 4 positions of area to be targeted.

Summary of the invention

The purpose of this invention is to provide a kind of multiple goal, cost is low, easy for installation, efficient is higher based on ultrasound wave and wireless combined positioning-method.

The present invention includes following steps:

1) set reference point, said reference point pop one's head in, is possessed and regularly trigger hyperacoustic processing module and the less radio-frequency transmitter module is formed, realization ultrasound wave and wireless signal transmission by at least 1 ultrasonic emitting;

2) set at least 2 sites undetermined, the signal that receive by 4 ultrasound wave receiving transducers, with ultrasonic probe in said site undetermined is handled and is exported conditioning module, the less radio-frequency receiver module of certain signal and can form the main processing block that the signal of modulate circuit output is handled; Said 4 ultrasound wave receiving transducers lay respectively at 4 directions all around of object to be positioned; Before and after probe line with about vertical each other dividing equally of line of popping one's head in; Ultrasonic probe combines with wireless module, realizes calculating the ultrasonic transmission time between this probe and the reference point;

When 3) locating; The processing module of reference point triggers ultrasonic emitting probe and wireless radio frequency modules simultaneously, sends ultrasound wave and wireless signal, just sends at set intervals 1 time; Site undetermined constantly receives wireless signal; When wireless module is received wireless signal, promptly trigger 4 each self-corresponding timers of ultrasonic emitting probe and pick up counting, corresponding timer just stops timing when the ultrasonic emitting probe is received ultrasonic signal; Know that promptly sound wave is transferred to the time that ultrasonic emitting is popped one's head in from reference point, calculate the distance of reference point again to the ultrasonic emitting probe; Divide the distance that is clipped to reference point when drawing 4 ultrasonic emitting probes, promptly orient the coordinate of site undetermined, thereby realize the location with respect to reference point by geometric knowledge.

When a plurality of target, the timing between the target is separate, can realize multiobject location, and the present invention has very strong anti-interference.

Reference point of the present invention is periodically launched ultrasonic signal and radio frequency signal simultaneously; Site undetermined constantly receives radio frequency signal; When receiving, start timer, receive ultrasonic signal up to certain receiving transducer; The timer that this probe is corresponding just stops, and just can calculate the air line distance of this reference point of popping one's head in according to hyperacoustic velocity of sound and travel-time.When 4 probes in this site undetermined were all received ultrasonic signal, main processing block just can calculate the position in site undetermined according to geometrical principle, thereby realized the location.

The present invention can be widely used in the multiple goal positioning field.It comprises 1 reference point and a plurality of site undetermined; Reference point is made up of ultrasonic emitting module, less radio-frequency transmitter module and time block, and site undetermined is made up of the main processing block of ultrasound wave receiver module, less radio-frequency receiver module and processing ultrasound wave and radio frequency signal.Reference point is periodically launched ultrasonic signal and radio frequency signal simultaneously; Site undetermined constantly receives radio frequency signal; When receiving, start corresponding timer up to receiving that ultrasonic signal stops timing, and handle by main processing block and respectively to pop one's head in to the distance of reference point; Calculate the position in site undetermined, thereby realize the location.Advantages such as that the present invention has is simple in structure, easy for installation, cost is low, multiple goal location and strong interference immunity are very suitable for the intelligent positioning field of family and enterprise.

Description of drawings

Fig. 1 is a system architecture principle schematic of the present invention.

Fig. 2 is a reference point principle schematic of the present invention.

Fig. 3 is a site undetermined of the present invention principle schematic.

Fig. 4 is a localization method geometrical principle synoptic diagram of the present invention.

In Fig. 1～3, mark T representes to send, and R representes to receive.

Embodiment

Below in conjunction with accompanying drawing the present invention is described further.

As shown in Figure 1, the framework of system comprises 1 reference point 1 and a plurality of sites undetermined, only draw among the figure 2 sites 21 undetermined and 22.Reference point 1 periodically sends ultrasonic signal and radio frequency signal, site 21 undetermined and 22 continuous received ultrasonic signal and radio frequency signals.

