CN105974420A - Ultrasonic positioning system based on reflection cones - Google Patents
Ultrasonic positioning system based on reflection cones Download PDFInfo
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- CN105974420A CN105974420A CN201610551753.0A CN201610551753A CN105974420A CN 105974420 A CN105974420 A CN 105974420A CN 201610551753 A CN201610551753 A CN 201610551753A CN 105974420 A CN105974420 A CN 105974420A
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- ultrasonic
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- reflection cone
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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
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/521—Constructional features
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses an ultrasonic positioning system based on reflection cones. The system comprises a reflection module, N receiving modules, a wireless communication module, a temperature sensor and a control module, wherein N is a natural number greater than and equal to 3; the wireless communication module comprises one gathering node and N+1 branch nodes; the gathering node is connected with the control module, and the N+1 branch nodes are connected with the emission module and the N receiving modules in a one-to-one correspondence manner; the gathering node and the branch nodes are connected based on wireless communication; the emission module and the receiving modules each has a reflection cone added thereto; and the control module is connected with the temperature sensor for calculating coordinates of the emission module according to a temperature sensed by the temperature sensor and ultrasonic signals transmitted by each receiving module. According to the invention, the problems of inconvenient node arrangement and too many nodes in conventional ultrasonic positioning are effectively solved.
Description
Technical field
The present invention relates to positioning of mobile equipment technical field, particularly relate to a kind of ultrasonic positioning system based on reflection cone.
Background technology
The most a lot of alignment systems are all by mean of gps satellite and realize the location to target, although this location is very convenient, but its positioning precision is relatively low, region, location is in outdoor open space mostly, many times we need the high-precision location of realization of goal, location, and this is that GPS cannot realize.The had good directionality of ultrasound wave, reflection can be produced on interface, refraction, energy high, existing ultrasonic positioning system is limited to these features of ultrasound wave, a lot of is all to be arranged on ceiling by part of nodes, this brings inconvenience to the layout of node, simultaneously because be limited to emitter to launch the restriction of angle, position the least region to be accomplished by arranging substantial amounts of receiving node, also result in the rising of cost, in view of the inserting knot problem in conventional ultrasonic wave alignment system, if able to increase the radiation scope of ultrasonic emitting end, the most just can efficiently reduce the number of receiving terminal node, thus reduce the purpose of cost.
Existing ultrasonic positioning system applies to the location to indoor object mostly, the ultrasonic positioning system that the present invention relates to can apply to drive in the every project examined in the location of automobile, parking lot to the location of automobile to find the background such as parking stall, indoor dolly trajectory analysis.
Summary of the invention
The technical problem to be solved is for defect involved in background technology, a kind of ultrasonic positioning system based on reflection cone is provided, reflection circular cone is utilized effectively to expand the radiation scope of ultrasound wave that ultrasonic transmitter is launched, it is achieved transmitting terminal and receiving terminal are to the theaomni-directional transmission of ultrasound wave and reception.
The present invention solves above-mentioned technical problem by the following technical solutions:
A kind of ultrasonic positioning system based on reflection cone, comprises transmitter module, N number of receiver module, wireless communication module, temperature sensor and control module, and N is the natural number more than or equal to 3；
Described wireless communication module comprises one and collects node and N+1 branch node；The described node that collects is connected with described control module, and described N+1 branch node is connected with transmitter module, N number of receiver module one_to_one corresponding respectively；Described collect between node and branch node based on radio communication；
Described transmitter module is arranged on object to be positioned, is used for sending ultrasound wave, comprises ultrasonic transmitter, launches reflection cone and launch microcontroller；Described transmitting reflection cone is coniform, is arranged on the transmitting terminal of ultrasonic transmitter, and cone-tip surface is towards ultrasonic transmitter, and the transmitting direction of axle center and ultrasonic transmitter is on the same line；Described transmitting microcontroller is connected with ultrasonic transmitter, branch node that transmitter module is corresponding respectively, for controlling ultrasonic transmitter work according to the order received；
Described receiver module comprises ultrasonic receiver, receives reflection cone and receive microcontroller；Described reception reflection cone is coniform, is arranged on the receiving terminal of ultrasonic receiver, and cone-tip surface is towards ultrasonic receiver, and the reception direction of axle center and ultrasonic receiver is on the same line；Described reception microcontroller is connected with ultrasonic receiver, branch node that receiver module is corresponding respectively, for the ultrasonic signal received is passed to described control module；
Described control module is connected with temperature sensor, for according to temperature sensor senses to temperature and the ultrasonic signal of each receiver module transmission calculate the coordinate of described transmitter module.
As the present invention further prioritization scheme of a kind of ultrasonic positioning system based on reflection cone, described transmitting reflection cone, reception reflection cone are the metal circular cone of surfacing, and drift angle is 90 degree.
As the present invention further prioritization scheme of a kind of ultrasonic positioning system based on reflection cone, described temperature sensor uses IC temperature sensor.
