CN105988101A - Positioning device and positioning method between two sets of equipment - Google Patents
Positioning device and positioning method between two sets of equipment Download PDFInfo
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- CN105988101A CN105988101A CN201510093208.7A CN201510093208A CN105988101A CN 105988101 A CN105988101 A CN 105988101A CN 201510093208 A CN201510093208 A CN 201510093208A CN 105988101 A CN105988101 A CN 105988101A
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Abstract
The invention relates to a positioning device between two sets of equipment. The positioning device comprises a detection device arranged on the first equipment and a feedback device arranged on the second equipment, wherein the detection device sends out detection signals toward different angle directions, and a plurality of detection signals with different power are transmitted in each direction; the feedback device receives the detection signals and sends a feedback signal to the detection device immediately; and the detection device obtains distance information according to minimal transmission power corresponding to the feedback signal, and judges a positional relationship between the two sets of equipment according to a transmission angle corresponding to the feedback signal. The positioning device can be applied to any two sets of equipment in need of detecting relative positions, such as between a air conditioner and an air refresher which are commonly used at present. Through positioning the relative positions, better linkage operation between the two sets of linked equipment can be achieved, and the maximization of effect can be realized.
Description
Technical field
The present invention relates to the localization method between two interlocking equipments, especially relate to the location side between air-conditioner and air cleaner
Method and device.
Background technology
In recent years, along with the continuous propelling of Urbanization Process In China, the continuous of urban population ratio raises, cities and towns industry simultaneously
Development, and add increasing sharply of quantity of getting on the car, cause the haze in the air of national each big city increasingly severe.Mist
Haze is mainly made up of industrial waste gas, vehicle exhaust, building dust and cooking fume etc., and in haze, the diameter of granule is the least
In equal to 2.5 μm, it is referred to as to enter lung particulate matter, also known as PM2.5.PM2.5 usually becomes the carrier of virus and antibacterial, right
Human respiratory tract's health brings the biggest impact.
Under this environmental background, town dweller increasingly pays close attention to its air quality depended on for existence.In urban households, air
The usage amount of cleaner is the most increasing.Air cleaner is a kind of air circulation filter, and it is arranged in room, by room
Interior air is circulated in continuing its air channel of suction, constantly improves the quality of air in air channel, reach to change in cyclic process
The purpose of kind room air quality.
The kind of the household electrical appliance of modern various difference in functionalitys is the most, and generally, in family, multiple electrical equipment are all each electrical equipment difference
Independently open operating.In order to reach the effect being preferably applied in combination, current development trend is to be joined by various household electrical appliance
Dynamic so that it is between simultaneously and work in combination, to realize comfortable life staying idle at home.Such as the when of air-conditioner operating, link simultaneously
The household electrical appliance such as humidifier or air cleaner operate.I.e. air-conditioner is in certain circumstances, and aut sign is opened and added
Wet device or air cleaner simultaneously operate, it is achieved with humidifier or the linkage of air cleaner.Specific works is: air-conditioner
Judging ambient temperature and the humidity of current indoor, when reaching certain condition, air-conditioner, by transmitting diode, is signaled to
Air cleaner, has made to automatically open up.After air cleaner receives signal, automatically open up, coordinate air-conditioner to work together,
Realize more preferable residential environment.After linkage, air-conditioner each works alone with air cleaner.
But, owing to current air-conditioner cannot determine with the relative position of air cleaner, its linkage is only linkage during on an off,
Its air circulation wind path therebetween is still fought separately, and do not cooperate circulation.Wind path and air due to air-conditioner
The wind path of cleaner does not coordinate, and the circulation of air in room is relative or chaotic, the air temperature control that do not reaches and
The best effects of air quality control.
Summary of the invention
It is an object of the invention to overcome shortcoming of the prior art with not enough, it is provided that a kind of the most fixed between two interlocking equipments
The positioner of position.This positioner may be used between air-conditioner and air cleaner, by the location of relative position, permissible
Make between two interlocking equipments can preferably linkage work, reach the maximization of effect.