Said reference point principle schematic is as shown in Figure 2, comprises 1 less radio-frequency transmitter module 11, a plurality of ultrasonic emitting module 12,13,14, and 1 time block 15.Angled between the adjacent ultrasonic wave module, can realize region, complete covering site undetermined.Time block control wireless radio frequency modules and ultrasonic emitting module periodically transmit.

Said site undetermined principle schematic is as shown in Figure 3, comprises 211,4 ultrasound wave receiver modules 212,213,214,215 of 1 less radio-frequency receiver module, and 1 main processing block 216.4 ultrasound wave receiver modules are distributed in same plane and relative continuous orthogonal dividing equally of line segment of two modules; Orthogonal dividing equally of line segment as shown in Figure 3, that the line segment that ultrasound wave receiver module 212 links to each other with 214 and ultrasound wave receiver module 213 link to each other with 215.When the location begins; Less radio-frequency receiver module 211 constantly receives less radio-frequency transmitter module 11 and sends wireless signal, and when receiving, main processing block 216 begins to start timer; Some when receiving ultrasonic signal in ultrasound wave receiver module 212,213,214 and 215; Corresponding timer stops timing, and deposits in the main processing block storer, and other timers continue timing until receiving that ultrasound wave stops.

Said localization method geometrical principle synoptic diagram is as shown in Figure 4, and reference point is O, and its coordinate is (0,0), and level left direction be X axle positive dirction, be Y axle positive dirction straight down; 4 ultrasound wave receiving transducers in site undetermined are followed successively by A, B, C, D, and the intersection point of AC and BD is the center O in site undetermined ' (x, y), O ' is the mid point of AC, BD, and the vertical BD of OE (or extended line) is in E, and the vertical CA of OF (or extended line) is in F.Suppose that the distance that O ' is ordered to O is L, BO ', DO ' length are d ₁, AO ', CO ' length are d ₂, d ₁And d ₂Length can get according to measuring.The time of the ultrasonic signal of A, B, C, D4 ultrasound wave receiving transducer as received basis O transmission on schedule is followed successively by t1, t2, t3, t4; According to hyperacoustic velocity of sound v and linear uniform motion formula: displacement S=v*t, can calculate the distance that A, B, C, D order apart from O and be followed successively by L ₁, L ₂, L ₃, L ₄Can know by the cosine law:

$\cos \mathrm{\&alpha;}=\frac{L^2+{\mathrm{<figure-callout\; id="1"\; label="d"\; filenames="HDA0000128927230000011.png"\; state="\{\{state\}\}">d</figure-callout>}}_1^2-L_2^2}{2{\mathrm{Ld}}_1}---\left(1\right)$

$\cos \mathrm{\&beta;}=\frac{L^2+{\mathrm{<figure-callout\; id="1"\; label="d"\; filenames="HDA0000128927230000011.png"\; state="\{\{state\}\}">d</figure-callout>}}_1^2-L_4^2}{2{\mathrm{Ld}}_1}---\left(2\right)$

cosα＝-cosβ (3)

Can get by formula (1)～(3): $L=\sqrt{{2L}_2^2+{2L}_4^2-4{\mathrm{<figure-callout\; id="1"\; label="d"\; filenames="HDA0000128927230000011.png"\; state="\{\{state\}\}">d</figure-callout>}}_1^2}/2---\left(4\right)$

In Rt Δ OO ' E, Rt Δ ODE, Rt Δ OO ' F, Rt Δ OAF, can know by Pythagorean theorem:

x ²+y ²＝L ² (5)

${(x-d_2)}^2+y^2=L_4^2---\left(6\right)$

$x^2+{\left({y-d}_2\right)}^2={\mathrm{<figure-callout\; id="1"\; label="L"\; filenames="HDA0000128927230000011.png"\; state="\{\{state\}\}">L</figure-callout>}}_1^2---\left(7\right)$

Can draw by formula (5)～(7):

$x=\frac{L^2-L_4^2+{\mathrm{<figure-callout\; id="1"\; label="d"\; filenames="HDA0000128927230000011.png"\; state="\{\{state\}\}">d</figure-callout>}}_1^2}{{2d}_1}---\left(8\right)$

$y=\frac{L^2-{\mathrm{<figure-callout\; id="1"\; label="L"\; filenames="HDA0000128927230000011.png"\; state="\{\{state\}\}">L</figure-callout>}}_1^2+d_2^2}{2d_2}---\left(9\right)$