As the present invention further prioritization scheme of a kind of ultrasonic positioning system based on reflection cone, described IC temperature sensor uses DS18B20 type temperature sensor.
As the present invention further prioritization scheme of a kind of ultrasonic positioning system based on reflection cone, described control module uses PC.
The present invention uses above technical scheme compared with prior art, has following technical effect that
1., by adding reflection cone in ultrasonic emitting module, effectively expand the radiation scope of the ultrasound wave that ultrasonic emitting module sends, the layout of ultrasound wave receiving node of being more convenient for；
2., after ultrasound wave receiver module installs reflection cone, it is that 360 degree of omnidirectionals receive that ultrasound wave receiving terminal only had the receiving angle of about 60 degree effectively improve originally；
3. carry out computing and the display of position of data at PC end, the speed of service of PC and figure show and have great advantage relative to single-chip microcomputer；
4. effectively reduce the quantity of the receiving node of ultrasound wave, solve inserting knot problem the most easily.
Accompanying drawing explanation
Fig. 1 is the route map after ultrasound wave is reflected cone reflection；
Fig. 2 is that the emitted end of ultrasound wave launches cone reflection trailing flank radiation scope schematic diagram；
Fig. 3 is vertical view radiation scope schematic diagram after the reflection of ultrasound wave emitted end reflection cone；
Fig. 4 is that ultrasonic emitting end increases schematic diagram after reflection cone；
Fig. 5 is that ultrasound wave receiving terminal increases schematic diagram after reflection cone.
Detailed description of the invention
Below in conjunction with the accompanying drawings technical scheme is described in further detail:
The invention discloses a kind of ultrasonic positioning system based on reflection cone, comprise transmitter module, N number of receiver module, wireless communication module, temperature sensor and control module, N is the natural number more than or equal to 3；
Described wireless communication module comprises one and collects node and N+1 branch node；The described node that collects is connected with described control module, and described N+1 branch node is connected with transmitter module, N number of receiver module one_to_one corresponding respectively；Described collect between node and branch node based on radio communication；
Described transmitter module is arranged on object to be positioned, is used for sending ultrasound wave, comprises ultrasonic transmitter, launches reflection cone and launch microcontroller；Described transmitting reflection cone is coniform, is arranged on the transmitting terminal of ultrasonic transmitter, and cone-tip surface is towards ultrasonic transmitter, and the transmitting direction of axle center and ultrasonic transmitter is on the same line；Described transmitting microcontroller is connected with ultrasonic transmitter, branch node that transmitter module is corresponding respectively, for controlling ultrasonic transmitter work according to the order received；
Described receiver module comprises ultrasonic receiver, receives reflection cone and receive microcontroller；Described reception reflection cone is coniform, is arranged on the receiving terminal of ultrasonic receiver, and cone-tip surface is towards ultrasonic receiver, and the reception direction of axle center and ultrasonic receiver is on the same line；Described reception microcontroller is connected with ultrasonic receiver, branch node that receiver module is corresponding respectively, for the ultrasonic signal received is passed to described control module；
Described control module is connected with temperature sensor, for according to temperature sensor senses to temperature and the ultrasonic signal of each receiver module transmission calculate the coordinate of described transmitter module.
Described transmitting reflection cone, reception reflection cone are the metal circular cone of surfacing, and drift angle is preferentially set to 90 degree, and described temperature sensor uses IC temperature sensor, and model is DS18B20.
Described control module uses PC.
From three limit algorithms of conventional chamber inner position, obtain concrete three dimensional local information, one transmitting terminal to be at least equipped with 3 receiving terminals and just can carry out three-dimensional localization, the ultrasonic signal that ultrasonic emitting end sends is when there being the receiving terminal of 3 or more than 3 to receive, in conjunction with the most available concrete coordinate of location algorithm.
Owing to development environment and the operational capability of PC end are superior to single-chip microcomputer, coordinate calculates and is easier to realize, and the movement locus that can realize positioning object easily shows, this is required for many alignment systems, in addition, when needing the location realizing large area with the array receiving some composition more than four, the most many by this mode.
At transmitting terminal with a metal circular cone (because metal is harder, reflection efficiency can be improved) as reflection cone, ultrasound wave is reflected to form through circular cone the annulus of 360 degree of horizontal divergences, after reflection cone reflects, the ultrasound wave launched is diffused into the toroidal beam of a level of approximation, and horizontal direction 360 degree all covers；Vertical direction angle is about from 5 degree to 30 degree scopes, distance can reach 5m, and for the radiation angle of original about 60, expanded range is a lot, there are also installed one at receiving terminal simultaneously and launches cone, is used for realizing the omnidirectional to ultrasound wave and receives.
Fig. 1 is ultrasonic signal route schematic diagram:
Ultrasonic transmitter sends ultrasonic signal, arrives receiving terminal reflection cone through launching reflection cone reflection (launching the metal circular cone that reflection cone is surfacing, metal is harder, can improve reflectance), arrives ultrasonic receiver after reflection.