Positioner between a kind of two equipment, it includes the detection device arranged on the first device, and is arranged on the second equipment
On feedback device, it is characterised in that: described detection device towards different angle directions send detection signal and tracer signal launch
Angle；Described feedback device receives described detection signal, sends feedback signal immediately；Described detection device is according to receiving
Described feedback signal, reads the signal of record before sending described feedback signal and launches angle, it is judged that the position relationship between two equipment.
Described detection signal has different transmission power at the detection signal that same angle direction is launched, and described detection device is according to being somebody's turn to do
Transmitting minimum power corresponding to feedback signal obtains range information.
Relative to prior art, the present invention is by arranging different detection angles, to obtain the angle information between two equipment, with
And by arranging the signal launching different capacity, to obtain the range information between two equipment.Thus according to the letter of angles and positions
Breath, can accurately judge the position relationship between two equipment.
Further, described detection device includes the first control unit, multiple transmitter unit and a feedback signal reception unit；Described
Feedback device includes the second control unit, detection signal receiving unit and feedback signal transmitting element；The plurality of transmitter unit sets
Put on said first device, and fixing towards different angles respectively, and described first control unit controls the plurality of transmitter unit
Sequentially launch described detection signal；Described second control unit of described feedback device controls described detection signal receiving unit and receives
The described detection signal that described transmitter unit is launched, and send described feedback signal to described by described feedback signal transmitting element
The described feedback signal reception unit of detection device, then send described first control unit to；Described first control unit is according to institute
State the transmitting angle that feedback signal is corresponding, it is judged that the position relationship between two equipment.
Further, described detection device include the angle that the first control unit is different with Ke Chao send detection signal transmit list
Unit, described can towards different angles send detection signal transmitter unit can be as described by subsequent embodiment, by multiple difference
The signal emitting head composition arranged towards different angles；In addition the described transmitter unit that can send detection signal towards different angle
Can also be made up of a signal emitting head with angle adjustable, described signal sets head and can control to rotate by motor.
Described detection device includes the first control unit, multiple transmitter unit and feedback signal reception unit；Described feedback device bag
Include the second control unit, detection signal receiving unit and feedback signal transmitting element；Described first control unit controls respectively to transmit list
Unit successively with one constant power launch, after whole transmitter units complete, then control each transmitter unit with same order successively with
Next constant power is launched, the power of transmitting gradually increasing or decreasing；
Or, described first control unit controls the transmitter unit power transmission signal with increasing or decreasing, treats whole performance number
After signal is sent or receives the described feedback signal of described feedback device, then control next transmitter unit with increasing or decreasing
Power transmission signal.
It addition, the localization method that present invention also offers between a kind of two equipment.Localization method between a kind of two equipment,
Sender unit and feedback signal reception device and the calculating device of the two device location relations of calculating are set on one equipment, the
Two equipment arrange signal receiving device and feedback signal discharger, and sender unit is launched signal and remembers towards different angles direction
Angle is launched in record；Signal receiving device receives described signal and launches feedback signal, feedback signal by feedback signal discharger
Receive device and receive described feedback signal, calculate device and set as two using the transmitting angle corresponding to the described feedback signal that receives
Angle between Bei, thus judge the position relationship between two equipment.
Described transmitting signal launches multiple signals with different capacity at same angle direction；Calculate device with described second equipment
The power of the signal of the minimum power received calculates the distance between two equipment.
Relative to prior art, the localization method of the present invention is again by arranging different detection angles, to obtain between two equipment
Angle information, and by arrange launch different capacity signal, to obtain the range information between two equipment.Thus according to
The information of angles and positions, can accurately judge the position relationship between two equipment.
Further, the power gradually increasing or decreasing of the signal of the same angle direction launched is controlled, to be gradually increased or to reduce
Transmitting range.
