CN107179538A - A kind of method and system of panoramic limit ultrasonic wave positioning distance measuring - Google Patents
A kind of method and system of panoramic limit ultrasonic wave positioning distance measuring Download PDFInfo
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- CN107179538A CN107179538A CN201710348724.9A CN201710348724A CN107179538A CN 107179538 A CN107179538 A CN 107179538A CN 201710348724 A CN201710348724 A CN 201710348724A CN 107179538 A CN107179538 A CN 107179538A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/42—Simultaneous measurement of distance and other co-ordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of method and system of panoramic limit ultrasonic wave positioning distance measuring, ultrasonic wave follows the method for positioning by setting multiple ultrasonic receivers to constitute receiving array, the ultrasonic wave received by ultrasonic wave receiving array determines to follow the distance between thing and object, and by further obtaining object relative to the orientation for following thing, so as to which according to distance and bearing, control follows thing movement to follow object.By such mode, the positioning of object can be realized using the ultrasonic transmitter-receiver followed on thing and object, and then control to follow object.
Description
Technical field
The present invention relates to ultrasonic technology field, the method for more particularly to a kind of panoramic limit ultrasonic wave positioning distance measuring and it is
System.
Background technology
Ultrasonic ranging system principle is simple, it is easy to accomplish, it is with low cost, thus obtained in production and living extensively
Application.Typical application have the measurement of ultrasonic wave thing (material) position, obstacle distance measurement, riverbed depth survey, radar for backing car, etc.
Deng, all had maturation product.Its principle is all, by active emission pulse ultrasonic, then to detect the return of echo-signal
Time, by obtaining range-to-go after calculating.
On the basis of based on ultrasonic ranging, target is positioned while how carrying out ranging using ultrasonic wave, so as to reach
The purpose followed to target, it is significant.Such as can be used for luggage case positioning follow owner, unmanned self-timer positioning with
With target etc..
The content of the invention
The present invention solves the technical problem of how using ultrasonic wave to realize that positioning is followed.
In view of this, the embodiment of the present invention provides a kind of method and system of panoramic limit ultrasonic wave positioning distance measuring, passes through mesh
Mark thing and follow and ultrasonic receiver and transmitter are set respectively on thing, locating and tracking is realized using the transmission of ultrasonic wave.
In order to solve the above technical problems, the first aspect of the embodiment of the present invention is surveyed there is provided the panoramic limit ultrasonic wave positioning of one kind
Away from method, methods described includes：
According to the ultrasonic wave theaomni-directional transmission on object for following multiple ultrasonic receivers on thing to receive respectively
The ultrasonic wave of device transmitting, calculates the distance for obtaining the multiple ultrasonic receiver and the object；
According to the distance of the multiple ultrasonic receiver and the object, it is determined that described follow thing and the object
The distance between；
The object is obtained relative to the orientation for following thing；
The distance between thing and described object and the object are followed relative to the thing that follows according to described
Orientation, control described in thing movement is followed to follow the object.
Wherein, state the acquisition object includes relative to the orientation for following thing：By in default systematic parameter
The object is obtained relative to the orientation for following thing, or by following multiple ultrasonic receivers on thing to receive respectively
The transmitting of the ultrasonic wave theaomni-directional transmission device on object ultrasonic wave, calculating obtains the object and followed relative to described
The orientation of thing.
Wherein, when obtained in by default systematic parameter the object relative to it is described follow the method for thing when, institute
Multiple ultrasonic receivers are stated at least two；When by following what multiple ultrasonic receivers on thing received respectively to come from mesh
The ultrasonic wave of the ultrasonic wave theaomni-directional transmission device transmitting on thing is marked, calculates and obtains the object relative to the orientation for following thing
When, the multiple ultrasonic receiver is at least four, and wherein any 3 ultrasonic receivers are not arranged on the same straight line.
Wherein, it is described complete by the ultrasonic wave for following multiple ultrasonic receivers on thing to receive respectively on object
The ultrasonic wave launched to transmitter, calculating obtains the object to be included relative to the orientation for following thing：
The ultrasonic wave that any 2 ultrasonic receivers at least four ultrasonic receiver are received, it is determined that it is described with
With the distance of thing and the object；
Be combined with any 2 ultrasonic receivers, the ultrasound that the 3rd and the 4th ultrasonic receiver are received
Ripple, determines the quadrant of the vertical direction residing for the quadrant and the object of horizontal direction residing for the object；
The quadrant of horizontal direction with reference to residing for the object, the quadrant of vertical direction, determine that the object is relative
In the orientation for following thing.
Wherein, any 2 ultrasonic receivers are received with the 3rd ultrasonic receiver or the 4th ultrasonic wave
The first plane where device, with it is described follow thing and the object where the second plane overlap or parallel.
