CN105988101B - Positioning device and localization method between two equipment - Google Patents
Positioning device and localization method between two equipment Download PDFInfo
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- CN105988101B CN105988101B CN201510093208.7A CN201510093208A CN105988101B CN 105988101 B CN105988101 B CN 105988101B CN 201510093208 A CN201510093208 A CN 201510093208A CN 105988101 B CN105988101 B CN 105988101B
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Abstract
The present invention relates to the positioning devices between a kind of two equipment comprising detection device on the first device, and the feedback device of setting on the second device is arranged.The detection device issues detection signal towards different angle directions, and each direction emits multiple detection signals with different capacity；The feedback device receives detection signal, sends feedback signal immediately to the detection device；Corresponding transmitting minimum power obtains range information and launch angle corresponding based on the feedback signal to detection device based on the feedback signal, judges the positional relationship between two equipment.Positioning device of the invention can be applied in any two equipment for needing to detect relative position, such as between currently used air-conditioning and air cleaner.By the positioning of relative position, can make between two interlocking equipments can better linkage work, reach the maximization of effect.
Description
Technical field
The present invention relates to the localization methods between two interlocking equipments, more particularly, between air conditioner and air cleaner
Localization method and device.
Background technique
In recent years, with the continuous propulsion of Urbanization Process In China, the continuous raising of urban population ratio, while cities and towns work
The continuous development of industry, and increasing sharply plus automobile quantity cause the haze in the major urban atmosphere in the whole nation more and more tighter
Weight.Haze is mainly made of industrial waste gas, vehicle exhaust, building dust and cooking fume etc., and the diameter of particle is logical in haze
Often less than it is equal to 2.5 μm, referred to as lung particulate matter, also known as PM2.5.PM2.5 usually becomes the carrier of virus and bacterium, right
Human respiratory tract's health care belt carrys out very big influence.
Under this environmental background, town dweller increasingly pays close attention to its air quality depended on for existence.In urban households,
The usage amount of air cleaner is also increasing.Air cleaner is a kind of air circulation filter device, is arranged in the room,
Air in room is persistently pumped into its air duct and is recycled, constantly improves the quality of air in air duct in cyclic process, is come
Achieve the purpose that improve room air quality.
The type of the household electrical appliance of modern various different function is very more, in general, multiple electric appliances are all each electricity in family
Device independently opens operating.In order to achieve the effect that preferably to be applied in combination, current development trend is by various household electrics
Device links, and makes between it simultaneously and work in combination, to realize comfortable home life.Such as when air conditioner operating,
The household electrical appliance such as humidifier or air cleaner that link simultaneously are operated.I.e. air conditioner is in certain circumstances, automatic to send letter
Number, it opens humidifier or air cleaner simultaneously operates, realize the linkage with humidifier or air cleaner.Specific works
Be: air conditioner judges the environment temperature and humidity of current indoor, when reaching certain condition, air conditioner by transmitting diode,
Air cleaner is sent a signal to, has made to automatically open.It after air cleaner receives signal, automatically opens, cooperates air-conditioning
Device works together, realizes better residential environment.After linkage, air conditioner respectively works independently with air cleaner.
But since the relative position of current air conditioner and air cleaner can not determine, when linkage is only on and off
Linkage, the air circulation wind path between the two still fights separately, and there is no the circulations that cooperates.Due to the wind of air conditioner
The wind path of road and air cleaner does not cooperate, and the air circulation in room is opposite or chaotic, the air not reached
The best effects of temperature control and air quality control.
Summary of the invention
It is an object of the invention to overcome shortcoming and deficiency in the prior art, provide a kind of between two interlocking equipments
The positioning device being mutually located.The positioning device can be used between air conditioner and air cleaner, pass through determining for relative position
Position, can make between two interlocking equipments can preferably linkage work, reach the maximization of effect.
Positioning device between a kind of two equipment comprising detection device on the first device is set, and setting is the
Feedback device in two equipment, it is characterised in that: the detection device issues detection signal towards different angle directions and records
Signal launch angle；The feedback device receives the detection signal, sends feedback signal immediately；The detection device according to
The feedback signal received reads the signal launch angle for sending and recording before the feedback signal, judges between two equipment
Positional relationship.