Further, the signal launched towards each angle direction covers certain angular range；With the letter received on the second device
Number launch angular range overlapping region as the angular range between two equipment.So, by the location of overlapping region, can
To reduce the setting launching angle, increase the speed of location.
Further, control to launch the power gradually increasing or decreasing of the signal of same angle direction, after completing the transmitting of whole power
Or after being received signal, then control the power gradually increasing or decreasing of next signal launching angle direction；Or control different angle
The signal of the transmitting in degree direction is launched with a constant power successively, after being fully completed, then controls the letter of the transmitting in different angles direction
Number launch with next constant power successively, the power of transmitting gradually increasing or decreasing.
In order to be more fully understood that and implement, describe the present invention below in conjunction with the accompanying drawings in detail.
Accompanying drawing explanation
Fig. 1 is the structural representation of the positioner between the present invention two equipment.
Fig. 2 is the principle schematic of the orientation angle between the present invention two equipment.
Fig. 3 is that the signal shown in Fig. 1 sends driver element and the circuit connection diagram of transmitter unit.
Detailed description of the invention
Embodiment 1
The target of present invention research is the relative position relation between two equipment of detection, to realize preferably linking between two equipment
Effect.Research idea of the present invention is thought, for the location between two equipment, first should first set a reference device, in the present invention
In be referred to as the first equipment.With the first equipment as reference origin, by the mensuration to angle, an other equipment can be obtained, i.e.
Second equipment relative to the first equipment position relationship.Further, the distance between two equipment also can be surveyed by the present invention
Fixed, to obtain the position relationship between two equipment more accurately.
Referring to Fig. 1, it is the structural representation of the positioner between the present invention two equipment.This positioner includes being arranged on
Detection device 10 on first equipment, and feedback device 20 on the second device is set.Detection device 10 is for different angles
Degree sends the detection signal of different capacity respectively, when feedback device 20 receives detection signal, sends feedback signal immediately to inspection
Surveying device 10, detection device 10 judges angle and the power sent according to feedback signal, thus second equipment that measures is relative to the
The angle and distance of one equipment.
Specifically, the first control list that this detection device 10 includes the first control substrate 11, is arranged on the first control substrate 11
Unit 12, multiple electrically connect with the first control unit 12 respectively signal transmission driver element 13, multiple individually with a letter
Number send driver element 13 electrical connection transmitter unit 14 and a feedback signal reception unit 15 electrically connected with control unit 12.
This feedback device 20 includes the second control substrate 21, be arranged on the second control substrate 21 the second control unit 22 and
The linkage signal receiving unit 23 of the second control unit 22 electrical connection and feedback signal transmitting element 24.
In the present embodiment, this first control substrate 11 and second controls substrate 21 respectively PCB, this first control
Unit 12 and the second control unit 22 are respectively single-chip microcomputer.This transmitter unit 12 is LED light emitting diode, its letter sent
Number having certain angular range, i.e. the scope of its signal radiation is in the plane in sector.
Please refer to Fig. 2, it is the positioning principle schematic diagram between the present invention two equipment, enters arranging three transmitter units 14
The signal of line position detection.When the first opening of device and when receiving linkage instruction, detection device on the first device is set
First control unit 12 of 10 controls first signal and sends driver element 13, opens connected first transmitter unit 14
Send signal；Meanwhile, this first control unit 12 control the power that this first transmitter unit 14 send signal be sequentially completed by
Weak it is incremented by strong.The control unit 22 control linkage signal receiving unit 23 arranging feedback device 20 on the second device connects
Receive the signal sent by first transmitter unit 14, and send feedback signal by feedback signal transmitting element 24.
If linkage signal receiving unit 23 does not receives the signal that first transmitter unit 14 sends, then when first transmitter unit
After the signal of all power is sent by 14, the first control unit 12 control second signal send driver element 13 open with
Its second transmitter unit 14 connected sends signal, and equally, this first control unit 12 controls this second transmitter unit 14
Send signal power be sequentially completed grow from weak to strong be incremented by.
