CN106019231A - Indoor ultrasonic positioning device - Google Patents
Indoor ultrasonic positioning device Download PDFInfo
- Publication number
- CN106019231A CN106019231A CN201610434834.2A CN201610434834A CN106019231A CN 106019231 A CN106019231 A CN 106019231A CN 201610434834 A CN201610434834 A CN 201610434834A CN 106019231 A CN106019231 A CN 106019231A
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- ultrasonic
- circuit
- chip microcomputer
- receiver
- ultrasonic probe
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/20—Position of source determined by a plurality of spaced direction-finders
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses an indoor ultrasonic positioning device. The indoor ultrasonic positioning device comprises a computer, a controller a, an ultrasonic receiver a, an ultrasonic receiver b, an ultrasonic receiver c, an ultrasonic receiving device d, a wireless communication module a, an ultrasonic transmitter, a controller b, a positioning object and a wireless communication module b. The indoor ultrasonic positioning device provided by the invention is novel in structure. According to the indoor ultrasonic positioning device of the invention, the ultrasonic ranging principle is utilized, and a one-way ranging method is adopted, so that influence on ultrasonic transmission distance caused by ultrasonic signal attenuation can be eliminated.
Description
Technical field
The present invention relates to indoor positioning technologies field, be specially a kind of indoor ultrasonic positioner.
Background technology
Indoor light of stage caloric value is big, and Artificial Control light is followed the tracks of stage performer and can not be worked long hours, and light is dazzling, brings great difficulty to operator.So be badly in need of a kind of can be with the equipment of automatic control lamp lightseeking missile performer, additionally logistics center and the similar working spaces such as factory, the state of mobile object in requirement grasp facility in real time, thus the movement locus of Correct Analysis mobile object, also have for the worker positions in pit, it is to avoid workman's is easy to rescue when being strayed into unsafe region and occur unexpected.
Summary of the invention
It is an object of the invention to provide a kind of indoor ultrasonic positioner, with the problem solving to propose in above-mentioned background technology.
For achieving the above object, the present invention provides following technical scheme:
A kind of indoor ultrasonic positioner, it includes computer, described computer is connected with controller a by wire, it is provided with wireless communication module a in described controller a, described controller a is provided with communication control module, described communication control module connects has wireless encoding transmitting circuit, described communication control module to be provided with RS422 interface, is provided with ultrasonic probe, ultrasonic receiver a, ultrasonic probe, ultrasonic receiver b, ultrasonic probe, ultrasonic receiver c and ultrasonic probe, ultrasonic receiver d in the interior space；nullDescribed ultrasonic probe, ultrasonic receiver a、Ultrasonic probe, ultrasonic receiver b、Ultrasonic probe, ultrasonic receiver c and ultrasonic probe, ultrasonic receiver d is connected with controller a by wire respectively，Described ultrasonic probe, ultrasonic receiver a、Ultrasonic probe, ultrasonic receiver b、It is respectively arranged with single-chip microcomputer one in ultrasonic probe, ultrasonic receiver c and ultrasonic probe, ultrasonic receiver d、Single-chip microcomputer two、Single-chip microcomputer three and single-chip microcomputer four，Described single-chip microcomputer one、Single-chip microcomputer two、Single-chip microcomputer three and single-chip microcomputer four are connected to ultrasound wave and receive circuit and temperature sensor，Position described in described ultrasound wave and controller b is installed on object，It is provided with ultrasonic transmitter on described controller b，It is provided with Single Chip Microcomputer (SCM) system in described controller b、Wireless communication module b and power supply，Described Single Chip Microcomputer (SCM) system is connected with the wireless receiving decoding circuit in wireless communication module b by wire respectively and power supply connects，Described ultrasonic transmitter is provided with ultrasonic emitting circuit，Described Single Chip Microcomputer (SCM) system is connected with ultrasonic emitting circuit.
As the further technical scheme of the present invention, described ultrasonic probe, ultrasonic receiver a, ultrasonic probe, ultrasonic receiver b, ultrasonic probe, ultrasonic receiver c and ultrasonic probe, ultrasonic receiver d in the interior space the most in one plane.
As the present invention further technical scheme, the described Single Chip Microcomputer (SCM) system mu balanced circuit built-in with controller b is connected, and described mu balanced circuit is connected with power supply.
