CN103809174B - Automatic follower method and device - Google Patents
Automatic follower method and device Download PDFInfo
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- CN103809174B CN103809174B CN201410092270.XA CN201410092270A CN103809174B CN 103809174 B CN103809174 B CN 103809174B CN 201410092270 A CN201410092270 A CN 201410092270A CN 103809174 B CN103809174 B CN 103809174B
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
- G01S1/08—Systems for determining direction or position line
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- Radar, Positioning & Navigation (AREA)
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- Mobile Radio Communication Systems (AREA)
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Abstract
The present invention relates to self-navigation field, in particular to automatic follower method and system thereof.This automatic follower method, comprising: receiving wireless signal, the radio emission beacons that described wireless signal is disposed on being followed on thing sends every predetermined period of time；When receiving described wireless signal each time, according to the power of the described wireless signal receiving, calculate and follow thing and the described position relationship being followed thing；Record receives the reception time of described wireless signal each time；According to when receiving described wireless signal each time, obtain follows thing and the described position relationship being followed thing, the positional information following thing obtaining in advance, and receives the reception time of described wireless signal, forms route to be followed；Move according to described route to be followed and speed set in advance.The automatic follower method of present invention offer and automatic tracking apparatus, improve the distance that signal receives, and then add following distance.
Description
Technical field
The present invention relates to self-navigation field, in particular to automatic follower method and device.
Background technology
With the development of airmanship, in order to reduce labor workload, it will usually use and follow dress
Put and carry out from motion tracking to being followed thing,
The automatic follower method generally using is, comes according to the signal that infrared ray sensor receives
Calculate and be followed the status of action of thing and following device and the position relationship being followed thing, further according to
Pre-set program is tracked to being followed thing.
But, this kind of automatic follower method can be sent object dry of infrared signal by other
Disturb, it is impossible to accomplish to follow accurately, and infrared ray sensor or ultrasonic sensor detection
Apart from limited, the distance followed and judge is caused to be substantially less than the operating distance of sensor, greatly
Majority can only be followed within two meters, and following distance is limited.
Content of the invention
It is an object of the invention to provide automatic follower method and automatic tracking apparatus, on solving
The problem stated.
Provide automatic follower method in an embodiment of the present invention, comprising:
Receiving wireless signal, described wireless signal is disposed on the wireless transmission letter being followed on thing
Mark sends every predetermined period of time；
When receiving described wireless signal each time, strong according to the described wireless signal receiving
Weak, calculate and follow thing and the described position relationship being followed thing；
Record receives the reception time of described wireless signal each time；
According to when receiving described wireless signal each time, the thing of following obtaining is followed with described
The position relationship of thing, the positional information following thing obtaining in advance, and receive described wireless
The reception time of signal, form route to be followed；
Move according to described route to be followed and speed set in advance.
Preferably, described when receiving described wireless signal each time, according to receive
The power of wireless signal, calculates and follows thing and include with the described position relationship being followed thing:
Receive described nothing by following the reception antenna of diverse location on thing described in multiple being arranged at
Line signal；
According to the power of the wireless signal that each reception antenna receives, calculate each and receive sky
Line and the described distance being followed between thing；
According to each reception antenna described and described be followed between thing distance, each receive sky
The central point of line and the distance followed between thing central point and predetermined two reception antennas
The angle that signal center's line projects in the horizontal plane, calculate described in follow thing and be followed with described
Distance between thing and angle.
Preferably, when described basis receives described wireless signal each time, obtain follows thing
With the described position relationship being followed thing, the positional information following thing obtaining in advance, Yi Jijie
Receive the reception time of described wireless signal, form route to be followed and include:
According to the reception time, the described wireless communication of each reception that repeatedly receive described wireless signal
Number when described in follow position relationship that thing is followed thing with described, receive described wireless signal every time
What Shi Suoshu obtained in advance follows the positional information of thing, is followed the position of thing described in calculating, and
It is followed the position of thing described in mark in default map；
According to the time sequencing receiving described wireless signal, by temporally adjacent two described
Figure is followed the position line of thing, to form route to be followed described in mark.
Preferably, described bag is moved according to described route to be followed and speed set in advance
Include:
Follow the different of thing distance according to from described, with the described position following thing as basic point, if
Put and normally follow district, follow highlight, disengaging warning area and district out of danger；
Described district out of danger is positioned at outside described disengaging warning area, and described disengaging warning area is positioned at
Described following outside highlight, described highlight of following is positioned at described normally following outside district；
Different according to being followed the region residing for thing, enter at different rates according to route to be followed
Row is mobile.
Preferably, described move at different rates, comprising:
When described be followed thing be in described normally follow in district when, normal according to pre-set
Follow district's speed to move；
When described be followed thing be in described in follow in highlight when, according to the reception twice specified
To the time difference between wireless signal, specify receive two that wireless signal is calculated twice
The air line distance of the described position being followed thing and multiple set in advance, calculate and follow highlight
Speed, and move according to described highlight speed of following；
When described be followed thing be in described disengaging warning area when, be followed at thing according to described
The described wireless signal receiving in described disengaging warning area and route calculation to be followed
Described follow thing and the described transfer angle being followed between thing,
Described move also include according to described route to be followed and speed set in advance:
Offset described transfer angle to advance on the basis of the direction of route to be followed.
Preferably, described move at different rates, also include:
When described be followed thing be in described district out of danger when, be according to the described thing that is followed
Wireless signal described in the multiple described reception of wireless signals receiving in described disengaging warning area
Thing and the described multiple deflections being followed between thing are followed described in time and route calculation to be followed
Angle；
Described move also include according to described route to be followed and speed set in advance:
Every default a period of time skew and reception institute on the basis of the direction of route to be followed
State time of wireless signal corresponding described deflection angle to advance.
Preferably, described method also includes,
Send ultrasonic signal at predetermined time intervals；
If receiving the feedback signal returning after described ultrasonic signal touches barrier；
According to described feedback signal judges, then follow the position relationship of thing and described barrier,
Calculate moving route, moving of described barrier according to the feedback signal that receives at least twice
Dynamic speed and the size of described barrier；
Calculate described barrier make a reservation for according to move route, the translational speed of described barrier
A period of time in pre-mobile route and pre-translational speed；
According to described pre-mobile route, described pre-translational speed, the size of described barrier, institute
State route to be followed, described speed set in advance and default follow thing size, it is judged that be described
Follow whether thing bumps against with described barrier in the given time；
If so, then according to described pre-mobile route, described pre-translational speed, described barrier
Size, described route to be followed, described speed set in advance and default follow thing size,
Calculate deviation angle；
Described move also include according to described route to be followed and speed set in advance:
Offset described deviation angle to advance on the basis of the direction of route to be followed, and exceed barrier
On route to be followed described in returning to after hindering thing.
Preferably, described method also includes:
The rate of change of the signal strength signal intensity of the wireless signal receiving when described reception antenna exceedes pre-
If during value, according to the mathematic interpolation of the intensity level after the intensity level before change in signal strength and change
The size of described barrier, move route and translational speed；
Calculate described barrier make a reservation for according to move route, the translational speed of described barrier
A period of time in pre-mobile route and pre-translational speed；
According to described pre-mobile route, described pre-translational speed, the size of described barrier, institute
State route to be followed, described speed set in advance and the default size following thing, it is judged that institute
State and follow whether thing bumps against with described barrier in the given time；
If so, then according to described pre-mobile route, described pre-translational speed, described barrier
Size, described route to be followed, described speed set in advance and default follow thing size,
Calculate deviation angle；
Described move also include according to described route to be followed and speed set in advance:
Offset described deviation angle to advance on the basis of the direction of route to be followed, and exceed barrier
On route to be followed described in returning to after hindering thing.