If linkage signal receiving unit 23 receives the signal of a the performance number that first transmitter unit 14 sends, then this
Two control units 22 control feedback signal transmitting element 24 and send feedback signal.The feedback signal reception unit of detection device 10
After 15 receive feedback signal to, feedback signal is sent the first control unit 12, the first control unit 12 record the most anti-
The angle of the transmitter unit 14 that feedback signal is corresponding and power a.Then this first control unit 12 controls second signal transmission again
Driver element 13 is opened connected second transmitter unit 14 and is sent signal, and equally, this first control unit 12 controls
The power that this second transmitter unit 14 sends signal be sequentially completed grow from weak to strong be incremented by.By that analogy, the first control unit depends on
Sequence controls all of transmitter unit 14 and opens one by one, and sends the signal of power increment.
Signal sends driver element 13 alternatively can send the transmitter unit of detection signal towards different angle, and it has can
The signal transmitter unit 14 of hue angle；First control unit 12 control signal sends driver element 13, opens connected
After letter unit 14 sends signal, after signal transmission driver element 13 control signal transmitter unit 14 adjusts signal transmitting angle, the
One control unit 12 control signal again sends driver element 13, opens transmitter unit 14 and sends signal.
Due to send signal there is certain angular range, its signal radiation scope in the plane in sector, this first control
Unit 12 sequentially controls after all of transmitter unit 14 sent signal, according to one or two transmitter unit of record feedback
Angle and power, its overlapping 30 can be judged as the position at the second equipment place.
The plurality of transmitter unit 14 is controlled for this first control unit 12 and sequentially launches the specific embodiment party of the signal being incremented by power
Case, refers to Fig. 3, and it is for shown in Fig. 1, wherein the signal transmission driver element 13 on a road and the circuit of transmitter unit 14 connect
Schematic diagram.This signal sends driver element 13 and is made up of a charging circuit 132 and an on-off circuit 134.Wherein, this charged electrical
Road 132 includes an an audion Q1 and electric capacity C1.The base stage of this audion Q1 and a pin PIN1 of the first control unit 12
Connecting, its colelctor electrode connects the voltage of 14V, and its emitter stage passes through electric capacity C1 ground connection, draws supply from emitter stage simultaneously and transmits list
The voltage vcc of unit 14.This on-off circuit 134 includes audion Q2 and Q3, resistance R1, R2, R3 and R4.Audion
The base stage of Q2 is connected with another pin PIN2 of the first control unit 12, its grounded emitter, and its colelctor electrode passes through R2 and three
The base stage of pole pipe Q3 connects.Q3 emitter stage is connected with the audion Q1 emitter stage of charging circuit, charging circuit 132 provide
Voltage vcc, the colelctor electrode of Q3 is connected with the positive pole of the light emitting diode as transmitter unit 14 by resistance R4, and its negative pole connects
Ground.It addition, resistance R3 is connected between base stage and the emitter stage of audion Q2, resistance R1 is connected to the collection of audion Q2
Between the emitter stage of electrode and audion Q3.
This first control unit 12 provides PWM square-wave signal by pin PIN1 to charging circuit, by controlling PWM ripple
Dutycycle, control the turn-off time of audion Q1, to regulate the voltage 14V charging interval to electric capacity C1, and then control
The magnitude of voltage Vcc of electric capacity C1.Meanwhile, this first control unit 12 sends control signal by pin PIN2, controls audion
The on an off of Q2, and then control audion Q3 on an off.When audion Q3 is for leaving, as the luminescence two of transmitter unit 14
Voltage vcc connected by pole pipe, thus can send linkage signal.When the feedback signal reception unit 15 on detection device 10 does not connect
When receiving the feedback signal that feedback device 20 is sent, the first control unit 12 controls the dutycycle of PWM ripple and adjusts, and increases Q1
ON time ratio, thus the magnitude of voltage Vcc of electric capacity C1 is incremented by, thus transmitter unit 14 retransmits what power increased
Signal.Controlled the dutycycle successive adjustment of PWM ripple by the first control unit 12, thus control what transmitter unit 14 sent
The power of signal is the most gradually incremented by, until receiving the feedback signal of feedback device 20 transmission or being sent until transmitter unit 14
The signal of peak power, the first control unit 12 controls next transmitter unit corresponding for pin PIN2 again and sends signal.