As the present invention further technical scheme, described ultrasonic emitting circuit includes power supply, mu balanced circuit, single-chip microcomputer, pulse signal radiating circuit, amplifying circuit and ultrasonic sensor transmitting terminal.
As the present invention further technical scheme, described ultrasound wave receives circuit and includes ultrasonic sensor receiving terminal, RC frequency selection circuit, signal amplification circuit, detecting circuit and shaping circuit.
nullCompared with prior art，The present invention provides a kind of indoor ultrasonic positioner，Novel structure，The present invention provides a kind of indoor ultrasonic positioner to utilize the range measurement principle of ultrasound wave，Affect the ultrasonic transmission distance present invention use unidirectional telemetry to overcome ultrasonic signal decay，Supersonic generator is i.e. used to be directly installed on the object of location，Ultrasonic receiver directly receives the ultrasound wave of reflection，Wireless communication module a is utilized to launch radio signal to controller b by computer by controller a，Controller b utilizes wireless communication module b to receive radio signal control supersonic generator transmitting ultrasound wave，Ultrasonic probe, ultrasonic receiver starts timing simultaneously，When ultrasonic probe, ultrasonic receiver gives a response，The propagation time writing down the ultrasound wave that each receptor receives respectively is calculated the position determined under the coordinate system of object place, location by computer.
Accompanying drawing explanation
Fig. 1 is the main machine structure schematic diagram of the present invention a kind of indoor ultrasonic positioner.
Fig. 2 is the structural representation of the portable machine of the present invention a kind of indoor ultrasonic positioner.
Fig. 3 is the host computer system block diagram of the present invention a kind of indoor ultrasonic positioner.
Fig. 4 is the portable machine system block diagram of the present invention a kind of indoor ultrasonic positioner.
Fig. 5 is the ultrasonic emitting circuit block diagram of the present invention a kind of indoor ultrasonic positioner.
Fig. 6 is that the ultrasound wave of the present invention a kind of indoor ultrasonic positioner receives circuit block diagram.
In figure: 1-computer, 2-controller a, 3-ultrasonic probe, ultrasonic receiver a, 4-ultrasonic probe, ultrasonic receiver b, 5-ultrasonic probe, ultrasonic receiver c, 6-ultrasonic probe, ultrasonic receiver d, 7-wireless communication module a, 8-ultrasonic transmitter, 9-controller b, 10-position object, 11-wireless communication module b.
Below in conjunction with detailed description of the invention, the technical scheme of this patent is described in more detail.
nullRefer to Fig. 1-6，A kind of indoor ultrasonic positioner，It includes computer 1，Described computer 1 is connected with controller a2 by wire，It is provided with wireless communication module a7 in described controller a2，Described controller a2 is provided with communication control module，Described communication control module connects wireless encoding transmitting circuit，Described communication control module is provided with RS422 interface，Ultrasonic probe, ultrasonic receiver a3 is installed in the interior space、Ultrasonic probe, ultrasonic receiver b4、Ultrasonic probe, ultrasonic receiver c5 and ultrasonic probe, ultrasonic receiver d6，Described ultrasonic probe, ultrasonic receiver a3、Ultrasonic probe, ultrasonic receiver b4、Ultrasonic probe, ultrasonic receiver c5 and ultrasonic probe, ultrasonic receiver d6 in the interior space the most in one plane，Described ultrasonic probe, ultrasonic receiver a3、Ultrasonic probe, ultrasonic receiver b4、Ultrasonic probe, ultrasonic receiver c5 and ultrasonic probe, ultrasonic receiver d6 is connected with controller a2 by wire respectively，Described ultrasonic probe, ultrasonic receiver a、Ultrasonic probe, ultrasonic receiver b、It is respectively arranged with single-chip microcomputer one in ultrasonic probe, ultrasonic receiver c and ultrasonic probe, ultrasonic receiver d、Single-chip microcomputer two、Single-chip microcomputer three and single-chip microcomputer four，Described single-chip microcomputer one、Single-chip microcomputer two、Single-chip microcomputer three and single-chip microcomputer four are connected to ultrasound wave and receive circuit and temperature sensor，Position described in described ultrasound wave and controller b9 is installed on object 10，It is provided with ultrasonic transmitter 8 on described controller b9，Single Chip Microcomputer (SCM) system and wireless communication module b11 it is provided with in described controller b9，Described Single Chip Microcomputer (SCM) system is connected with the wireless receiving decoding circuit in wireless communication module b11，Described ultrasonic transmitter 8 is provided with ultrasonic emitting circuit，Described Single Chip Microcomputer (SCM) system is connected with ultrasonic emitting circuit，The described Single Chip Microcomputer (SCM) system mu balanced circuit built-in with controller b9 is connected，Described mu balanced circuit is connected with power supply；Described ultrasonic emitting circuit includes power supply, mu balanced circuit, single-chip microcomputer, pulse signal radiating circuit, amplifying circuit and ultrasonic sensor transmitting terminal, after the wireless communication module on the object of location receives radio signal, pulse signal radiating circuit is started working and produced 40KHz square-wave signal is to increase to measure distance, and square-wave signal is by connection ultrasonic sensor transmitting terminal after amplifying circuit.Described ultrasound wave receives circuit and includes ultrasonic sensor receiving terminal, RC frequency selection circuit, signal amplification circuit, detecting circuit and shaping circuit, when ultrasonic sensor receiving terminal receives ultrasound wave, the weak voltage signals identical with transmitting terminal signal frequency will be produced, send into single-chip microcomputer at the TTL signal becoming standard after RC frequency selection circuit, detecting circuit and shaping circuit and cause interruption, thus record the propagation time of this ultrasound wave.