The detection signal has different transmission power, the detection device in the detection signal that same angle direction emits
Range information is obtained according to transmitting minimum power corresponding to the feedback signal.
Compared with the existing technology, the present invention is by being arranged different detection angles, to obtain the angle letter between two equipment
Breath, and by the signal of setting transmitting different capacity, to obtain the distance between two equipment information.To according to angle and position
The information set, can positional relationship between two equipment of accurate judgement.
Further, the detection device includes first control unit, multiple transmitter units and a feedback signal reception unit；
The feedback device includes the second control unit, detection signal receiving unit and feedback signal transmission unit；It is the multiple to transmit
Unit is arranged on said first device, and is fixed respectively towards different angles, and the first control unit control is multiple
Transmitter unit sequentially emits the detection signal；Second control unit of the feedback device controls the detection signal and connects
The detection signal that unit receives the transmitter unit transmitting is received, and described anti-by feedback signal transmission unit transmission
Feedback signal then sends the first control unit to the feedback signal reception unit of the detection device；Described first
Control unit judges the positional relationship between two equipment according to the corresponding launch angle of the feedback signal.
Further, the detection device includes that the first control unit angle different with Ke Chao issues detection signal
Transmitter unit, it is described can towards different angles issue detection signal transmitter unit can as described in subsequent embodiment, by
Multiple signal emitting head compositions being arranged respectively towards different angle；Furthermore described that detection signal can be issued towards different angles
Transmitter unit can also be made of a signal emitting head with angle adjustable, the signal sets head can be by motor control
Rotation.
The detection device includes first control unit, multiple transmitter units and feedback signal reception unit；The feedback
Device includes the second control unit, detection signal receiving unit and feedback signal transmission unit；The first control unit control
Each transmitter unit successively with constant power transmitting, after the completion of whole transmitter units, then controls each transmitter unit with same
Sequence is successively with the transmitting of next constant power, the power of transmitting gradually increasing or decreasing；
Or, the first control unit controls a transmitter unit with the power transmission signal of increasing or decreasing, to whole function
After the signal of rate value is sent or receives the feedback signal of the feedback device, then next transmitter unit is controlled to be incremented by
Or the power transmission signal to successively decrease.
In addition, the present invention also provides the localization methods between a kind of two equipment.A kind of localization method between two equipment,
The calculating dress of setting signal emitter and feedback signal reception device and two device location relationships of calculating on the first device
It sets, in the second equipment setting signal reception device and feedback signal emitter, sender unit is sent out towards different angle direction
It penetrates signal and records launch angle；Signal receiving device receives the signal and emits feedback letter by feedback signal emitter
Number, feedback signal reception device receives the feedback signal, and computing device is with hair corresponding to the feedback signal that receives
Firing angle degree is as the angle between two equipment, to judge the positional relationship between two equipment.
The transmitting signal emits multiple signals with different capacity in same angle direction；Computing device is with described
The power of the signal for the minimum power that two equipment receive calculates the distance between two equipment.
Compared with the existing technology, localization method of the invention, which equally passes through, is arranged different detection angles, is set with obtaining two
Angle information between standby, and by the signal of setting transmitting different capacity, to obtain the distance between two equipment information.From
It, can positional relationship between two equipment of accurate judgement and according to the information of angles and positions.
Further, the power for the signal of same angle direction that control is emitted gradually increasing or decreasing, to gradually increase
Or reduce transmitting range.
Further, certain angular range is covered towards the signal that each angle direction emits；To receive on the second device
The overlapping region of the launch angle range of the signal arrived is as the angular range between two equipment.In this way, passing through overlapping region
Positioning, it is possible to reduce the setting of launch angle increases the speed of positioning.
Further, control emits the power of the signal of same angle direction gradually increasing or decreasing, completes whole power
After transmitting or after being received signal, then control the power gradually increasing or decreasing of the signal in next launch angle direction；Or control
The signal of the transmitting in different angle direction processed successively with constant power transmitting, after being fully completed, then controls different angle direction
Transmitting signal successively with the transmitting of next constant power, the power of transmitting gradually increasing or decreasing.
In order to better understand and implement, the invention will now be described in detail with reference to the accompanying drawings.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the positioning device between two equipment of the invention.