It is consistent that the plurality of signal sends the circuit structure of driver element 13, and its correspondence includes multiple on-off circuit 134, and is total to
With with a charging circuit 132 connecing.The interface of each on-off circuit connects the independent pin of the first control unit 12 respectively, passes through
First control unit 12 controls to open a port successively every time, it is achieved transmitter unit 14 the most sequentially send signal.
The positioner of the present invention can be applied to be needed to detect on the equipment of relative position at any two, including the most conventional sky
Between the empty cleaner of mediation, between air-conditioning and humidifier etc..By the location of relative position, can make can between two interlocking equipments
With more preferable linkage work, reach the maximization of effect.The positioning device structure of the present invention is simple, easy for installation, practical.
Embodiment 2
The structure of the positioner between two equipment of the present embodiment 2 is consistent with embodiment 1, is not repeated herein.It is with real
Execute 1 differ only in: the first control unit 12 control signal sends driver element 13 and opens transmitter unit 14 and control it
Penetrate time and the change of order of power increment.
In the present embodiment, this control unit 12 first sends the pwm signal of the first dutycycle to charging circuit 132, then divides
The on-off circuit 134 not controlling multiple signal transmission driver element 13 is gradually opened, and makes transmitter unit 14 one by one with the first power
Send a signal.After all of transmitter unit 14 is sent, this control unit 12 sends the PWM of the second dutycycle again
Signal is to charging circuit 132, and the on-off circuit 134 controlling multiple signal transmission driver element 13 the most respectively is gradually opened, and makes
Transmitter unit 14 sends a signal with the second power one by one.Control multiple transmitter unit successively with this rule and launch multiple incremental merits
The signal of rate, and record the angle and distance information of the feedback signal of feedback device 20.
The Detection results that the present embodiment is obtained is consistent with embodiment 1.
It addition, as the extension of Example 1 and Example 2 of the present invention, the transmitter unit of the present invention is arranged on more than 2, and
Be respectively provided with different towards.Along with transmitter unit arranges the increase of number, self radiation areas of single transmitter unit can reduce,
But the superposition of the radiation areas of all transmitter units at least need to be in the range of the degree of 10 degree-170 of the first equipment front.It addition, transmit
Unit is also not necessarily limited to light emitting diode, it is also possible to be other signal radiated element.And, the first control unit controls to transmit list
Unit launches the power of signal can also be by by force to weak, then it is the most anti-that the signal receiving unit 23 that links receives linkage signal at the very start
Feedback, when the signal receiving unit 23 that links does not receives linkage signal, the feedback signal reception unit 15 on detection device 10 is also
Do not receive feedback signal, the power that the most now the first control unit 12 record is launched, and to estimate the distance between two equipment be upper
Distance corresponding to primary emission power.
Thus, present invention provides the localization method between a kind of two equipment.Send out particularly as follows: arrange signal on the first device
Injection device and feedback signal reception device and the calculating device of the two device location relations of calculating, arrange signal at the second equipment and receive
Device and feedback signal discharger, sender unit is launched signal and records transmitting angle towards different angles direction；Signal connects
Receiving apparatus receives described signal and launches feedback signal by feedback signal discharger, and the reception of feedback signal reception device is described instead
Feedback signal, calculates device using the transmitting angle corresponding to the described feedback signal that receives as the angle between two equipment, thus
Judge the position relationship between two equipment.
Further, launch signal and launch multiple signals with different capacity at same angle direction；Calculate device with described second
The power of the signal of the minimum power that equipment receives calculates the distance between two equipment.