nullOperation principle of the present invention: the present invention provides a kind of indoor ultrasonic positioner to utilize the range measurement principle of ultrasound wave，Affect the ultrasonic transmission distance present invention use unidirectional telemetry to overcome ultrasonic signal decay，Ultrasonic transmitter 8 is i.e. used to be directly installed on the object 10 of location，Ultrasonic probe, ultrasonic receiver a3、Ultrasonic probe, ultrasonic receiver b4、Ultrasonic probe, ultrasonic receiver c5 and ultrasonic probe, ultrasonic receiver d6 directly receives the ultrasound wave of reflection，Wireless communication module a7 is utilized to launch radio signal to controller b9 by computer 1 by controller a2，Controller b9 utilizes wireless communication module b11 to receive radio signal control ultrasonic transmitter transmitting ultrasound wave，Ultrasonic probe, ultrasonic receiver a3 simultaneously、Ultrasonic probe, ultrasonic receiver b4、Ultrasonic probe, ultrasonic receiver c5 and ultrasonic probe, ultrasonic receiver d6 starts timing，When ultrasonic probe, ultrasonic receiver gives a response，The propagation time writing down the ultrasound wave that each reception device receives respectively is calculated the position determined under the coordinate system of object place, location by computer.
Above the better embodiment of this patent is explained in detail, but this patent is not limited to above-mentioned embodiment, in the ken that one skilled in the relevant art is possessed, it is also possible to various changes can be made on the premise of without departing from this patent objective.
Claims (5)
1. an indoor ultrasonic positioner, it includes computer, it is characterized in that, described computer is connected with controller a by wire, being provided with wireless communication module a, described controller a in described controller a and be provided with communication control module, described communication control module connects wireless encoding transmitting circuit, described communication control module is provided with RS422 interface, is provided with ultrasonic probe, ultrasonic receiver a, ultrasonic probe, ultrasonic receiver b, ultrasonic probe, ultrasonic receiver c and ultrasonic probe, ultrasonic receiver d in the interior space；nullDescribed ultrasonic probe, ultrasonic receiver a、Ultrasonic probe, ultrasonic receiver b、Ultrasonic probe, ultrasonic receiver c and ultrasonic probe, ultrasonic receiver d is connected with controller a by wire respectively，Described ultrasonic probe, ultrasonic receiver a、Ultrasonic probe, ultrasonic receiver b、It is respectively arranged with single-chip microcomputer one in ultrasonic probe, ultrasonic receiver c and ultrasonic probe, ultrasonic receiver d、Single-chip microcomputer two、Single-chip microcomputer three and single-chip microcomputer four，Described single-chip microcomputer one、Single-chip microcomputer two、Single-chip microcomputer three and single-chip microcomputer four are connected to ultrasound wave and receive circuit and temperature sensor，Position described in described ultrasound wave and controller b is installed on object，It is provided with ultrasonic transmitter on described controller b，It is provided with Single Chip Microcomputer (SCM) system in described controller b、Wireless communication module b and power supply，Described Single Chip Microcomputer (SCM) system is connected with the wireless receiving decoding circuit in wireless communication module b by wire respectively and power supply connects，Described ultrasonic transmitter is provided with ultrasonic emitting circuit，Described Single Chip Microcomputer (SCM) system is connected with ultrasonic emitting circuit.