Fig. 2 is the schematic illustration of the orientation angle between two equipment of the invention.
Fig. 3 is the circuit connection diagram that signal shown in FIG. 1 sends driving unit and transmitter unit.
Specific embodiment
Embodiment 1
The target that the present invention studies is the relative positional relationship detected between two equipment, more preferable between two equipment to realize
Linkage effect.Research idea of the present invention is thought, for the positioning between two equipment, should first set a reference device first,
It is known as the first equipment in the present invention.Using the first equipment as reference origin, by the measurement to angle, it can be obtained other one and set
It is standby, i.e. positional relationship of the second equipment relative to the first equipment.Further, the present invention can also be to the distance between two equipment
It is measured, to obtain the positional relationship between two more accurate equipment.
Referring to Fig. 1, it is the structural schematic diagram of the positioning device between two equipment of the invention.The positioning device includes setting
Set detection device 10 on the first device, and the feedback device 20 of setting on the second device.Detection device 10 is for difference
Angle send the detection signal of different capacity respectively, when feedback device 20 receives detection signal, send feedback letter immediately
Number to detection device 10, detection device 10 judges the angle sent and power based on the feedback signal, thus the second equipment phase of measurement
For the angle and distance of the first equipment.
Specifically, which includes the first control base board 11, first be arranged in the first control base board 11 control
Unit 12 processed, multiple signals being electrically connected respectively with first control unit 12 send driving unit 13, are multiple individually with one
The feedback signal that a signal sends the transmitter unit 14 of the electrical connection of driving unit 13, He Yiyu control unit 12 is electrically connected receives single
Member 15.
The feedback device 20 includes the second control base board 21, the second control unit being arranged in the second control base board 21
22, the linkage signal receiving unit 23 and feedback signal transmission unit 24 being electrically connected with the second control unit 22.
In the present embodiment, first control base board 11 and the second control base board 21 are respectively PCB circuit board, first control
Unit 12 processed and the second control unit 22 are respectively single-chip microcontroller.The transmitter unit 12 is LED light emitting diode, the signal sent
Range with certain angular range, i.e. its signal radiation is fan-shaped in the plane.
It is the positioning principle schematic diagram between two equipment of the invention, three transmitter units are arranged please refer to Fig. 2
14 carry out the signal of position detection.When the first opening of device and receive linkage instruction when, detection on the first device is set
The first control unit 12 of device 10 controls first signal and sends driving unit 13, opens first connected to it and transmits list
Member 14 sends signal；Meanwhile the first control unit 12 control first transmitter unit 14 send signal power it is successively complete
It is incremented by what is grown from weak to strong.The control linkage signal receiving unit of control unit 22 of feedback device 20 on the second device is set
23 receive the signal sent by first transmitter unit 14, and send feedback signal by feedback signal transmission unit 24.
If linkage signal receiving unit 23 does not receive the signal of first transmitter unit 14 transmission, transmitted when first
After the signal of all power is sent by unit 14, first control unit 12 controls second signal transmission driving unit 13 and opens
It opens second transmitter unit 14 connected to it and sends signal, equally, which controls this second and transmit list
Member 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-th of performance number of first transmitter unit 14 transmission,
Second control unit 22 controls feedback signal transmission unit 24 and sends feedback signal.The feedback signal of detection device 10 receives single
After member 15 receives feedback signal, feedback signal is sent to first control unit 12, at this time by the record of first control unit 12
The angle and power a of the corresponding transmitter unit 14 of feedback signal.Then the first control unit 12 controls second signal hair again
It send driving unit 13 to open second transmitter unit 14 connected to it and sends signal, equally, the first control unit 12 control
The power that second transmitter unit 14 sends signal is sequentially completed being incremented by of growing from weak to strong.And so on, first control unit
It sequentially controls all transmitter units 14 to open one by one, and sends the signal of power increment.
Signal sends the transmitter unit that driving unit 13 can also can issue detection signal for one towards different angles,
Signal transmitter unit 14 with angle adjustable；First control unit 12 controls signal and sends driving unit 13, and unlatching connects with it
After the transmitter unit 14 connect sends signal, signal sends driving unit 13 and controls 14 adjustment signal launch angle of signal transmitter unit
Afterwards, secondary control signal sends driving unit 13 to first control unit 12 again, opens transmitter unit 14 and sends signal.