Preferably, described bag is moved according to described route to be followed and speed set in advance
Include:
Follow thing and the described distance being followed between thing when described less than the minimum pre-setting
During distance, stop mobile；
When described follow thing and the described spacing being followed thing exceed default ultimate range when,
Alert.
The embodiment of the present invention additionally provides a kind of automatic tracking apparatus, comprising:
Wireless receiving module, receives wireless signal, and described wireless signal is disposed on being followed thing
On radio emission beacons send every predetermined period of time；
Computing module, when receiving described wireless signal each time, according to the described nothing receiving
The power of line signal, calculates and follows thing and the described position relationship being followed thing；
Logging modle, record receives the reception time of described wireless signal each time；
Route module, according to when receiving described wireless signal each time, obtain follow thing with
The described position relationship being followed thing, the positional information following thing obtaining in advance, and receive
To the reception time of described wireless signal, form route to be followed；
Mobile module, moves according to described route to be followed and speed set in advance.
The automatic follower method of embodiment of the present invention offer and automatic tracking apparatus, with prior art
In use infrared ray sensor or ultrasonic sensor receipt signal, further according to receive
Signal calculates and is followed the status of action of thing and following device and the position relationship being followed thing, and
After follow according to default program, due to the spy of infrared ray sensor and ultrasonic sensor
Range finding is from limited, and the following distance Limited Phase ratio causing, it is by being followed on thing arranging
Radio emission beacons, receives what radio emission beacons was launched at the reception antenna followed on thing
After wireless signal, calculate according to default method and follow thing and the position relationship being followed thing,
And formed follow route, follow according still further to following route, owing to radio emission beacons is sent out
The signal coverage going out is much larger than the detection range of ultrasonic sensor and infrared ray sensor,
Improve the distance that signal receives, and then add following distance, thus solve prior art
In deficiency.
Brief description
Fig. 1 shows the basic flow sheet of the automatic follower method of the embodiment of the present invention；
Fig. 2 shows the calculating position relationship flow process of the automatic follower method of the embodiment of the present invention
Figure；
What Fig. 3 showed the automatic follower method of the embodiment of the present invention forms route stream to be followed
Cheng Tu；
Fig. 4 show the calculating of the automatic follower method of the embodiment of the present invention follow thing with by with
Distance and angle schematic diagram with thing；
Fig. 5 show the calculating of the automatic follower method of the embodiment of the present invention follow thing with by with
Simplify upper diagram with the distance and angle of thing；
Fig. 6 show the calculating of the automatic follower method of the embodiment of the present invention follow thing with by with
Simplify bottom graph with the distance and angle of thing；
Fig. 7 shows the functional block diagram of the automatic follower method of the embodiment of the present invention.
Detailed description of the invention
Below by specific embodiment and combine accompanying drawing and the present invention is done further in detail
Describe.As it is shown in figure 1,
The embodiment of the present invention 1 provides the basic procedure of automatic follower method, as shown in figure,
Comprise the steps:
S101, receives wireless signal；
S102, when receiving wireless signal each time, strong according to the wireless signal receiving
Weak, calculate and follow thing and the position relationship being followed thing；
S103, record receives the reception time of wireless signal each time；
S104, according to when receiving wireless signal each time, obtain follows thing and is followed
The position relationship of thing, the positional information following thing obtaining in advance, and receive wireless signal
The reception time, form route to be followed；
S105, moves according to route to be followed and speed set in advance.
This method is followed on thing firstly the need of arranging radio emission beacons now, and this is wireless
Launch beacon according to the difference of communications protocol, can be designed as 2.4Ghz frequency range bluetooth or
The communication etc. of 2.4Ghz or 5Ghz frequency range in 802.11 protocol stacks, and need before use to lead to
Cross the identification code of pairing wireless beacon, make to follow object determination and be followed object.Be arranged on
Wireless beacon agreement with the reception antenna on thing is identical with reception antenna, enables the two to enter
Row communication.Use 2.4Ghz radio wave, while utilizing signal strength signal intensity to find range, also may be used
To transmit data, tracked object can be identified and Classification and Identification respectively, can be
Multiple geographical location information being followed object is drawn out in system.Simultaneously because 2.4Ghz signal
There is certain penetrability and diffractive, can easily penetrate barrier, can identify simultaneously and be followed
Object and follow whether insert barrier between object, and due to 2.4GHz wireless signal
Under the effect of high-gain aerial, can propagate several kilometers, the distance therefore found range can be light
Exceed ultrasonic wave and infrared ray, can freely according to field environmental condition regulate be followed object and
Follow the following distance between object and speed.This signal is invisible electromagnetic wave signal again, raw
It will not be impacted by object common in work and light, and this frequency range is medical science frequency range,
Human body and animal will not be damaged.
Radio emission beacons is to send wireless signal at set intervals, follows thing and is receiving
After wireless signal, according to the power of the wireless signal receiving, calculate and follow thing and be followed
The position relationship of thing.Position relationship herein can be understood as relative angle with relative away from
From.The reception receiving wireless signal each time is also recorded while receiving wireless signal
Time.According to when receiving wireless signal each time, obtain follows thing and the position being followed thing
The positional information following thing put relation, obtaining in advance, and receive described wireless signal
The reception time, form route to be followed.The positional information following thing obtaining in advance herein can
To be the position following thing being obtained by LBS system, it is also possible to be to follow thing according to oneself
Move mode the route advanced is labeled on map, receiving wireless signal
When, follow, by what reading had marked out on map, the route that thing has been advanced,
Or read oneself position in map by LBS system.Such as mark on map
After going out to follow the route that thing has been advanced, when receiving wireless signal, by reading ground
The position of thing is followed, it becomes possible to obtain and follow absolute position on map for the thing, in basis on figure
The distance followed thing and be followed thing and angle just can calculate and be followed thing on map
This is now followed absolute position on map for the thing and marks out by absolute position,
It to when receiving signal, is followed location point on map for the thing.Thus, nothing is received every time
During line signal, all can be mapped out the location point being followed thing on map, and,
When receiving two or more signal, according to the time sequencing receiving wireless signal, by inciting somebody to action
Adjacent on time two are followed the location point line of thing, i.e. can obtain being followed the movement of thing
Route, route namely to be followed.Certainly, radio emission beacons sends the frequency of wireless signal
Higher, on map, the location point of mark is also more intensive, the mobile road being followed thing of formation
Line also just and be followed the true mobile route of thing closer to.After forming route to be followed,
Follow thing to follow according to the mobile route being followed thing, can complete to be followed thing from
Move and follow.It should be noted that reception antenna distance follows the distance of thing and angle is appreciated that
For reception antenna distance follows thing central point or the distance of the certain point specified, and thing is followed in measuring and calculating
Also refer to follow thing central point with the distance being followed thing or the certain point distance specified is followed
The distance of thing, namely follows thing central point or the certain point distance specified is followed on thing wireless
Launch the distance of beacon.Mentioned by the present invention follow thing can be by with the distance being followed thing
Mode of planting like this understands.