Wherein, according to outside any 2 ultrasonic receivers, the 3rd and the 4th ultrasonic receiver other surpass
The ultrasonic wave of acoustic receiver, calculates the coordinate for obtaining the different objects, for object described in auxiliary corrective
Coordinate.
Wherein, the basis follows the ultrasonic wave on object that multiple ultrasonic receivers on thing are received respectively
The ultrasonic wave of theaomni-directional transmission device transmitting, the distance that calculating obtains the multiple ultrasonic receiver and the object includes：
According to the ultrasonic wave theaomni-directional transmission on object for following multiple ultrasonic receivers on thing to receive respectively
The ultrasonic wave that device is sent, determines the transmission time of the ultrasonic wave；
The temperature and air pressure of current environment are detected, the ultrasonic wave under the current environment is determined according to the temperature and air pressure
Spread speed；
With reference to the ultrasonic propagation velocity under the transmission time and the current environment, calculating obtains the multiple ultrasound
The distance of ripple receiver and the object.
Wherein, the ultrasonic receiver and the ultrasonic wave theaomni-directional transmission device are kept by the way of radio signal
Time synchronized.
In order to solve the above technical problems, the second aspect of the embodiment of the present invention is surveyed there is provided the panoramic limit ultrasonic wave positioning of one kind
Away from system, the system include processing module, acquisition module and control module, wherein：
The processing module is used for according to following what multiple ultrasonic receivers on thing received respectively to come from object
The transmitting of ultrasonic wave theaomni-directional transmission device ultrasonic wave, calculate obtain the multiple ultrasonic receiver and the object away from
From；
The processing module is used for the distance according to the multiple ultrasonic receiver and the object, it is determined that it is described with
With the distance between thing and described object；
The acquisition module is used to obtain the object relative to the orientation for following thing；
The control module is used to follow the distance between thing and described object and the object phase according to
For the orientation for following thing, follow thing movement to follow the object described in control.
Wherein, the processing module includes determining unit, detection unit and computing unit, wherein：
Determining unit was used for according to the surpassing on object for following multiple ultrasonic receivers on thing to receive respectively
The ultrasonic wave that sound wave theaomni-directional transmission device is sent, determines the transmission time of the ultrasonic wave；
The detection unit is used for the temperature and air pressure for detecting current environment；
The determining unit further determines the ultrasonic propagation speed under the current environment according to the temperature and air pressure
Degree；
The computing unit is used to, with reference to the ultrasonic propagation velocity under the transmission time and the current environment, calculate
Obtain the distance of the multiple ultrasonic receiver and the object.
The beneficial effect that the technical scheme that the present invention is provided exists compared with prior art is：It is different from the feelings of prior art
Condition, the present invention sets multiple ultrasonic receivers to constitute receiving array by following on thing, received by ultrasonic wave receiving array
The ultrasonic wave of ultrasonic wave theaomni-directional transmission device transmitting on object, determines to follow thing and object according to the ultrasonic wave of reception
The distance between, and by further obtaining object relative to the orientation for following thing so that according to follow thing and object it
Between distance, object relative to the orientation for following thing, control follows thing movement to follow object.By such mode,
The positioning of ultrasonic wave object can be realized, and then control to target using the ultrasonic transmitter-receiver followed on thing and object
Thing is followed.
Brief description of the drawings
Fig. 1 is a kind of schematic flow sheet of the method for panoramic limit ultrasonic wave positioning distance measuring provided in an embodiment of the present invention；
Fig. 2 is to calculate the distance for obtaining ultrasonic receiver and object in the embodiment of the present invention according to the ultrasonic wave of reception
Method flow schematic diagram；
Fig. 3 be the ultrasonic wave received using at least four receiver in the embodiment of the present invention calculate obtain object relative to
Follow the method flow schematic diagram in the orientation of thing；
Fig. 4 is the schematic diagram that location algorithm sets up coordinate system in the embodiment of the present invention；
Fig. 5 is a kind of structural representation of the system of panoramic limit ultrasonic wave positioning distance measuring provided in an embodiment of the present invention；
Fig. 6 is the structural representation of processing module provided in an embodiment of the present invention；
Fig. 7 is a kind of practical application signal of the system of panoramic limit ultrasonic wave positioning distance measuring provided in an embodiment of the present invention
Figure.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.
In describing below, in order to illustrate rather than in order to limit, give the explanation schematic diagram of many technical characteristics, so as to
Cut thoroughly and understand the embodiment of the present invention.However, it will be clear to one skilled in the art that in other realities of these no details
The present invention can also be realized by applying in example.In other situations, the detailed description to well-known method is omitted, so as not to it is unnecessary
Details hinder description of the invention.