Since the signal of transmission has certain angular range, the range of signal radiation is fan-shaped in the plane, this
One control unit 12 sequentially controls after all transmitter units 14 have sent signal, is transmitted according to record feedback one or two
The angle and power of unit, overlapping 30 can be judged as the position where the second equipment.
For the first control unit 12 control multiple transmitter unit 14 sequentially emit be incremented by power signal it is specific
Embodiment, referring to Fig. 3, its circuit for sending driving unit 13 and transmitter unit 14 for the signal shown in Fig. 1 wherein all the way
Connection schematic diagram.The signal sends driving unit 13 and is made of a charging circuit 132 and a switching circuit 134.Wherein, the charging
Circuit 132 includes an a triode Q1 and capacitor C1.The base stage of triode Q1 and a pin PIN1 of first control unit 12
Connection, collector connect the voltage of 14V, and emitter is grounded by capacitor C1, while drawing supply transmitter unit from emitter
14 voltage vcc.The switching circuit 134 includes triode Q2 and Q3, resistance R1, R2, R3 and R4.The base stage of triode Q2 and the
Another pin PIN2 connection of one control unit 12, emitter ground connection, collector are connected by the base stage of R2 and triode Q3
It connects.The connection of the triode Q1 emitter of Q3 emitter and charging circuit provides voltage vcc, the collector of Q3 by charging circuit 132
It is connect by resistance R4 with the anode of the light emitting diode as transmitter unit 14, cathode ground connection.In addition, resistance R3 is connected to
Between the base stage and emitter of triode Q2, resistance R1 be connected to triode Q2 collector and triode Q3 emitter it
Between.
The first control unit 12 provides PWM square-wave signal to charging circuit by pin PIN1, passes through control PWM wave
Duty ratio to adjust voltage 14V to the charging time of capacitor C1, and then controls capacitor to control the turn-off time of triode Q1
The voltage value Vcc of C1.Meanwhile the first control unit 12 sends control signal by pin PIN2, control triode Q2's opens
And pass, and then control triode Q3 on and off.When triode Q3 is to open, the light emitting diode as transmitter unit 14 connects electricity
Vcc is pressed, thus capable of emitting linkage signal.When the feedback signal reception unit 15 in detection device 10 is not received by feedback device
20 send feedback signal when, first control unit 12 control PWM wave duty ratio adjustment, increase the turn-on time ratio of Q1,
To which the voltage value Vcc of capacitor C1 is incremented by, so that transmitter unit 14 retransmits the increased signal of power.Pass through the first control
Unit 12 controls the duty ratio successive adjustment of PWM wave, so that the power for controlling the signal of the transmission of transmitter unit 14 is also gradually incremented by,
Until receiving the feedback signal of the transmission of feedback device 20 or until transmitter unit 14 is sent the signal of maximum power, the first control
Unit 12 processed controls the corresponding transmitter unit of next pin PIN2 again and sends signal.
The circuit structure that multiple signal sends driving unit 13 is consistent, and corresponding to includes multiple switch circuit 134,
And jointly with a charging circuit 132 and connect.The interface of each switching circuit connects the independent pin of first control unit 12 respectively,
It is successively controlled by first control unit 12 and opens a port every time, that realizes transmitter unit 14 sequentially sends signal one by one.
Positioning device of the invention can be applied in any two equipment for needing to detect relative position, including often at present
Between air-conditioning and empty cleaner, between air-conditioning and humidifier etc..By the positioning of relative position, two interlocking equipments can be made
Between can better linkage work, reach the maximization of effect.Positioning device structure of the invention is simple, easy for installation, real
With.
Embodiment 2
The structure of positioning device between two equipment of the present embodiment 2 is consistent with embodiment 1, and this will not be repeated here.Its
Be only that with the difference for implementing 1: first control unit 12 controls signal and sends the unlatching transmitter unit 14 of driving unit 13 and control
The variation of its transmission power incremental time and sequence.