Every reception antenna can be judged according to the power of the wireless signal receiving, and sends nothing
The radio emission beacons of line signal and the distance of reception antenna.What deserves to be explained is, be worth explanation
, herein receive wireless signal reception antenna can be multiple directional aerial or multiple entirely
To antenna, can also is that and be made up of several directional aerials and the mixing of several omnidirectional antenna.Herein first
About the related content of directional aerial and omnidirectional antenna under introduction.Directional aerial, is the one side of having
The antenna of tropism, inside at signal reciever, signal can be highly stable.If beyond signal
The scope (the very little acute sectors of a typically angle) receiving, then signal receives significantly
Drop to no signal.Omnidirectional antenna is relative with directional aerial, and omnidirectional antenna is at 360 degree all
Stable signal can be received.But by contrast, omnidirectional antenna can receive the distance of signal
Directional aerial to be much smaller than, meanwhile, directional aerial can only be accomplished to connect in certain angular range
Receive signal.In consideration of it, the reception antenna in automatic follower method provided by the present invention is permissible
Difference according to service condition carries out the setting of multi-form.
The radio emission beacons being followed on thing is setting up communication with the reception antenna followed on thing
After, reception antenna can calculate according to the power receiving wireless signal be followed thing distance with
It is how many with the distance of thing, and angle is how many.Concrete calculation is that at least two sets
Putting the reception antenna following on thing and receiving wireless signal, this reception antenna can be that orientation connects
Receive antenna or the mixing of directional receiving antenna and isotropic receiving antenna is constituted, it is also possible to be by three
Individual above omnidirectional antenna is constituted.If after two reception antennas receive wireless signal, herein
In two reception antennas receiving signal at least one be directional receiving antenna, according to reception
The degree of strength of the signal arriving, can calculate and be arranged on the radio emission beacons being followed on thing
The length of two reception antennas receiving signal of distance respectively.Meanwhile, two receive signal
Reception antenna with follow the distance of thing and angle is known.Certainly, the laying of reception antenna
Position can be arranged on the outside following thing, in other words distance follow the center of thing have certain away from
From as long as reception antenna is able to receive that the signal that radio emission beacons is sent, and two receive
Antenna distance follows the distance of thing central point and angle is known.Receive letter calculating two
Number reception antenna distance, and the distance that known two reception antenna distances follow thing follows with relative
After the angle of thing, according to triangulation, both can calculate and be followed thing relative to wireless
Penetrate distance and the angle of beacon, namely follow thing and be relatively followed distance and the angle of thing.This
When, being followed thing can follow to being followed thing according to default follow the mode.When with
It is three omnidirectional antennas with the reception antenna on thing, and during three omnidirectional antenna not conllinear, can
So that by said method, distance and two omnidirectional antennas of thing can be followed by two omnidirectional antenna distances
Linear distance follows the distance of thing and relative to the angle following thing, determines the position being followed thing
On two possible points, then determined by the 3rd omnidirectional antenna and be followed thing specifically at that point
On, it is followed the distance of thing and angle is followed to being followed thing further according to following thing distance.
Certainly, the quantity following reception antenna on thing is more, then calculate and follow thing relative to quilt
Distance and the angle of following thing are more accurate.If the quantity of reception antenna is enough, then,
According to the combination of different reception antennas can calculate follow thing relative to be followed thing away from
The value of walk-off angle degree is also more, by repeatedly seeking the mean value of distance and can repeatedly seek angle
Mean value reduce error as far as possible, thus increase that to follow thing accurate to be followed that thing follows
Property.
Automatic follower method provided by the present invention, by first being followed on thing arranging wireless
Penetrate beacon, receive, at the reception antenna followed on thing, the wireless communication that radio emission beacons is launched
After number, calculate according to default method and follow thing and the position relationship being followed thing, and according to
Other relevant informations form route to be followed, and follow according still further to route to be followed, due to nothing
The signal coverage that line transmitting beacon is sent is much larger than ultrasonic sensor and infrared ray passes
The detection range of sensor, improves the distance that signal receives, and then adds following distance, from
And solve deficiency of the prior art.
As shown in Figures 2 to 6, the embodiment of the present invention 2 provides the function of automatic follower method
Details flow process.On the basis of embodiment 1, in step S102 particularly as follows:
S201, by multiple be arranged at follow diverse location on thing reception antenna receive wireless
Signal；
S202, according to the power of the wireless signal that each reception antenna receives, calculates every
Individual reception antenna and the distance being followed between thing；
S203, the distance according to each reception antenna and being followed between thing, each receive sky
The central point of line and the distance followed between thing central point and predetermined two reception antennas
The angle that signal center's line projects in the horizontal plane, calculates and follows thing and be followed between thing
Distance and angle.
In step S201, mentioned reception antenna can be directional aerial, it is also possible to be complete
To antenna.Diverse location, refers to that horizontal level residing for each reception antenna is different, also
Being that signal center's line of each reception antenna can not be completely superposed, otherwise each reception antenna is counted
The distance that the reception antenna distance calculating is followed thing is all identical, distance herein it should be understood that
For the angled vector of band, namely each is relative to the distance of radio emission beacons, and/or
Angle is different, and each reception antenna distance follows the distance of thing and angle is also phase
With, just cannot calculate according to triangulation follow thing and be followed between thing away from walk-off angle
Spend.Certainly, in theory, diverse location, can also refer to the signal center of each reception antenna
Line is misaligned along the projection of any plane.But in view of the process simplifying calculating and difficulty,
Or it is different illustrating with horizontal level residing for each reception antenna.
Each reception antenna does not has requirement with the distance following thing, and reception antenna can be arranged on
Follow on thing, it is possible to be arranged on and follow beyond the region of objective existence portion, as long as reception antenna distance follows the distance of thing
It is known with angle.
Step S203 is mentioned, owing to radio emission beacons is located in following on thing,
So following the position that thing central point can be understood as radio emission beacons, each reception antenna
Central point and the distance followed between thing central point are also it can be understood that for each reception antenna
Central point and the distance of radio emission beacons, the intersection point of signal center's line of each reception antenna can
With with follow thing central point and overlap, then the intersection point of the signal center line according to each reception antenna,
Each reception antenna and described be followed between thing distance, the signal center of each reception antenna
The angle that line projects in the horizontal plane just can calculate this intersection point and the distance being followed thing, also
It is exactly to follow the distance that thing central point distance is followed thing central point.Certainly, this intersection point is also permissible
Not with follow thing central point and overlap, according to each reception antenna and described be followed between thing away from
From, each reception antenna central point respectively with follow thing central point distance, each receive sky
The distance of the intersection point of signal center's line of line, each reception antenna central point and this intersection point and predetermined
The angle that projects in the horizontal plane of signal center's line of two reception antennas, equally calculate
Go out to follow thing and the distance being followed between thing and angle.What deserves to be explained is, follow thing and quilt
The angle following thing can be understood as being followed thing along the deviation angle following thing center line.
Below by there are three directional aerials and two omnidirectional antennas follow thing as a example by, calculate with
It is followed distance and the angle of thing, the wherein signal center of three directional receiving antennas with thing distance
The point that line entered jointly is the central point o following thing, in the signal center of two directional receiving antennas
It has been correspondingly arranged omnidirectional antenna on the extended line of line respectively, and each omnidirectional antenna distance is right with it
The length of the directional receiving antenna answered is equal.
As Fig. 4 is first according to the requirement of other parts of the present invention, determine main directional receiving antenna
Central point a, central point i, j of two auxiliary directional reception antennas, the center of omnidirectional antenna
Point q, p (do not have according to three dimensions calculating to be to calculate projection, therefore omnidirectional owing to calculating
The central point of antenna is for projecting central point in the horizontal plane).
Like this intersection point o of iq and jp has also determined that, in like manner, io, ao, jo, po,
The length value of qo all it has been determined that.Wherein o may be considered and follows thing central point.
At this moment wireless beacon s is detected, the center of the wireless signal transmission of wireless beacon
Point is designated as s.
