CN104515992A - Ultrasound-based method and ultrasound-based device for space scanning and positioning - Google Patents
Ultrasound-based method and ultrasound-based device for space scanning and positioning Download PDFInfo
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- CN104515992A CN104515992A CN201410801979.2A CN201410801979A CN104515992A CN 104515992 A CN104515992 A CN 104515992A CN 201410801979 A CN201410801979 A CN 201410801979A CN 104515992 A CN104515992 A CN 104515992A
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
Abstract
The invention provides an ultrasound-based method for space scanning and positioning. At least one ultrasound detector is utilized in the method. The ultrasound-based method includes sending and receiving a time difference of ultrasound to calculate distances between the ultrasound detectors and a to-be-detected object; sensing changes of motion states of the ultrasound detectors to acquire posture data, direction data and/or motion trajectory data of the ultrasound detectors; combing the distances, detected in continuous time, between the ultrasound detectors and the to-be-detected object with the posture data and/or the direction data and/or the motion trajectory data of the ultrasound detectors, and acquiring space outline and position information after calculation. The invention discloses a corresponding ultrasound-based device for space scanning and positioning. The method and the device have the advantages that the method and the device are applicable to space scanning and positioning of wireless sensors and belong to a simple and easy space positioning technology, rapid space scanning can be achieved, and positions of all objects in space can be positioned after effective calculation.
Description
Technical field
The present invention relates to a kind of method and apparatus utilizing ultrasound wave to carry out spacescan location, belong to sensing measurement field.
Background technology
The practical application of current Smart Home and Internet of Things has been the main trend of future world intelligent development, therefore indoor positioning and airmanship, the application that these and space meta confidence manner of breathing close also can further be developed, but indoor positioning technologies is too complicated at present, apply too loaded down with trivial details, major part is difficult to realize, and needs a kind of simple space orientation technique to adapt to the needs of future market.In conjunction with inertial sensor to the Data acquisition, of indoor map and automatically draw, and realize indoor navigation in conjunction with indoor map, or other need the application of spatial information, such as, the projection of scene of game projector, in game virtual world and real world combination with overlap.
Summary of the invention
In order to overcome the defect of prior art, the present invention proposes a kind of apparatus and method utilizing ultrasound wave to carry out spacescan location respectively.
To achieve these goals, the technical scheme that employing according to the present invention is following:
According to an aspect of the present invention, propose a kind of method utilizing ultrasound wave to carry out spacescan location, it comprises:
Utilize at least one group of ultrasonic detector, one group of described ultrasonic detector comprises a ultrasonic transmitter and a MEMS microphone, utilize ultrasonic transmitter to send the ultrasonic MEMS microphone that involves and receive reflection wave, the ultrasonic detector described in being calculated by the mistiming sending and receive and the spacing being detected thing;
The change of the motion state of the ultrasonic detector described in sensing self and the attitude data, directional data and/or the motion trace data that obtain about it, it is one or more that this motion state comprises in attitude, direction, movement velocity, acceleration;
The ultrasonic detector that detection on continuous time obtains be detected the distance between thing in conjunction with the attitude of ultrasonic detector self and/or direction and/or motion trace data, obtain after calculating:
A) take ultrasonic detector as reference point, by all space profiles being detected the distance between thing and described detector and forming;
B) ultrasonic detector absolute position within this space or with the relative position be detected in space profiles that thing forms.
Preferably, described ultrasonic detector movement locus is one or more in straight line, curve, spherical scanning line.
Preferably, the producing method of the change of described motion state comprises manual and/or automatic.
Preferably, described detector self-movement locus is calculated by the sense data of one or more sensors in the acceleration sensor integrated with this detector, gyroscope, magnetometer.
Preferably, the similarity that contrast is detected the contoured data in thing and database is also comprised, to be detected the identity of thing described in identification.
Preferably, described space profiles is with figure and/or the display of animation form.
Preferably, carry out reminding or reporting to the police with specific mode according to the described comparison being detected the identity of thing and/or the setting value of distance.
Preferably, the described thing that is detected comprises stage property in game, and the outline data being detected thing according to described and position data and game demand are converted into stage property in game by being detected thing.