Fig. 2 is radiation scope figure from the side after the reflection of ultrasound wave emitted reflection cone:
From the side, dash area therein is the radiation scope after the reflection of ultrasound wave emitted reflection cone, and its radiation scope is relevant with the shape launching reflection cone.
Fig. 3 is vertical view radiation scope schematic diagram after the reflection of ultrasound wave emitted reflection cone:
As can be seen from Figure, its radiation scope be similar to one circular, for original coniform radiation scope, expand many.
Fig. 4 is schematic diagram after ultrasonic emitting end increase transmitting reflection cone:
The reflection cone of launching of transmitting terminal is installed on the top of ultrasonic transmitter with the form of inverted triangle as seen from the figure, and the size and shape difference of circular cone can cause the difference of radiation scope.
Fig. 5 is schematic diagram after ultrasound wave receiving terminal increase reception reflection cone:
Receiving reflection cone as seen from the figure and be installed on the lower section of ultrasonic echography ripple receptor, ultrasound wave can realize receiving terminal and receive the omnidirectional of ultrasound wave after being received reflection cone reflection.
Those skilled in the art of the present technique it is understood that unless otherwise defined, all terms used herein (including technical term and scientific terminology) have with the those of ordinary skill in art of the present invention be commonly understood by identical meaning.Should also be understood that those terms defined in such as general dictionary should be understood that have the meaning consistent with the meaning in the context of prior art, and unless defined as here, will not explain by idealization or the most formal implication.
Above-described detailed description of the invention; the purpose of the present invention, technical scheme and beneficial effect are further described; it is it should be understood that; the foregoing is only the detailed description of the invention of the present invention; it is not limited to the present invention; all within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. done, should be included within the scope of the present invention.
Claims (5)
1. a ultrasonic positioning system based on reflection cone, it is characterised in that comprise transmitter module, N number of receiver module, wireless communication module, temperature sensor and control module, N is the natural number more than or equal to 3；
Described wireless communication module comprises one and collects node and N+1 branch node；The described node that collects is connected with described control module, and described N+1 branch node is connected with transmitter module, N number of receiver module one_to_one corresponding respectively；Described collect between node and branch node based on radio communication；
Described transmitter module is arranged on object to be positioned, is used for sending ultrasound wave, comprises ultrasonic transmitter, launches reflection cone and launch microcontroller；Described transmitting reflection cone is coniform, is arranged on the transmitting terminal of ultrasonic transmitter, and cone-tip surface is towards ultrasonic transmitter, and the transmitting direction of axle center and ultrasonic transmitter is on the same line；Described transmitting microcontroller is connected with ultrasonic transmitter, branch node that transmitter module is corresponding respectively, for controlling ultrasonic transmitter work according to the order received；
Described receiver module comprises ultrasonic receiver, receives reflection cone and receive microcontroller；Described reception reflection cone is coniform, is arranged on the receiving terminal of ultrasonic receiver, and cone-tip surface is towards ultrasonic receiver, and the reception direction of axle center and ultrasonic receiver is on the same line；Described reception microcontroller is connected with ultrasonic receiver, branch node that receiver module is corresponding respectively, for the ultrasonic signal received is passed to described control module；
Described control module is connected with temperature sensor, for according to temperature sensor senses to temperature and the ultrasonic signal of each receiver module transmission calculate the coordinate of described transmitter module.
Ultrasonic positioning system based on reflection cone the most according to claim 1, it is characterised in that described transmitting reflection cone, reception reflection cone are the metal circular cone of surfacing, and drift angle is 90 degree.
Ultrasonic positioning system based on reflection cone the most according to claim 1, it is characterised in that described temperature sensor uses IC temperature sensor.
Ultrasonic positioning system based on reflection cone the most according to claim 3, it is characterised in that described IC temperature sensor uses DS18B20 type temperature sensor.
Ultrasonic positioning system based on reflection cone the most according to claim 1, it is characterised in that described control module uses PC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610551753.0A CN105974420A (en) | 2016-07-13 | 2016-07-13 | Ultrasonic positioning system based on reflection cones |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610551753.0A CN105974420A (en) | 2016-07-13 | 2016-07-13 | Ultrasonic positioning system based on reflection cones |
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| CN105974420A true CN105974420A (en) | 2016-09-28 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI678547B (en) * | 2018-11-19 | 2019-12-01 | 廣達電腦股份有限公司 | Environmental detection device and environmental detection method using the same |
| CN110713115A (en) * | 2019-09-20 | 2020-01-21 | 中国第一汽车股份有限公司 | Alignment device and full-automatic crown block system |
| CN110936392A (en) * | 2019-12-19 | 2020-03-31 | 黄河水利职业技术学院 | Intelligent housekeeping service robot |
| CN113056000A (en) * | 2021-02-08 | 2021-06-29 | 北京邮电大学 | Positioning system, method and device based on super surface |
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| CN113056000B (en) * | 2021-02-08 | 2022-04-05 | 北京邮电大学 | Positioning system, method and device based on super surface |
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Application publication date: 20160928 |