Owing to wireless signal can find nearest path, namely straight line.Therefore strong according to signal
Degree can draw the signal strength signal intensity between as, then the conversion by our signal strength signal intensity and distance
Algorithm, calculates the distance between a s to some a, and the distance between as is decided.
In like manner, the distance of lower sp and sq is determined.So we just have three to draw three distances
Coming, then respectively with two omnidirectional antennas of directional aerial calculate twice, as it is shown in figure 5,
According to described above, ao, op, oq are known, simultaneously ∠ aop (∠ symbology angle,
Hereafter with) and known to ∠ aoq is also, these conditions can be calculated ap by the cosine law
Value with aq.
Sample formula: ap2=op2+ao2-2*op*ao*cos (∠ aop)
Aq2=oq2+ao2-2*oq*ao*cos (∠ aoq)
Next step, drawn the length on respective three limits of triangle saq and triangle sap,
Obtain three interior angle numbers according to the cosine law
Sample formula: ∠ saq=arcos ((sa2+sq2-aq2)/(2*sa*sq))
∠ sap=arcos ((sa2+sp2-ap2)/(2*sa*sp))
Then ∠ spo and the number of degrees of ∠ sqo are obtained with ∠ apo and ∠ aqo after being separately summed.
Then according to principles above, obtain the distance of so, here it is wireless beacon to central point away from
From.Methodology above is utilized to continue, it is possible to obtain ∠ soa.As determination s point skew
Angles and positions are recorded.Thing is followed and the relative angle being followed thing mentioned by the present invention
Degree all can calculate according to ∠ soa and illustrate.
When practical operation, symmetrical antenna set-up mode is used computationally to omit
Step, and then save the power consumption of the CPU carrying out this calculating, so while the system of reality is
Symmetric design.As whole angle can be obtained in theory, in fact, onlyed demand ∠ spa and ∠
sqa。
Owing to there being multiple reception antenna all to get signal above, so according to different antennas
The received signal strength signal intensity of combination, can calculate, and have recorded a plurality of ∠ soa's and sa
Value, such as the description in embodiment 1, except respectively with two groups of omnidirectional antennas acquisitions of directional aerial
Two groups, the actually also combination such as directly obtain one group of two omnidirectional antennas.We are again
It is averaged calculating according to certain weights.And according to algorithm set in advance, directional aerial
The distance weights obtaining, higher than the weights obtaining distance acquired in omnidirectional antenna, that is to say according to orientation
The distance of what antenna calculated be followed thing and angle are more accurate, and this is primarily due to orientation and connects
The accuracy receiving signal receiving antenna is higher.
The conversion relation of signal strength signal intensity and distance refers to following table:
| Antenna type | Distance | Signal strength signal intensity | Environment | Signaling protocol |
| Omnidirectional antenna | 60cm | -57.96dBm | Cloudy 85% humidity | Bluetooth 4.0 |
| Omnidirectional antenna | 1m | -64.44dBm | Fine | Bluetooth 4.0 |
| Omnidirectional antenna | 2m | -66.44dBm | Cloudy, 71% humidity | Bluetooth 4.0 |
| Omnidirectional antenna | 3m | -67.87dBm | Fine | Bluetooth 4.0 |
| Omnidirectional antenna | 5m | -69.74dBm | Fine | Bluetooth 4.0 |
| Omnidirectional antenna | 10m | -74.13dBm | Fine | Bluetooth 4.0 |
| Omnidirectional antenna | 15m | -81.21dBm | The moon, 84% humidity | Bluetooth 4.0 |
| Directional aerial | 60cm | -58.01dBm | The moon, 85% humidity | Bluetooth 4.0 |
| Directional aerial | 1m | -62.85dBm | Fine | Bluetooth 4.0 |
| Directional aerial | 2m | -66.27dBm | Cloudy, 71% humidity | Bluetooth 4.0 |
| Directional aerial | 3m | -66.46dBm | Fine | Bluetooth 4.0 |
| Directional aerial | 5m | -67.71dBm | Fine | Bluetooth 4.0 |
| Directional aerial | 10m | -72.64dBm | Fine | Bluetooth 4.0 |
| Directional aerial | 15m | -79.74dBm | The moon, 84% humidity | Bluetooth 4.0 |
Can close according to the conversion of the distance listed by this form and signal strength signal intensity, weather condition
System, the intensity level of the signal receiving directional aerial or omnidirectional antenna is scaled, and orients sky
Line or omnidirectional antenna distance are followed the distance of thing.Directional aerial and omnidirectional antenna are in being followed
The distance of thing can calculate according to the reduction formula of signal strength signal intensity and distance, it is also possible to is root
The form that border is got after measuring signal strength signal intensity and actual distance factually finds out.
Meanwhile, calculate follow thing with the distance being followed thing before, can be according to each antenna phase
Give different antennae for the difference following thing distance with different weights, can also be according to sky
The variety classes of line gives variety classes antenna with different weights, if antenna is relative to following thing
Close together, then weights are high, and the weights of directional aerial are higher than the weights of omnidirectional antenna.So
When averaging according to distance so that multiple antenna combination calculate, by according to different antennae
Combine the difference of calculated distance so, the distance being calculated to various combination antenna
So gives different weights, can reduce the error of so finally calculating.
As the method for superposition in two steps weights can be determined, first set directional aerial combination
The weights of the weights of the calculated distance distance calculated higher than omnidirectional antenna combination；
Further according to often organizing the air line distance that antenna calculates, reception antenna is to being followed thing apart from short power
Value has signal to connect if any multiple antennas higher than reception antenna to the weights being followed thing distance
Receive, then weights are incremented by row by reception antenna from short to long successively to the distance length being followed thing
Row.The superposition weights of each antenna last are that the weights that antenna combination produces produce plus distance
Weights.
Next step is to calculate weights coefficient, and the weights coefficient that each antenna is finally taken advantage of is: this antenna
Weights/all antenna weights be added.The distance that finally every antenna calculates is multiplied by this antenna
Weights coefficient, be then added, it is simply that final distance value.
Such as combine the weights of calculated distance according to directional aerial higher than omnidirectional antenna group
Closing the weights of calculated distance, according to example above, e.g., distance follows thing center
So weights that the near antenna combination of point is calculated are high, and it is near that distance herein follows thing central point,
Can be understood as in one group of antenna, every antenna with follow thing central point distance sum, it may be assumed that press
So1, so2 are calculated according to antenna with following thing central point apart from ascending antenna combination
And so3, the value of so therefore finally getting is equal to so1*0.5+so2*0.35+so3*0.15.
Due to the existence of weights, the signal strength signal intensity that the combination of multiple different antennae can be allowed to get is calculated
The distance going out becomes the value of less so of error.
In like manner, we can calculate again according to the combination of two auxiliary directional antennas and other antennas
Go out the distance of so, less so of error can be calculated by averaging the value of multiple so
Value, and according to known ∠ sao.The mode that other antennas are arranged is equally according to triangle
Algorithm calculates the distance of so, namely follows thing and the distance being followed thing, differs at this
One illustrates.
Step S104 particularly as follows:
S301, according to repeatedly receive described wireless signal the reception time, every time receive institute
Follow described in when stating wireless signal position relationship that thing is followed thing with described, every time receive described
The positional information following thing obtaining in advance described in during wireless signal, is followed thing described in calculating
Position, and in default map, it described in mark, is followed the position of thing；
S302, according to the time sequencing receiving described wireless signal, by temporally adjacent two
It is followed the position line of thing in described map, to form route to be followed described in mark.