According to another aspect of the present invention, propose a kind of device utilizing ultrasound wave to carry out spacescan location, it comprises:
Probe unit, utilize at least one group of ultrasonic detector, one group of described ultrasonic detector comprises a ultrasonic transmitter and a MEMS microphone, utilize ultrasonic transmitter to send the ultrasonic MEMS microphone that involves and receive reflection wave, the ultrasonic detector described in being calculated by the mistiming sending and receive and the spacing being detected thing;
Sensing cell, the change of the motion state of the ultrasonic detector described in sensing self and the attitude data, directional data and/or the motion trace data that obtain about it, it is one or more that this motion state comprises in attitude, direction, movement velocity, acceleration;
Arithmetic element, comprise processor and storer, described storer preserves detection data and sense data, and in described processor, the ultrasonic detector that detection on continuous time is obtained be detected the distance between thing in conjunction with the attitude of ultrasonic detector self and/or direction and/or motion trace data, obtain after calculating:
A) take ultrasonic detector as reference point, by all space profiles being detected the distance between thing and described detector and forming;
B) ultrasonic detector absolute position within this space or with the relative position be detected in space profiles that thing forms.
Preferably, also comprise moving cell, for generation of the motion with control ultrasonic detector, the producing method of the wherein change of motion state comprises manual and/or automatic mode, and manual mode comprises by azimuth indicator and confirms button; Described ultrasonic detector movement locus is one or more in straight line, curve, spherical scanning line; Described detector self-movement locus is calculated by the sense data of one or more sensors in the acceleration sensor integrated with this detector, gyroscope, magnetometer.
Preferably, described device is also set to contrast the similarity of the contoured data be detected in thing and database, to be detected the identity of thing described in identification; Described space profiles is with figure and/or the display of animation form; Carry out reminding or reporting to the police with specific mode according to the described comparison being detected the identity of thing and/or the setting value of distance, and/or the outline data being detected thing according to described and position data and game demand are converted into stage property in game by being detected thing.
Compared with prior art, the present invention has following remarkable advantage and beneficial effect:
The invention provides a kind of utilize ultrasound wave to carry out spacescan and the method for location and device, the present invention utilizes at least one group of ultrasonic detector (comprising such as at least one ultrasonic transmitter and at least one MEMS microphone), launched by ultrasound wave and the distance of time of reception dyscalculia thing, utilization can with ultrasonic detector one or independently acceleration sensor, gyroscope, the direction of the sensor sensitive detector such as magnetometer, attitude and motion, in conjunction with the data that two kinds of modes obtain, the profile in space residing for detector is obtained after calculating, the positional information of other objects and the position at the place of detector own and relative position relation in space.Profile and Scan orientation device location in space that enforcement of the present invention will greatly facilitate user to obtain surrounding space fast.
Method and apparatus according to the present invention is suitable for the spacescan location of wireless senser, is simple space orientation technique, can carries out the scanning in space fast, and all objects position after significance arithmetic in energy located space.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further, wherein:
Fig. 1 is according to the process flow diagram utilizing ultrasound wave to carry out a specific embodiment of the method for spacescan location of the present invention;
Fig. 2 is according to the structured flowchart utilizing ultrasound wave to carry out a specific embodiment of the device of spacescan location of the present invention;
Fig. 3 is according to the principle schematic utilizing ultrasound wave to carry out a specific embodiment of the device of spacescan location of the present invention.
Embodiment
Existing composition graphs 1-3, is described in detail specific embodiments of the invention, so that technical scheme of the present invention to be exemplarily described.
According to a specific embodiment of the present invention, the method utilizing ultrasound wave to carry out spacescan location as shown in Figure 1 can be adopted to perform the function of device as Figure 2-3, and it comprises:
Detection steps, utilize at least one group of ultrasonic detector, one group of described ultrasonic detector comprises ultrasonic transmitter 104 and MEMS microphone 105, utilize ultrasonic transmitter 104 to send the ultrasonic MEMS microphone 105 that involves and receive reflection wave, the ultrasonic detector described in being calculated by the mistiming sending and receive and the spacing being detected thing.
Sensing step, the change of the motion state of the ultrasonic detector described in sensing self and the attitude data, directional data and/or the motion trace data that obtain about it, it is one or more that this motion state comprises in attitude, direction, movement velocity, acceleration.