In the present embodiment, to charging circuit 132, then which first issues the first duty ratio pwm signal
The switching circuit 134 for controlling multiple signals transmission driving units 13 respectively is gradually opened, and makes transmitter unit 14 one by one with the first function
Rate sends a signal.After all transmitter units 14 are sent, which issues the PWM of the second duty ratio again
Signal to charging circuit 132, gradually open, make by the switching circuit 134 for then controlling multiple signals transmission driving units 13 respectively
Transmitter unit 14 sends a signal one by one with the second power.It is multiple incremental that multiple transmitter unit transmittings are successively controlled with this rule
The signal of power, and record the angle and distance information of the feedback signal of feedback device 20.
The present embodiment detection effect obtained is consistent with embodiment 1.
In addition, the extension as Example 1 and Example 2 of the present invention, transmitter unit of the invention is arranged at 2 or more,
And different directions is respectively set.With the increase of transmitter unit setting number, itself radiation areas of single transmitter unit
It reduces, but the superposition of the radiation areas of all transmitter units at least need to be in front of the first equipment in the range of 10 degree of -170 degree.Separately
Outside, transmitter unit is also not necessarily limited to light emitting diode, can also be other signal radiated elements.And first control unit control
The power of transmitter unit processed transmitting signal can also be by weak, then the signal receiving unit 23 that links receives linkage at the very start by force
Signal is simultaneously fed back, and when the signal receiving unit 23 that links does not receive linkage signal, the feedback signal in detection device 10 is received
Unit 15 does not also receive feedback signal, then the power that the record of first control unit 12 emits at this time, and estimates between two equipment
Distance be distance corresponding to last transmission power.
Present invention provides the localization methods between a kind of two equipment as a result,.Specifically: setting letter on the first device
Number emitter and feedback signal reception device and the computing device for calculating two device location relationships, are arranged in the second equipment and believe
Number reception device and feedback signal emitter, sender unit emit signal towards different angle direction and record the angle of departure
Degree；Signal receiving device receives the signal and emits feedback signal by feedback signal emitter, and feedback signal receives dress
Set and receive the feedback signal, computing device using launch angle corresponding to the feedback signal that receives as two equipment it
Between angle, to judge the positional relationship between two equipment.
Further, transmitting signal emits multiple signals with different capacity in same angle direction；Computing device is with institute
The power of the signal for the minimum power that the second equipment receives is stated to calculate the distance between two equipment.
Further, multiple transmitter units are set on the first device, emit letter towards the angle direction of different fixations respectively
Number, and the signal of each transmitter unit transmitting covers certain angular range；Hair with the signal received on the second device
The overlapping region of angular range is penetrated as the angular range between two equipment.
Further, the power gradually increasing or decreasing of the signal of one angle direction of control transmitting completes the hair of whole power
After penetrating or after being received signal, then control the power gradually increasing or decreasing of the signal in next launch angle direction；Or control
The signal of the transmitting in different angle direction successively with constant power transmitting, after being fully completed, then controls different angle direction
The signal of transmitting is successively with the transmitting of next constant power, the power of transmitting gradually increasing or decreasing.
To, according to above localization method, it can be obtained the opposite angular relationship and distance relation between two equipment,
It may thereby determine that the positional relationship between them.
The invention is not limited to above embodiment, if not departing from the present invention to various changes or deformation of the invention
Spirit and scope, if these changes and deformation belong within the scope of claim and equivalent technologies of the invention, then this hair
It is bright to be also intended to encompass these changes and deformation.
Claims (8)
1. the positioning device between a kind of two equipment comprising detection device on the first device is arranged, and is arranged second
Feedback device in equipment, it is characterised in that: the detection device issues detection signal towards different angle directions and records letter
Number launch angle, and the power of the detection signal of same angle direction that is issued of detection device gradually increasing or decreasing, with by
Gradually increase or decrease transmitting range；The feedback device receives the detection signal, sends feedback signal immediately；The detection
Device reads the signal launch angle for sending and recording before the feedback signal, according to the feedback signal received with second
The overlapping region of the launch angle range of the signal received in equipment judges two equipment as the angular range between two equipment
Between positional relationship；The detection device includes first control unit, multiple transmitter units and a feedback signal reception unit；
The feedback device includes the second control unit, detection signal receiving unit and feedback signal transmission unit；It is the multiple to transmit
Unit is arranged on said first device, and is fixed respectively towards different angles, and the first control unit control is multiple
Transmitter unit sequentially emits the detection signal；Second control unit of the feedback device controls the detection signal and connects
The detection signal that unit receives the transmitter unit transmitting is received, and described anti-by feedback signal transmission unit transmission
Feedback signal then sends the first control unit to the feedback signal reception unit of the detection device；Described first
Control unit judges the positional relationship between two equipment according to the corresponding launch angle of the feedback signal.