A kind of indoor ultrasonic positioner the most according to claim 1, it is characterised in that described ultrasonic probe, ultrasonic receiver a, ultrasonic probe, ultrasonic receiver b, ultrasonic probe, ultrasonic receiver c and ultrasonic probe, ultrasonic receiver d in the interior space the most in one plane.
A kind of indoor ultrasonic positioner the most according to claim 1, it is characterised in that the described Single Chip Microcomputer (SCM) system mu balanced circuit built-in with controller b is connected, and described mu balanced circuit is connected with power supply.
A kind of indoor ultrasonic positioner the most according to claim 1, it is characterised in that described ultrasonic emitting circuit includes power supply, mu balanced circuit, single-chip microcomputer, pulse signal radiating circuit, amplifying circuit and ultrasonic sensor transmitting terminal.
A kind of indoor ultrasonic positioner the most according to claim 1, it is characterised in that described ultrasound wave receives circuit and includes ultrasonic sensor receiving terminal, RC frequency selection circuit, signal amplification circuit, detecting circuit and shaping circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610434834.2A CN106019231A (en) | 2016-06-19 | 2016-06-19 | Indoor ultrasonic positioning device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610434834.2A CN106019231A (en) | 2016-06-19 | 2016-06-19 | Indoor ultrasonic positioning device |
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| CN106019231A true CN106019231A (en) | 2016-10-12 |
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| CN201610434834.2A Pending CN106019231A (en) | 2016-06-19 | 2016-06-19 | Indoor ultrasonic positioning device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106646379A (en) * | 2016-12-01 | 2017-05-10 | 广州艾想电子科技有限公司 | Indoor positioning method, device and system based on high-frequency acoustic code |
| CN111099738A (en) * | 2020-02-27 | 2020-05-05 | 华川技术有限公司 | Ecological purification composite set that degree of depth is accurate lift adjustment under water |
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| CN102253367A (en) * | 2011-04-01 | 2011-11-23 | 长春理工大学 | Ultrasonic wave based indoor three-dimensional positioning system and method |
| JP5730008B2 (en) * | 2010-12-27 | 2015-06-03 | 株式会社ＢｉＶａホールディングス | Underwater position detection system, ship-side receiver, and underwater position detection method |
| CN105527607A (en) * | 2015-07-23 | 2016-04-27 | 黄中一 | Dish delivery robot with indoor supersonic positioning function |
| CN206114889U (en) * | 2016-06-19 | 2017-04-19 | 哈尔滨理工大学 | Room ultrasonic ripples positioner |
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2016
- 2016-06-19 CN CN201610434834.2A patent/CN106019231A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2163557Y (en) * | 1993-09-02 | 1994-05-04 | 祝宇虹 | Walking stick able to take one's bearings and find fault |
| CN101401998A (en) * | 2007-10-05 | 2009-04-08 | 富港电子（东莞）有限公司 | Game device positioning method |
| CN101498781A (en) * | 2008-01-29 | 2009-08-05 | 日电（中国）有限公司 | Independent locator and ultrasonic positioning system and method thereof |
| CN102129071A (en) * | 2010-11-09 | 2011-07-20 | 襄垣县树元电器有限公司 | Ultrasonic distance measurer |
| JP5730008B2 (en) * | 2010-12-27 | 2015-06-03 | 株式会社ＢｉＶａホールディングス | Underwater position detection system, ship-side receiver, and underwater position detection method |
| CN102253367A (en) * | 2011-04-01 | 2011-11-23 | 长春理工大学 | Ultrasonic wave based indoor three-dimensional positioning system and method |
| CN105527607A (en) * | 2015-07-23 | 2016-04-27 | 黄中一 | Dish delivery robot with indoor supersonic positioning function |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106646379A (en) * | 2016-12-01 | 2017-05-10 | 广州艾想电子科技有限公司 | Indoor positioning method, device and system based on high-frequency acoustic code |
| CN111099738A (en) * | 2020-02-27 | 2020-05-05 | 华川技术有限公司 | Ecological purification composite set that degree of depth is accurate lift adjustment under water |
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Application publication date: 20161012 |