Calculation step, the ultrasonic detector that the detection on continuous time is obtained be detected the distance between thing in conjunction with the attitude of ultrasonic detector self and/or direction and/or motion trace data, obtain after calculating:
A) take ultrasonic detector as reference point, by all space profiles being detected the distance between thing and described detector and forming;
B) ultrasonic detector absolute position within this space or with the relative position be detected in space profiles that thing forms.
Particularly, described ultrasonic detector movement locus can be one or more in straight line, curve, spherical scanning line.
Particularly, the producing method of the change of described motion state can comprise manual and/or automatic mode.
Particularly, described detector self-movement locus can calculate via the sense data of one or more sensors in the acceleration sensor integrated with this detector, gyroscope, magnetometer.
Particularly, the similarity that contrast is detected the contoured data in thing and database can also be comprised, to be detected the identity of thing described in identification.
Particularly, described space profiles can show by figure and/or animation form.
Particularly, can carry out reminding or reporting to the police with specific mode according to the described comparison being detected the identity of thing and/or the setting value of distance, and/or the outline data that can be detected thing according to described and position data and game demand being converted into stage property in game by being detected thing, being namely detected thing and can comprising stage property in game.
Be illustrated in figure 2 according to the modular diagram utilizing ultrasound wave to carry out a specific embodiment of the device of spacescan location of the present invention.Described device comprises:
Probe unit 101, utilize at least one group of ultrasonic detector, one group of described ultrasonic detector comprises ultrasonic transmitter 104 and MEMS microphone 105, utilize ultrasonic transmitter 104 to send the ultrasonic MEMS microphone 105 that involves and receive reflection wave, ultrasonic detector described in being calculated by the mistiming sending and receive and the spacing being detected thing, preferably, comprise a ultrasonic transmitter 104, and a MEMS microphone 105.
Sensing cell 102, the change of the motion state of the ultrasonic detector described in sensing self and the attitude data, directional data and/or the motion trace data that obtain about it, it is one or more that this motion state comprises in attitude, direction, movement velocity, acceleration, wherein sensing cell 102 can be independently unit, or integrated with ultrasonic detector.
Arithmetic element 103, comprise processor 109 and storer 110, as shown in Figure 3, described storer 110 preserves detection data and sense data, and in described processor 109, the ultrasonic detector that detection on continuous time is obtained be detected the distance between thing in conjunction with the attitude of ultrasonic detector self and/or direction and/or motion trace data, obtain after calculating, such as:
A) take ultrasonic detector as reference point, by all space profiles being detected the distance between thing and described detector and forming.
B) ultrasonic detector absolute position within this space or with the relative position be detected in space profiles that thing forms.And be detected thing positional information within this space described in also can obtaining thus.
Exemplarily, also can comprise moving cell, for generation of the motion with control ultrasonic detector, the producing method of the wherein change of motion state comprises manual and/or automatic mode, and manual mode comprises by azimuth indicator and confirms button; Such as, and automated manner can comprise and can produce paleocinetic mechanism, automotive proplsion, programme controlled Spherical surface scanning device etc.Concrete device can be a portable space tester, as electric torch is similar, ultrasonic detector replaces the bulb of electric torch, press feeler switch, orientation up and down front and back LED lights respectively, detector is aimed at fore-and-aft direction up and down and is pressed acknowledgement key by user respectively, the data detected by ultrasonic detector by arithmetic element are in conjunction with the direction at data place, calculate the size in whole space and the position coordinates in space, moment detector place, person easy to use carries out bulk measurement fast; Certainly, detector also can be driven by automatic controls and change direction, and automatically tests.
Exemplarily, described ultrasonic detector movement locus can be one or more in straight line, curve, spherical scanning line.The ultrasonic detector such as installed around car body does straight line, curvilinear motion with automobile, or a kind of projection head can do the sphere surface sweeping projector of 180 degree of spheric motions, conveniently the floor in whole room, wall is used as projecting plane.In addition, described detector self-movement locus can be calculated by the sense data of one or more sensors be contained in the integrated with this detector of sensing cell 102 or the acceleration sensor 106 independently in inertial sensor, gyroscope 108, magnetometer 107, particularly, sensing cell 102 senses current kinetic, obtain the data of three kinds of sensors, data are passed to arithmetic element 103 computing to obtain the current attitude of auto levelizer.As described in spherical projection machine, detected the distance of floor and wall by ultrasonic detector in motion, utilize the inertial sensor sensing of integration to produce the athletic posture of wave detector simultaneously, the associated data of measuring distance and attitude is obtained after calculating, the convenient distance understanding projection thing when which kind of attitude, and utilize Data Control projector to focus to obtain clear picture.