After step S201, S202 and step S203, can be received every time
Thing and the distance being followed between thing and angle is followed, further according to repeatedly receiving during to wireless signal
Just can calculate to reception time, the positional information following thing of acquisition of described wireless signal
It is followed the positional information of thing, and in the map storing in advance, the position being followed thing is marked
Out, the position being followed thing owing to marking out is multiple points, according still further to time sequencing,
Mark multiple points out are carried out line, the mobile route being followed thing can be formed, also
It is route to be followed.What deserves to be explained is, it is thus achieved that the positional information following thing can be to pass through,
It first is stored in the mobile route following thing in default map, when receiving wireless signal,
Obtain according to the mobile route following thing being stored in map and follow exhausted in map of thing
To position.Then, further according to calculating the relative distance being followed thing and following thing and relative angle
Degree, draws the absolute position being followed thing in map, and is labeled.Suitable according still further to the time
The position that two adjacent on time are followed thing is carried out line in default map by sequence,
To form route to be followed, follow for following thing.
Follow thing to be followed thing follow when, if carry out at a same speed all the time with
With being likely to result in and follow the hypertelorism that thing distance is followed thing, cause following the reception on thing
Antenna cannot receive the signal that radio emission beacons is sent, and causes and follows unsuccessfully.The present invention
In also to follow thing as basic point, be provided with multiple region, in different regions, follow thing and use
Different modes of following is followed to being followed thing, i.e. can make to be followed thing with different speed
Degree is followed to being followed thing, so that following thing and the distance being followed thing remains at
One relatively reasonable scope.Step S105 specifically, according to the described thing distance of following
Difference, with the described position following thing as basic point, arrange normally follow district, follow highlight,
Depart from warning area and district out of danger；Described district out of danger be positioned at described disengaging warning area it
Outward, described disengaging warning area be positioned at described in follow outside highlight, described highlight of following is positioned at
Described normally follow outside district；Different, according to road to be followed according to being followed the region residing for thing
Line moves at different rates.It should be noted that normally follow district, follow highlight,
Depart from warning area and district out of danger and be as following the movement of thing and movement.These regions
Scope be not fixing, can be according to the difference of reception antenna using with follow spot
Environment be adjusted.
District out of danger is positioned at outside described disengaging warning area, and described disengaging warning area is positioned at described
Following outside highlight, described highlight of following is positioned at described normally following outside district.Assume with
Being default uniform motion with the initial velocity of thing, normally following if being followed thing always
District, then explanation is followed thing and moves with relatively low speed always, then can be according to default
Speed carries out following.When be followed thing reached to follow highlight when, also just explanation
Follow thing accelerate mobile, and the instantaneous velocity being followed thing to have been over following thing pre-
If the speed of uniform motion, now should properly increase the translational speed following thing, to ensure
It is followed thing and will not enter disengaging warning area.Namely reach disengaging warning area when being followed thing
When with district out of danger, show that being followed thing is likely to exceed the reception following on thing
Antenna can receive the scope of signal, now should be according to the highest translational speed following thing
Move, otherwise likely result in and follow unsuccessfully.
Different speed is being used to follow according to the difference in the region being followed residing for thing
On the basis of, mobile at different rates include: when the described thing that is followed is in and described normally follows
When in district, move according to the district's speed of normally following pre-setting；It is followed thing when described
When following in highlight described in being in, according to the time receiving between wireless signal twice specified
Difference, specify receive the position being followed thing described in two that wireless signal is calculated twice
Air line distance and multiple set in advance, calculate and follow highlight speed, and according to described with
Move with highlight speed；When described be followed thing be in described disengaging warning area when,
According to the described described wireless communication being followed in thing is in described disengaging warning area and receiving
Number and route calculation to be followed described in follow thing and the described transfer angle being followed between thing, step
Rapid S105, moves also include according to described route to be followed and speed set in advance:
Offset described transfer angle to advance on the basis of the direction of route to be followed.
It should be noted that normally following district's speed is a relatively low speed, this speed
Can rule of thumb preset.Also can be to be determined according to the translational speed being followed thing
Coming, record on map as before is followed in the mode of mobile route of thing, root
According to two location points being followed thing marking out in default map air line distance and with
The difference of the corresponding time point receiving wireless signal of two location points, gets final product Negotiation speed
The mode of=distance/time, calculates and is followed the average speed that thing is advanced between two positions point
Degree.Just can calculate position adjacent two-by-two on multiple time according to above-mentioned same mode
It between point, is followed the translational speed of thing.While storing thing route to be followed, can also store up
Leave the translational speed being followed thing, follow thing when mobile, except according to Tape movement
Route moves, and also to move according to the translational speed being followed thing.So replicate quilt
Follow the mobile route of thing and translational speed can make the distance being followed thing with following thing be in
It in one relatively reasonable scope, is both unlikely to the hypotelorism being followed thing with being followed thing,
Cause bumping against；Also it is unlikely to the hypertelorism of the two, cause being followed thing and deviate to follow on thing
Reception antenna can receive the effective range of wireless signal, and follow the tracks of failure.Certainly, according to
Needing the difference with situation, on map, the distance between time upper adjacent two positions point is also wanted
Engineer's scale according to the map converts, and is converted into and is followed the distance that thing moves really.
If being followed thing acceleration movement, it is likely that make to be followed thing entrance and follow highlight,
When be followed thing enter follow highlight when, accelerate too fast to cause it to take off to prevent from being followed thing
From effective range of receiving of the reception antenna followed on thing, now need first to calculate and be followed thing
Entrance follow highlight after translational speed, follow the predetermined number further according to this translational speed for the thing
Move again.When be followed thing be re-introduced into normally following district after, still according to having remembered
The mobile route of record and the translational speed corresponding to mobile route move.
If the acceleration being followed thing is too fast, it is likely that directly through following highlight, enter
Departing from warning area, that now should be launched after entering disengaging warning area according to being followed thing is wireless
Signal, calculates the relative angle being followed thing and following thing, and this angle is i.e. transfer angle,
And follow thing and on the basis of the direction of route to be followed, offset described transfer angle advance, now
Translational speed should be to follow the higher translational speed that thing can reach, prevent from being followed thing depart from
Effectively follow scope with thing.Enter into when being followed thing and follow highlight by departing from warning area
After, then enter recorded route to be followed, be in follow in highlight to be followed thing
Speed moves.Preferably, it, when calculating transfer angle, is preferably selected and is followed thing and has just enter into
The wireless signal being sent when following warning area calculates, and so can carry according to transfer angle
Before turn to, be conducive to be followed thing and coming back to follow inside highlight.
It when being followed thing and being in district out of danger, is followed thing and is likely to disengaging at any time and follows
Effective range of receiving of the reception antenna on thing, so, the mode of following now also needs to correspondence
Be changed.District out of danger is it is to be understood that normally follow district, follow highlight, de-
The region being all not covered with from warning area and district out of danger.Move at different rates, also
Including: when described be followed thing be in described depart from alert hazardous area when, be followed thing according to described
Wireless communication described in the multiple described reception of wireless signals receiving in being in described disengaging warning area
Number time and route calculation to be followed described in follow thing and described be followed between thing multiple
Deflection angle；Step S105, is carried out according to described route to be followed and speed set in advance
Mobile also include: on the basis of the direction of route to be followed every default a period of time skew with
Receive time of described wireless signal corresponding described deflection angle to advance.In district out of danger
When, following thing needs to calculate according to the wireless signal receiving every time be followed thing and follow thing
Relative angle, namely deflection angle.Can certainly be the adjacent of calculating relative angle
It is separated in time between two wireless signals, so can reduce the CPU following on thing
Power consumption, extend CPU it follows the time working time.Each time calculate be followed thing with
When following the relative angle of thing, follow thing and all deflect the advance of this angle.The calculating of deflection angle
Method carrying out as described previously.It should be noted that it is more frequent to calculate relative angle, quilt
That follows that thing is also just less susceptible to depart from the reception antenna being followed on thing accepts scope.