Bring L in the formula (4) into formula (8) again and (9) can get:

$x=\frac{L^2-L_4^2+{\mathrm{<figure-callout\; id="1"\; label="d"\; filenames="HDA0000128927230000011.png"\; state="\{\{state\}\}">d</figure-callout>}}_1^2}{2{\mathrm{<figure-callout\; id="1"\; label="d"\; filenames="HDA0000128927230000011.png"\; state="\{\{state\}\}">d</figure-callout>}}_1}=\frac{L_2^2-L_4^2}{{4d}_1}---\left(10\right)$

$y=\frac{L^2-{\mathrm{<figure-callout\; id="1"\; label="L"\; filenames="HDA0000128927230000011.png"\; state="\{\{state\}\}">L</figure-callout>}}_1^2+d_2^2}{2d_2}=\frac{L_3^2-{\mathrm{<figure-callout\; id="1"\; label="L"\; filenames="HDA0000128927230000011.png"\; state="\{\{state\}\}">L</figure-callout>}}_1^2}{2d_2}---\left(11\right)$

Recombination velocity displacement formula: L=v*t is got by formula (10) and (11) further abbreviation

$x=\frac{L_2^2-L_4^2}{4{\mathrm{<figure-callout\; id="1"\; label="d"\; filenames="HDA0000128927230000011.png"\; state="\{\{state\}\}">d</figure-callout>}}_1}=\frac{v^2(t_2^2-t_4^2)}{4d_1}---\left(12\right)$

$y=\frac{L_3^2-{\mathrm{<figure-callout\; id="1"\; label="L"\; filenames="HDA0000128927230000011.png"\; state="\{\{state\}\}">L</figure-callout>}}_1^2}{2d_2}=\frac{v^2(t_3^2-{\mathrm{<figure-callout\; id="1"\; label="t"\; filenames="HDA0000128927230000011.png"\; state="\{\{state\}\}">t</figure-callout>}}_1^2)}{4d_2}---\left(13\right)$

In formula (12) and (13), v is a ultrasonic velocity, and it is a temperature variant value, and a certain temperature all can have a concrete velocity amplitude.The coordinate that therefore can draw site O ' undetermined for

it be one with reference point to 4 the relevant variablees of receiving transducer ultrasonic propagation time in site undetermined, just can realize locating as long as confirm the travel-time separately.

This is the calculating principle in one of them site undetermined, and the principle in other site undetermined also is so, and individual processing each other, realizes the multiple goal location.

Claims (1)

1. based on ultrasound wave and wireless combined positioning-method, it is characterized in that may further comprise the steps:

1) set reference point, said reference point pop one's head in, is possessed and regularly trigger hyperacoustic processing module and the less radio-frequency transmitter module is formed, realization ultrasound wave and wireless signal transmission by at least 1 ultrasonic emitting;

2) set at least 2 sites undetermined, the signal that receive by 4 ultrasound wave receiving transducers, with ultrasonic probe in said site undetermined is handled and is exported conditioning module, the less radio-frequency receiver module of certain signal and can form the main processing block that the signal of modulate circuit output is handled; Said 4 ultrasound wave receiving transducers lay respectively at 4 directions all around of object to be positioned; Before and after probe line with about vertical each other dividing equally of line of popping one's head in; Ultrasonic probe combines with wireless module, realizes calculating the ultrasonic transmission time between this probe and the reference point;

When 3) locating; The processing module of reference point triggers ultrasonic emitting probe and wireless radio frequency modules simultaneously, sends ultrasound wave and wireless signal, just sends at set intervals 1 time; Site undetermined constantly receives wireless signal; When wireless module is received wireless signal, promptly trigger 4 each self-corresponding timers of ultrasonic emitting probe and pick up counting, corresponding timer just stops timing when the ultrasonic emitting probe is received ultrasonic signal; Know that promptly sound wave is transferred to the time that ultrasonic emitting is popped one's head in from reference point, calculate the distance of reference point again to the ultrasonic emitting probe; Divide the distance that is clipped to reference point when drawing 4 ultrasonic emitting probes, promptly orient the coordinate of site undetermined, thereby realize the location with respect to reference point by geometric knowledge.

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