Exemplarily, described device is also set to contrast the similarity of the contoured data be detected in thing and database, to be detected the identity of thing described in identification; Described space profiles is with figure and/or the display of animation form; Carry out reminding or reporting to the police with specific mode according to the described comparison being detected the identity of thing and/or the setting value of distance, and/or the outline data being detected thing according to described and position data and game demand are converted into stage property in game by being detected thing, such as, as hereafter according to the present invention application all cover display glasses as described in.
As an example, during described device busy, arithmetic element controls ultrasonic transmitter 104 and launches ultrasound wave and start timing simultaneously, and start MEMS microphone 105 detection of reflected ripple, MEMS microphone 105 receive be detected ultrasound wave that thing reflects after stop timing, to obtain time data, as launched the mistiming involving reflection wave, then, arithmetic element 103 utilizes the time gap table in storer 110 or time gap formula to carry out calculating distance.This device is when carrying out spacescan, and the direction of ultrasonic detector and/or attitude are disposable, and scanning angle is, such as, and 360 degree.Behind the spacescan location of 360 degree, and after the position of different objects is calculated, namely can obtain with this device from as can the coordinate system informations of object of reflection supersonic wave in the whole space of reference point.
As example more specifically, the device utilizing ultrasound wave to carry out spacescan location according to the present invention comprises, the probe unit 101 be made up of at least one ultrasonic transmitter 104 and at least one MEMS microphone 105, the motion sensing unit 102 be made up of three dimension acceleration sensor 106, gyroscope 108 and magnetometer 107, the arithmetic element 103 be made up of processor 109 and storer 110, and power supply and shell are formed.
Particularly, this device can be a telecar, exemplarily, with the ultrasonic detector in front upper several direction, left and right, the camera in front, Operations Analysis, wireless communication module, driver element, searchlight and power supply, and telepilot or the smart mobile phone of communication is coordinated with telecar item, control telecar by smart mobile phone and enter cavern exploration, in advance ultrasonic detector detect all around and above distance, exercise data is detected by inertial sensor, Operations Analysis obtains the in-profile of cavern and the athletic posture of car body after calculating, smart mobile phone is sent to by wireless communication module together with video data, by calculating and rendering module the realization space profiles at display remoting car place and position at telecar place on its display screen of the app software of interior of mobile phone.Can not only see that space profiles in cave can also preserve with the form of space map by the indoor setting in cave so in real time, generate three-dimensional map, and the clear display position of dolly in three-dimensional map and the animation of motion state.
Particularly, this device can be automobile, ultrasonic detector is arranged on around automobile, detection spatial obstacle thing around, and show in car in the mode of figure or animation, and by with the contour pattern relative discern specific profile in database, as child, and send prompting according to the distance of barrier, avoid the visual dead angle of current driver to cause injury to child; In real time the close situation of the barrier of periphery or other violation automobile can also be shown and early warning to graphically in running car.
Particularly, this device can be all cover display glasses, before ultrasonic detector is arranged on glasses, the spatial obstacle thing of detection visual direction, in conjunction with e-gaming content, residing for player actual environment just can become the actual scene of game, other virtual content is produced by Games Software, such as goal (strange beast, enemy), (look like the stone shown by augmented reality, be indoor chair to the outward appearance of barrier in fact; Looking like mountain wall, is wall in fact; The entrance of cavern is the door in other rooms in fact; Stalactite is indoor pendent lamp in fact).
The above, just preferred embodiment of the present invention, the present invention is not limited to above-mentioned embodiment, as long as it reaches technique effect of the present invention with identical means, all should belong to protection scope of the present invention.In protection scope of the present invention, its technical scheme and/or embodiment can have various different modifications and variations.Even if other technical characteristic individual is quoted in different claims, the present invention also can comprise the embodiment of these features total.