Above-mentioned different modes of following is taked to follow to being followed thing in zones of different, purpose
It is to make to be followed thing effectively to follow scope without departing from follow thing, it is contemplated that follow the CPU of thing
Power problems, when being followed thing and being in different regions, calculate be followed thing and follow thing
Distance and angle after can according to the difference being followed thing region, on map record position
Put frequency a little also can be adjusted, when being not to receive wireless signal every time, all calculate quilt
After the distance followed thing and follow thing and angle, all on map, record is followed the location point of thing.
As being followed thing when normally following district, thing can be followed every 10 seconds records one
Location point, is followed thing and can record a location point every 5 seconds when following highlight.This
Sample avoids the need for the translational speed that substantial amounts of calculating is followed thing, can reduce the work(of CPU
Consumption, extends the work period of CPU, and on the premise of the energy is certain, can extend CPU
Working time.
What deserves to be explained is, follow just start when, follow thing and be followed between thing having one section
Distance, and be followed thing and do not move this segment distance, it is followed road so also just cannot generate
Line.Follow thing receive follow first wireless signal of thing when, strong according to this wireless signal
Weak calculate be followed thing and the relative angle following between thing and relative distance after, towards by with
Move with the angle at thing place.When being followed thing when normally following district, this section mobile away from
From translational speed can be default speed, it is also possible to be according to the wireless signal meter that receives
After calculating the distance followed thing and be followed thing, the speed that goes out according to default Time Calculation,
It and the speed going out according to default Time Calculation moves, e.g., is followed thing and follows thing phase
Away from 100 meters, the time completing this segment distance preset is 50 seconds, then this segment distance of advancing
Speed be exactly speed=distance/time, i.e. 2 meter per seconds.When be followed thing follow highlight,
When departing from warning area or district out of danger, can follow according to manner described above.
Follow thing to be followed thing follow when, it will usually run into band and follow on route
There is the situation of barrier, if do not hidden, then can cause and follow thing and barrier collision,
Cause the damage following thing, even follow unsuccessfully.Provide two kinds in the present invention and hide obstacle
The method of thing, the first is to be judged barrier by ultrasonic signal.Specifically,
Send ultrasonic signal at predetermined time intervals；If receiving described ultrasonic signal to touch obstacle
The feedback signal returning after thing；Then according to described feedback signal judges, follow thing and described barrier
Hinder the position relationship of thing, calculate described barrier according to the feedback signal receiving at least twice
Route, translational speed and the size of described barrier are moved；According to described barrier
Mobile route, translational speed calculate the pre-mobile road in described barrier predetermined period of time
Line and pre-translational speed；According to described pre-mobile route, described pre-translational speed, described obstacle
The size of thing, described route to be followed, described speed set in advance and default to follow thing big
Little, it is judged that whether described thing of following bumps against with described barrier in the given time；If so, then
According to described pre-mobile route, described pre-translational speed, described barrier size, described treat
Follow route, described speed set in advance and default thing size of following, calculate deviation angle；
Step S105, moves also include according to described route to be followed and speed set in advance:
Offset described deviation angle to advance on the basis of the direction of route to be followed, and exceed barrier
After return to described on route to be followed.The ultrasonic sensor of received ultrasonic signal can be installed
Following the surrounding of thing, be used for launching and receiving the ultrasonic signal feeding back.Ultrasonic wave passes
The installation site of sensor at least needs to enable its ultrasonic signal launched to cover and to follow thing
Contour scope.
It should be noted that route to be followed described herein except described above by with
Outside with the mobile route of thing, also include another kind of route.Another kind of route is namely when being followed
Thing occurs in follows hazardous area and when following warning area, and following thing needs according to hereinbefore described
Move mode moves, and route now is to follow thing to be directly toward the side being followed thing place
To move, occur in follow hazardous area and when following warning area when being followed thing, follow
The CPU of thing can formulate new route of following according to the direction being followed thing place and follow,
Described herein new follow wireless being also included within route to be followed.
The second is, judges according to the power of the wireless signal receiving.Specifically,
The rate of change of the signal strength signal intensity of the wireless signal receiving when described reception antenna exceedes preset value
When, according to the intensity level before change in signal strength and change after intensity level mathematic interpolation described in
The size of barrier, move route and translational speed；Shifting according to described barrier
Dynamic route, translational speed calculate the pre-mobile route in described barrier predetermined period of time
With pre-translational speed；According to described pre-mobile route, described pre-translational speed, described barrier
Size, described route to be followed, described speed set in advance and default follow the big of thing
Little, it is judged that whether described thing of following bumps against with described barrier in the given time；If so, then
According to described pre-mobile route, described pre-translational speed, described barrier size, described treat
Follow route, described speed set in advance and default thing size of following, calculate deviation angle；
Described move also include according to described route to be followed and speed set in advance: treat with
Advance with offseting described deviation angle on the basis of the direction of route, and return to after exceeding barrier
On described route to be followed.
When following in effective range of receiving of the reception antenna on thing when there being barrier to occur in, can
To receive size, position and the shifting of the strong and weak disturbance in judgement thing of wireless signal according to reception antenna
Dynamic speed, the translational speed in estimate barrier following a period of time according to these information, then
Route to be followed according to following thing judges, if can bump against with it.
Whether two kinds of disturbance in judgement things can occur the method bumping against to use with following thing simultaneously,
Also can be simply by one, from the point of view of the experience of practical operation, when obstacle distance follows thing
When nearer, the method using ultrasonic sensor detection is more accurate.Two kinds of methods use simultaneously
When, can be according to information such as the translational speed of the barrier obtained by two kinds of methods, mobile routes
Obtain mean value, to reduce the error of calculating.
Calculate described barrier make a reservation for according to move route, the translational speed of described barrier
A period of time in pre-mobile route and pre-translational speed.It is followed the mobile road of thing with calculating
Line is identical with the mode of translational speed, at the translational speed calculating barrier and mobile route
After, can according to calculating whether barrier is in uniform motion within a period of time in past,
Or variable motion, and the mobile route of barrier carrys out the shifting of disturbance in judgement thing following a period of time
Whether dynamic route overlaps with route to be followed, and route namely to be followed is a region, if weight
Close, then record this overlapping region, and according to the pre-mobile route of barrier and pre-translational speed
Calculate when barrier overlaps with route to be followed, further according to route to be followed and set in advance
Fixed speed calculates and follows the time that thing moves to coincidence point, if barrier reaches weight with following thing
The time of chalaza is identical, then explanation can occur situation about bumping against.What deserves to be explained is, herein
Route to be followed needs to calculate the size following thing, it is, route Ying Shiyige district to be followed
Territory, in like manner, the pre-mobile route of barrier also should be a region, is calculating two mobile roads
When whether line overlaps, calculating is the part whether two regions have overlap.Follow thing in calculating
When moving to the time of coincidence point, also should calculate and follow thing from entering overlapping region to going out overlap
The time in region.Judging to follow when whether thing bumps against with barrier and calculating needs simultaneously
Offseting how many angles can make to follow in the problem that thing does not bumps against with barrier, it is also desirable to will barrier
The size hindering thing and the size following thing are taken into account.
In order to prevent the distance followed thing be followed thing from crossing into causing bumping against, or hypertelorism
Cause receiving the wireless signal that radio emission beacons is sent, and then follow unsuccessfully, can
To prevent from bumping against or following unsuccessfully by arranging minimum following distance and maximum following distance.