2. the positioning device between two equipment according to claim 1, it is characterised in that: the detection signal is at same angle
The detection signal for spending direction transmitting has different transmission power, and detection device transmitting according to corresponding to the feedback signal is most
Small-power obtains range information.
3. the positioning device between two equipment according to claim 1, it is characterised in that: the detection device includes first
The control unit angle different with Ke Chao issues the transmitter unit of detection signal, described that detection signal can be issued towards different angles
Transmitter unit formed or described can be issued towards different angles towards the signal emitting heads that different angle is arranged respectively by multiple
The transmitter unit for detecting signal has the signal emitting head of angle adjustable.
4. according to claim 1 or the positioning device between two equipment described in claim 2 any one, it is characterised in that:
The detection device includes first control unit, multiple transmitter units and feedback signal reception unit；The feedback device includes
Second control unit, detection signal receiving unit and feedback signal transmission unit；The first control unit control respectively transmits list
Member is successively with constant power transmitting, after the completion of whole transmitter units, then controls each transmitter unit with same sequence successively
With the transmitting of next constant power, the power of transmitting gradually increasing or decreasing；Or, the first control unit controls a transmitter unit
With the power transmission signal of increasing or decreasing, the signal to whole performance numbers is sent or is received described in the feedback device
After feedback signal, then next transmitter unit is controlled with the power transmission signal of increasing or decreasing.
5. the localization method between a kind of two equipment, it is characterised in that: use determining between two equipment as described in claim 1
Position device setting signal emitter and feedback signal reception device and calculates two device location relationships on the first device
Computing device, in the second equipment setting signal reception device and feedback signal emitter, sender unit is towards different angle
Direction transmitting signal simultaneously records launch angle；Signal receiving device receives the signal and is emitted by feedback signal emitter
Feedback signal, feedback signal reception device receive the feedback signal, and computing device is right with the feedback signal institute received
The launch angle answered is as the angle between two equipment, with the overlapping of the launch angle range of the signal received in the second equipment
Region is as the angular range between two equipment, to judge the positional relationship between two equipment；Wherein, control is emitted same
The power of the signal of one angle direction gradually increasing or decreasing, to gradually increase or reduce transmitting range.
6. the localization method between two equipment according to claim 5, it is characterised in that: the transmitting signal is at same angle
Degree direction emits multiple signals with different capacity；The signal for the minimum power that computing device is received with second equipment
Power calculate the distance between two equipment.
7. the localization method between two equipment according to claim 5, it is characterised in that: emit towards each angle direction
Signal covers certain angular range；Using the overlapping region of the launch angle range of the signal received on the second device as
Angular range between two equipment.
8. the localization method between two equipment according to claim 6, it is characterised in that: control emits same angle direction
Signal power gradually increasing or decreasing, complete after the transmitting of whole power or after being received signal, then control next hair
Penetrate the power of the signal of angle direction gradually increasing or decreasing；Or the signal of the transmitting in control different angle direction is successively solid with one
Determine power emission, after being fully completed, then control different angle direction transmitting signal successively with next constant power transmitting, hair
The power penetrated gradually increasing or decreasing.
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| CN201510093208.7A CN105988101B (en) | 2015-03-02 | 2015-03-02 | Positioning device and localization method between two equipment |
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|---|---|---|---|
| CN201510093208.7A CN105988101B (en) | 2015-03-02 | 2015-03-02 | Positioning device and localization method between two equipment |
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| CN105988101B true CN105988101B (en) | 2019-09-17 |
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| CN113099405B (en) * | 2021-03-11 | 2021-12-17 | 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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2015
- 2015-03-02 CN CN201510093208.7A patent/CN105988101B/en active Active
Patent Citations (4)
| 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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