Claims (11)
1. utilize ultrasound wave to carry out a method for spacescan location, it is characterized in that comprising:
Utilize at least one group of ultrasonic detector, one group of described ultrasonic detector comprises ultrasonic transmitter and MEMS microphone, utilize ultrasonic transmitter to send the ultrasonic MEMS microphone that involves and receive reflection wave, the ultrasonic detector described in being calculated by the mistiming sending and receive and the spacing being detected thing;
The change of the motion state of the ultrasonic detector described in sensing self and the attitude data, directional data and/or the motion trace data that obtain about it, it is one or more that this motion state comprises in attitude, direction, movement velocity, acceleration;
The ultrasonic detector that detection on continuous time obtains be detected the distance between thing in conjunction with the attitude of ultrasonic detector self and/or direction and/or motion trace data, obtain after calculating:
A) take ultrasonic detector as reference point, by all space profiles being detected the distance between thing and described detector and forming;
B) ultrasonic detector absolute position within this space or with the relative position be detected in space profiles that thing forms.
2. a kind of method utilizing ultrasound wave to carry out spacescan location according to claim 1, is characterized in that, described ultrasonic detector movement locus is one or more in straight line, curve, spherical scanning line.
3. a kind of method utilizing ultrasound wave to carry out spacescan location according to claim 1 and 2, it is characterized in that, the producing method of the change of described motion state comprises manual and/or automatic.
4. a kind of method utilizing ultrasound wave to carry out spacescan location according to claim 1, it is characterized in that, described detector self-movement locus is calculated by the sense data of one or more sensors in the acceleration sensor integrated with this detector, gyroscope, magnetometer.
5. a kind of method utilizing ultrasound wave to carry out spacescan location according to claim 1, is characterized in that, also comprises the similarity that contrast is detected the contoured data in thing and database, to be detected the identity of thing described in identification.
6. a kind of method utilizing ultrasound wave to carry out spacescan location according to claim 1 or 5, is characterized in that, described space profiles is with figure and/or the display of animation form.
7. a kind of method utilizing ultrasound wave to carry out spacescan location according to any one of claim 1-6, is characterized in that, carries out reminding or reporting to the police with specific mode according to the described comparison being detected the identity of thing and/or the setting value of distance.
8. a kind of method utilizing ultrasound wave to carry out spacescan location according to claim 1, it is characterized in that, the described thing that is detected comprises stage property in game, and the outline data being detected thing according to described and position data and game demand are converted into stage property in game by being detected thing.
9. utilize ultrasound wave to carry out a device for spacescan location, it is characterized in that, comprising:
Probe unit, utilize at least one group of ultrasonic detector, one group of described ultrasonic detector comprises ultrasonic transmitter and MEMS microphone, utilize ultrasonic transmitter to send the ultrasonic MEMS microphone that involves and receive reflection wave, the ultrasonic detector described in being calculated by the mistiming sending and receive and the spacing being detected thing;
Sensing cell, the change of the motion state of the ultrasonic detector described in sensing self and the attitude data, directional data and/or the motion trace data that obtain about it, it is one or more that this motion state comprises in attitude, direction, movement velocity, acceleration;
Arithmetic element, comprise processor and storer, described storer preserves detection data and sense data, and in described processor, the ultrasonic detector that detection on continuous time is obtained be detected the distance between thing in conjunction with the attitude of ultrasonic detector self and/or direction and/or motion trace data, obtain after calculating:
A) take ultrasonic detector as reference point, by all space profiles being detected the distance between thing and described detector and forming;
B) ultrasonic detector absolute position within this space or with the relative position be detected in space profiles that thing forms.
10. a kind of device utilizing ultrasound wave to carry out spacescan location according to claim 9, it is characterized in that, also comprise moving cell, for generation of the motion with control ultrasonic detector, wherein the producing method of the change of motion state comprises manual and/or automatic mode, and manual mode comprises by azimuth indicator and confirms button; Described ultrasonic detector movement locus is one or more in straight line, curve, spherical scanning line; Described detector self-movement locus is calculated by the sense data of one or more sensors in the acceleration sensor integrated with this detector, gyroscope, magnetometer.
11. a kind of devices utilizing ultrasound wave to carry out spacescan location according to claim 9, it is characterized in that, described device is also set to contrast the similarity of the contoured data be detected in thing and database, to be detected the identity of thing described in identification; Described space profiles is with figure and/or the display of animation form; Carry out reminding or reporting to the police with specific mode according to the described comparison being detected the identity of thing and/or the setting value of distance, and/or the outline data being detected thing according to described and position data and game demand are converted into stage property in game by being detected thing.
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