Further, arranging multiple transmitter unit on the first device, it launches signal towards the angle direction that difference is fixing respectively, and
The signal that each transmitter unit is launched covers certain angular range；The transmitting angle model of the signal to receive on the second device
The overlapping region enclosed is as the angular range between two equipment.
Further, control to launch the power gradually increasing or decreasing of signal of an angle direction, after completing the transmitting of whole power or
After being received signal, then control the power gradually increasing or decreasing of next signal launching angle direction；Or control different angles
The signal of the transmitting in direction is launched with a constant power successively, after being fully completed, then controls the signal of the transmitting in different angles direction
Launch with next constant power successively, the power of transmitting gradually increasing or decreasing.
Thus, according to above localization method, the relative angular relationship between two equipment and distance relation can be obtained, thus
May determine that the position relationship between them.
The invention is not limited in above-mentioned embodiment, if to the various changes of the present invention or deformation without departing from the spirit of the present invention
And scope, if within the scope of these are changed and deform claim and the equivalent technologies belonging to the present invention, then the present invention is also intended to
Comprise these to change and deformation.
Claims (10)
1. the positioner between two equipment, it includes the detection device arranged on the first device, and is arranged on the second equipment
On feedback device, it is characterised in that: described detection device sends detection signal tracer signal towards different angle directions
Launch angle；Described feedback device receives described detection signal, sends feedback signal immediately；Described detection device according to
The described feedback signal received, reads and sends the signal of record before described feedback signal and launch angle, it is judged that two equipment it
Between position relationship.
Positioner between two equipment the most according to claim 1, it is characterised in that: described detection signal is in same angle
The detection signal that direction is launched has different transmission power, and described detection device is according to the transmitting corresponding to this feedback signal
Small-power obtains range information.
Positioner between two equipment the most according to claim 1, it is characterised in that: described detection device includes the first control
Unit processed, multiple transmitter unit and a feedback signal reception unit；Described feedback device includes the second control unit, detection
Signal receiving unit and feedback signal transmitting element；The plurality of transmitter unit is arranged on said first device, and respectively
Fixing towards different angles, described first control unit controls the plurality of transmitter unit and sequentially launches described detection signal；
Described second control unit of described feedback device controls described detection signal receiving unit and receives what described transmitter unit was launched
Described detection signal, and send the described of described feedback signal extremely described detection device by described feedback signal transmitting element
Feedback signal reception unit, then send described first control unit to；Described first control unit is according to described feedback signal
Corresponding transmitting angle, it is judged that the position relationship between two equipment.
Positioner between two equipment the most according to claim 1, it is characterised in that: described detection device includes the first control
The unit processed angle different with Ke Chao sends the transmitter unit of detection signal, described can send detection signal towards different angles
Transmitter unit by multiple respectively towards different angles arrange signal emitting heads form, or described can be towards different angle angles
Degree sends the transmitter unit of detection signal and has the signal emitting head of angle adjustable.
5. according to the positioner between two equipment described in claim 2 or claim 3 any one, it is characterised in that: institute
State detection device and include the first control unit, multiple transmitter unit and feedback signal reception unit；Described feedback device includes
Second control unit, detection signal receiving unit and feedback signal transmitting element；Described first control unit controls respectively to transmit
Unit is launched with a constant power successively, after whole transmitter units complete, then controls each transmitter unit with same order
Launch with next constant power successively, the power of transmitting gradually increasing or decreasing；Or, described first control unit controls one
Transmitter unit, with the power transmission signal of increasing or decreasing, treats that the signal of whole performance number is sent or receives described feedback
After the described feedback signal of device, then control next transmitter unit power transmission signal with increasing or decreasing.