Follow thing and the described distance being followed between thing when described less than the minimum range pre-setting
When, stop mobile；When described follow thing and the described spacing being followed thing exceed default
During big distance, alert.What deserves to be explained is, when arranging minimum range, it should
Consider to follow thing due to mobile produced inertia problem, be otherwise easy to due to default away from
From crossing near and ground is wet and slippery, cause following thing and the collision that is followed thing.It is, according in advance
The ground drag, the translational speed being followed thing that obtain, follow the translational speed of thing calculate with
With thing from decelerating to stop the distance of movement, the minimum range pre-setting should be greater than this and follows
Thing from decelerate to stop movement distance, otherwise can follow thing be followed thing collision feelings
Condition, causes the damage followed thing be followed thing.Certainly, not receiving that wireless signal also has can
Can be that radio emission beacons does not has electricity, now again may be by sending corresponding warning
Information informs other people.According to the experience of concrete practice, setting can also be increased, when being followed
Thing, departing from when following the signal cover of reception antenna on thing, sends and covers with beyond signal
The corresponding warning message of scope.
Automatic follower method provided by the present invention, by being followed on thing arranging wireless transmission
Beacon, receives, at the reception antenna followed on thing, the wireless signal that radio emission beacons is launched
Afterwards, calculate according to default method and follow thing and the position relationship being followed thing, and formed with
With route, follow according still further to following route, the signal being sent by radio emission beacons
Coverage is much larger than the detection range of ultrasonic sensor and infrared ray sensor, improves letter
Number distance receiving, and then adds following distance, thus solves deficiency of the prior art.
The embodiment of the present invention 3 provides automatic tracking apparatus, as it is shown in fig. 7, comprises:
Wireless receiving module 601, receive wireless signal, described wireless signal be disposed on by with
Send every predetermined period of time with the radio emission beacons on thing；
Computing module 602, when receiving described wireless signal each time, according to the institute receiving
State the power of wireless signal, calculate and follow thing and the described position relationship being followed thing；
Logging modle 603, record receives the reception time of described wireless signal each time；
Route module 604, according to when receiving described wireless signal each time, obtain follows
Thing and the described position relationship being followed thing, the positional information following thing obtaining in advance, and
Receive the reception time of described wireless signal, form route to be followed；
Mobile module 605, moves according to described route to be followed and speed set in advance
Dynamic.
Computing module is further used for, and follows the reception of diverse location on thing by multiple being arranged at
Antenna receives wireless signal；
According to the power of the wireless signal that each reception antenna receives, calculate each and receive sky
Line and the distance being followed between thing；
The distance that according to each reception antenna and is followed between thing, the center of each reception antenna
Point and the signal center of the distance followed between thing central point and predetermined two reception antennas
The angle that line projects in the horizontal plane, calculate follow thing and be followed between thing away from walk-off angle
Degree；
According to when receiving wireless signal each time, obtain follows thing and the position being followed thing
Relation, the positional information following thing obtaining in advance, and when receiving the reception of wireless signal
Between, form route to be followed and include:
Follow according to when repeatedly receiving the reception time of wireless signal, each reception wireless signal
Thing and the thing of following obtaining in advance when being followed the position relationship of thing, every time receive wireless signal
Positional information, calculates the position being followed thing, and mark is followed thing in default map
Position；
According to the time sequencing receiving wireless signal, temporally adjacent two are marked in map
The position line being followed thing, to form route to be followed；
Mobile module is further used for:
According to different from follow thing distance, with follow thing position as basic point, arrange normally with
With district, follow highlight, disengaging warning area and district out of danger；
District out of danger be positioned at disengaging warning area outside, depart from warning area be positioned at follow highlight it
Outward, follow highlight to be positioned at and normally follow outside district；
Different according to being followed the region residing for thing, enter at different rates according to route to be followed
Row is mobile.
Obviously, those skilled in the art should be understood that each module of the above-mentioned present invention or each
Step can be realized by general computing device, and they can concentrate on single computing device
On, or be distributed on the network that multiple computing device is formed, alternatively, they can be used
The executable program code of computing device realizes, it is thus possible to be stored in storage dress
Performed by computing device in putting, or they be fabricated to respectively each integrated circuit modules,
Or the multiple module in them or step are fabricated to single integrated circuit module realize.This
Sample, the present invention is not restricted to any specific hardware and software and combines.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention,
For a person skilled in the art, the present invention can have various modifications and variations.All at this
Within the spirit of invention and principle, any modification, equivalent substitution and improvement etc. made, all should
It is included within protection scope of the present invention.
Claims (7)
1. automatic follower method, it is characterised in that include:
Receiving wireless signal, described wireless signal is disposed on the wireless transmission letter being followed on thing
Mark sends every predetermined period of time；
When receiving described wireless signal each time, strong according to the described wireless signal receiving
Weak, calculate and follow thing and the described position relationship being followed thing；
Record receives the reception time of described wireless signal each time；
According to when receiving described wireless signal each time, the thing of following obtaining is followed with described
The position relationship of thing, the positional information following thing obtaining in advance, and receive described wireless
The reception time of signal, form route to be followed；
Move according to described route to be followed and speed set in advance；
Described when receiving described wireless signal each time, according to the described wireless signal receiving
Power, calculate and follow thing and include with the described position relationship being followed thing:
Receive described nothing by following the reception antenna of diverse location on thing described in multiple being arranged at
Line signal；
According to the power of the wireless signal that each reception antenna receives, calculate each and receive sky
Line and the described distance being followed between thing；
According to each reception antenna described and described be followed between thing distance, each receive sky
The central point of line and the distance followed between thing central point and predetermined two reception antennas
The angle that signal center's line projects in the horizontal plane, calculate described in follow thing and be followed with described
Distance between thing and angle；
When described basis receives described wireless signal each time, obtain follows thing and described quilt
The position relationship following thing, the positional information following thing obtaining in advance, and receive described
The reception time of wireless signal, form route to be followed and include:
According to the reception time, the described wireless communication of each reception that repeatedly receive described wireless signal
Number when described in follow position relationship that thing is followed thing with described, receive described wireless signal every time
What Shi Suoshu obtained in advance follows the positional information of thing, is followed the position of thing described in calculating, and
It is followed the position of thing described in mark in default map；
According to the time sequencing receiving described wireless signal, by temporally adjacent two described
Figure is followed the position line of thing, to form route to be followed described in mark；
Described move include according to described route to be followed and speed set in advance:
Follow the different of thing distance according to from described, with the described position following thing as basic point, if
Put and normally follow district, follow highlight, disengaging warning area and district out of danger；
Described district out of danger is positioned at outside described disengaging warning area, and described disengaging warning area is positioned at
Described following outside highlight, described highlight of following is positioned at described normally following outside district；
Different according to being followed the region residing for thing, enter at different rates according to route to be followed
Row is mobile.
2. automatic follower method according to claim 1, it is characterised in that described
Move at different rates, comprising:
When described be followed thing be in described normally follow in district when, normal according to pre-set
Follow district's speed to move；
When described be followed thing be in described in follow in highlight when, according to the reception twice specified
To the time difference between wireless signal, specify receive two that wireless signal is calculated twice
The air line distance of the described position being followed thing and multiple set in advance, calculate and follow highlight
Speed, and move according to described highlight speed of following；
When described be followed thing be in described disengaging warning area when, be followed at thing according to described
The described wireless signal receiving in described disengaging warning area and route calculation to be followed
Described follow thing and the described transfer angle being followed between thing,
Described move also include according to described route to be followed and speed set in advance:
Offset described transfer angle to advance on the basis of the direction of route to be followed.