6. the localization method between two equipment, arrange on the first device sender unit and feedback signal reception device and
Calculate the calculating device of two device location relations, signal receiving device and feedback signal discharger be set at the second equipment,
Sender unit is launched signal and records transmitting angle towards different angles direction；Signal receiving device receives described signal also
Launching feedback signal by feedback signal discharger, feedback signal reception device receives described feedback signal, calculates device
Using the transmitting angle corresponding to the described feedback signal that receives as the angle between two equipment, thus judge two equipment it
Between position relationship.
Localization method between two equipment the most according to claim 6, it is characterised in that: described transmitting signal is in same angle
Multiple signals with different capacity are launched in direction；Calculate the signal of the minimum power that device receives with described second equipment
Power calculate the distance between two equipment.
Localization method between two equipment the most according to claim 7, it is characterised in that: control the same angle side launched
To the power gradually increasing or decreasing of signal, to be gradually increased or to reduce transmitting range.
Localization method between two equipment the most according to claim 6, it is characterised in that: the letter launched towards each angle direction
Number cover certain angular range；Using the overlapping region launching angular range of the signal that receives on the second device as
Angular range between two equipment.
Localization method between two equipment the most according to claim 8, it is characterised in that: control to launch same angle direction
The power of signal gradually increasing or decreasing, after completing the transmitting of whole power or after being received signal, then controls next
Penetrate the power gradually increasing or decreasing of the signal of angle direction；Or the signal of the transmitting in control different angles direction is successively with one
Constant power is launched, and after being fully completed, then the signal controlling the transmitting in different angles direction is sent out with next constant power successively
Penetrate, the power of transmitting gradually increasing or decreasing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510093208.7A CN105988101B (en) | 2015-03-02 | 2015-03-02 | Positioning device and localization method between two equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510093208.7A CN105988101B (en) | 2015-03-02 | 2015-03-02 | Positioning device and localization method between two equipment |
Publications (2)
| Publication Number | Publication Date |
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| CN105988101A true CN105988101A (en) | 2016-10-05 |
| CN105988101B CN105988101B (en) | 2019-09-17 |
Family
ID=57038553
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510093208.7A Active CN105988101B (en) | 2015-03-02 | 2015-03-02 | Positioning device and localization method between two equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113099405A (en) * | 2021-03-11 | 2021-07-09 | 武汉大学 | Audio positioning method based on emission angle estimation |
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|---|---|---|---|---|
| CN101366001A (en) * | 2005-12-29 | 2009-02-11 | 诺基亚公司 | Transmitter, receiver, ans system with relative position detecting functionality between transmitters and receivers |
| CN102022806A (en) * | 2009-09-09 | 2011-04-20 | 日立空调·家用电器株式会社 | Air conditioner |
| WO2012101831A1 (en) * | 2011-01-28 | 2012-08-02 | 三菱電機株式会社 | Air-conditioning system and air-conditioning method |
| CN102608574B (en) * | 2012-03-20 | 2014-01-29 | 浙江大学 | Measurement device and measurement method for relative position between each two units of multiple intelligent agents |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101366001A (en) * | 2005-12-29 | 2009-02-11 | 诺基亚公司 | Transmitter, receiver, ans system with relative position detecting functionality between transmitters and receivers |
| CN102022806A (en) * | 2009-09-09 | 2011-04-20 | 日立空调·家用电器株式会社 | Air conditioner |
| WO2012101831A1 (en) * | 2011-01-28 | 2012-08-02 | 三菱電機株式会社 | Air-conditioning system and air-conditioning method |
| CN102608574B (en) * | 2012-03-20 | 2014-01-29 | 浙江大学 | Measurement device and measurement method for relative position between each two units of multiple intelligent agents |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113099405A (en) * | 2021-03-11 | 2021-07-09 | 武汉大学 | Audio positioning method based on emission angle estimation |
| CN113099405B (en) * | 2021-03-11 | 2021-12-17 | 武汉大学 | Audio positioning method based on emission angle estimation |
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| Publication number | Publication date |
|---|---|
| CN105988101B (en) | 2019-09-17 |
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