3. automatic follower method according to claim 2, it is characterised in that described
Move at different rates, also include:
When described be followed thing be in described district out of danger when, be according to the described thing that is followed
The multiple described wireless signal that receives in described disengaging warning area, receive described wireless signal
Thing and the described multiple deflections being followed between thing are followed described in time and route calculation to be followed
Angle；
Described move also include according to described route to be followed and speed set in advance:
Every default a period of time skew and reception institute on the basis of the direction of route to be followed
State time of wireless signal corresponding described deflection angle to advance.
4. automatic follower method according to claim 1, it is characterised in that described
Method also includes,
Send ultrasonic signal at predetermined time intervals；
If receiving the feedback signal returning after described ultrasonic signal touches barrier；
According to described feedback signal judges, then follow the position relationship of thing and described barrier,
Calculate moving route, moving of described barrier according to the feedback signal that receives at least twice
Dynamic speed and the size of described barrier；
Calculate described barrier make a reservation for according to move route, the translational speed of described barrier
A period of time in pre-mobile route and pre-translational speed；
According to described pre-mobile route, described pre-translational speed, the size of described barrier, institute
State route to be followed, described speed set in advance and default follow thing size, it is judged that be described
Follow whether thing bumps against with described barrier in the given time；
If so, then according to described pre-mobile route, described pre-translational speed, described barrier
Size, described route to be followed, described speed set in advance and default follow thing size,
Calculate deviation angle；
Described move also include according to described route to be followed and speed set in advance:
Offset described deviation angle to advance on the basis of the direction of route to be followed, and exceed barrier
On route to be followed described in returning to after hindering thing.
5. automatic follower method according to claim 4, it is characterised in that
Described method also includes:
The rate of change of the signal strength signal intensity of the wireless signal receiving when described reception antenna exceedes pre-
If during value, according to the mathematic interpolation of the intensity level after the intensity level before change in signal strength and change
The size of described barrier, move route and translational speed；
Calculate described barrier make a reservation for according to move route, the translational speed of described barrier
A period of time in pre-mobile route and pre-translational speed；
According to described pre-mobile route, described pre-translational speed, the size of described barrier, institute
State route to be followed, described speed set in advance and the default size following thing, it is judged that institute
State and follow whether thing bumps against with described barrier in the given time；
If so, then according to described pre-mobile route, described pre-translational speed, described barrier
Size, described route to be followed, described speed set in advance and default follow thing size,
Calculate deviation angle；
Described move also include according to described route to be followed and speed set in advance:
Offset described deviation angle to advance on the basis of the direction of route to be followed, and exceed barrier
On route to be followed described in returning to after hindering thing.
6. automatic follower method according to claim 1, it is characterised in that described
Move include according to described route to be followed and speed set in advance:
Follow thing and the described distance being followed between thing when described less than the minimum pre-setting
During distance, stop mobile；
When described follow thing and the described spacing being followed thing exceed default ultimate range when,
Alert.
7. automatic tracking apparatus, it is characterised in that include:
Wireless receiving module, receives wireless signal, and described wireless signal is disposed on being followed thing
On radio emission beacons send every predetermined period of time；
Computing module, when receiving described wireless signal each time, according to the described nothing receiving
The power of line signal, calculates and follows thing and the described position relationship being followed thing；
Logging modle, record receives the reception time of described wireless signal each time；
Route module, according to when receiving described wireless signal each time, obtain follow thing with
The described position relationship being followed thing, the positional information following thing obtaining in advance, and receive
To the reception time of described wireless signal, form route to be followed；
Mobile module, moves according to described route to be followed and speed set in advance；
Described computing module is further used for, by following on thing not coordination described in multiple being arranged at
The reception antenna put receives described wireless signal；
According to the power of the wireless signal that each reception antenna receives, calculate each and receive sky
Line and the described distance being followed between thing；
According to each reception antenna described and described be followed between thing distance, each receive sky
The central point of line and the distance followed between thing central point and predetermined two reception antennas
The angle that signal center's line projects in the horizontal plane, calculate described in follow thing and be followed with described
Distance between thing and angle；
When described basis receives described wireless signal each time, obtain follows thing and described quilt
The position relationship following thing, the positional information following thing obtaining in advance, and receive described
The reception time of wireless signal, form route to be followed and include:
According to the reception time, the described wireless communication of each reception that repeatedly receive described wireless signal
Number when described in follow position relationship that thing is followed thing with described, receive described wireless signal every time
What Shi Suoshu obtained in advance follows the positional information of thing, is followed the position of thing described in calculating, and
It is followed the position of thing described in mark in default map；
According to the time sequencing receiving described wireless signal, by temporally adjacent two described
Figure is followed the position line of thing, to form route to be followed described in mark；
Described mobile module is further used for:
Follow the different of thing distance according to from described, with the described position following thing as basic point, if
Put and normally follow district, follow highlight, disengaging warning area and district out of danger；
Described district out of danger is positioned at outside described disengaging warning area, and described disengaging warning area is positioned at
Described following outside highlight, described highlight of following is positioned at described normally following outside district；
Different according to being followed the region residing for thing, enter at different rates according to route to be followed
Row is mobile.
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| CN201410092270.XA CN103809174B (en) | 2014-03-13 | 2014-03-13 | Automatic follower method and device |
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| CN201410092270.XA CN103809174B (en) | 2014-03-13 | 2014-03-13 | Automatic follower method and device |
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| CN103809174B true CN103809174B (en) | 2016-10-05 |
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| CN106292357B (en) * | 2015-06-12 | 2019-09-24 | 联想(北京)有限公司 | A kind of apparatus control method and system |
| CN106525022A (en) * | 2015-09-15 | 2017-03-22 | 中兴通讯股份有限公司 | Navigation method and device and equipment |
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| CN106909140B (en) * | 2015-12-22 | 2021-02-09 | 苏州宝时得电动工具有限公司 | Route regression method and system |
| CN105468022B (en) * | 2016-01-13 | 2018-09-18 | 谭圆圆 | It navigates and uses unmanned vehicle, unmanned flight's navigation system and method for navigation |
| CN107037394B (en) * | 2016-02-03 | 2020-06-23 | 希姆通信息技术（上海）有限公司 | Direction positioning equipment and method |
| CN105867368B (en) * | 2016-03-31 | 2019-03-01 | 纳恩博（常州）科技有限公司 | A kind of information processing method and mobile device |
| CN106058417A (en) * | 2016-06-15 | 2016-10-26 | 广州尚云在线科技有限公司 | System and method for achieving automatic following based on antenna array |
| CN106184753B (en) * | 2016-07-13 | 2019-07-02 | 京信通信系统（中国）有限公司 | A kind of unmanned plane and unmanned plane search and rescue localization method |
| CN107466371B (en) * | 2016-07-21 | 2021-08-13 | 深圳前海达闼云端智能科技有限公司 | Target tracking device and system and robot |
| JP7027434B2 (en) * | 2017-02-02 | 2022-03-01 | フラウンホーファーゲゼルシャフト ツール フォルデルング デル アンゲヴァンテン フォルシユング エー．フアー． | Positioning unmanned aerial vehicles using millimeter-wave beam infrastructure |
| CN107121989B (en) * | 2017-05-17 | 2020-09-15 | 深圳市元时科技有限公司 | Wireless electromagnetic wave following method and system |
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| CN112312405B (en) * | 2019-07-25 | 2022-05-13 | 神顶科技（南京）有限公司 | Method and system for reinforcing wireless signal and sharing and following wireless network load |
| CN113284276A (en) * | 2021-06-30 | 2021-08-20 | 重庆工业职业技术学院 | Vehicle lock control system |
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