Refering to Fig. 1, Fig. 1 shows a kind of stream of the method for panoramic limit ultrasonic wave positioning distance measuring provided in an embodiment of the present invention
Journey schematic diagram, for convenience of description, Fig. 1 illustrate only the part related to the embodiment of the present invention, the panoramic limit ultrasound of Fig. 1 examples
The method of ripple positioning distance measuring comprises the following steps：
S101：According to the ultrasonic wave omnidirectional on object for following multiple ultrasonic receivers on thing to receive respectively
The ultrasonic wave of transmitter transmitting, calculates the distance for obtaining multiple ultrasonic receivers and object；
S102：According to the distance of multiple ultrasonic receivers and object, it is determined that following the distance between thing and object；
S103：Object is obtained relative to the orientation for following thing；
S104：According to following the distance between thing and object and object relative to the orientation for following thing, control with
With thing movement to follow object.
The method that the embodiment of the present invention uses ultrasonic ranging, installs one group of ultrasonic receiver to constitute on thing is followed
Receiving array, by receiving the ultrasonic wave that the ultrasonic wave theaomni-directional transmission device carried on object is launched, to calculate ultrasonic wave
The distance and bearing of theaomni-directional transmission device (object) and receiver.When the principle of ultrasonic ranging is according to detection sonic transmissions
Between, the distance of each receiver and transmitter is calculated with reference to the speed of sonic transmissions, certain in the array constituted with receiver
Be some origin, set up three-dimensional system of coordinate, so as to calculate the coordinate of object so that calculate need to follow away from walk-off angle
Degree.
Wherein, the embodiment of the present invention, which further provides for being calculated according to the ultrasonic wave of reception, obtains ultrasonic receiver and target
The method of the distance of thing, referring to Fig. 2, as illustrated, the method calculated includes：
S11：According to the ultrasonic wave omnidirectional on object for following multiple ultrasonic receivers on thing to receive respectively
The ultrasonic wave that transmitter is sent, determines the transmission time of ultrasonic wave；
S12：The temperature and air pressure of current environment are detected, the ultrasonic propagation under current environment is determined according to temperature and air pressure
Speed；
S13：With reference to the ultrasonic propagation velocity under transmission time and current environment, calculating obtains multiple ultrasonic receivers
With the distance of object.
Wherein, receiver must realize that clock is synchronous with transmitter, and the transmission time of measured ultrasonic wave could be accurate.
It is synchronous using entering row clock by the way of radio signal in the embodiment of the present invention.Upon power-up of the system, receiver
A radio signal is first sent to transmitter, due to both (2 meters of scopes) closer to the distance, so during the transmission of radio wave
Between can be ignored substantially.After transmitter receives radio signal, ultrasonic signal is sent immediately.When receiver receive it is super
After acoustic signals, its launch radio signal and receive time difference, as ultrasonic wave between ultrasonic signal transmission when
Between.Again with transmission time and the functional relation of ultrasonic transmission speed, range information is calculated.
Other receivers in receiving array are to launch simultaneously when launching radio signal, because distance is different, institute
It is different with the time of reception, distance of each receiver away from transmitter can be equally calculated in the manner described above.
Due to ultrasonic wave, spread speed is influenceed by temperature and air pressure in atmosphere, therefore, is used as a kind of preferred reality
Existing mode, in addition it is also necessary to environment temperature and air pressure are detected, for determining the transmission speed of ultrasonic wave.
Wherein, receiver and transmitter can be exchanged in design, and corresponding design side is used according to actual product selection
Formula.
Wherein, the quantity of receiver depend on positioning system for tracking application scenario, can determine object relative to
On the premise of the orientation for following thing, it is only necessary to set at least two receiver that locating and tracking can be achieved.It is vehicle for example to follow thing
If, object is always located in above the vehicle that follows and front, and is followed if thing is unmanned plane, and object is generally always
Positioned at following before thing and lower section.If following thing and being auto heterodyne class unmanned plane, object will be located at follow thing behind with
Lower section.
That is, in this case, can be by default system parameter settings object relative to the side for following thing
Position, so as to can just realize that positioning is followed by least two receiver.
But, when being applied to clearly determine object relative to the orientation for following thing for positioning system for tracking, then
At least need to set 4 receivers, aid in determining object in space by the ultrasonic wave of the 3rd, the 4th receiver reception
On orientation.
Wherein, the embodiment of the present invention is further provided for when can not clearly determine object relative to the orientation for following thing,
The ultrasonic wave received using at least four receiver, which is calculated, obtains object relative to the method for following thing, referring to Fig. 3, utilizing
The ultrasonic wave that at least four receiver is received, which is calculated, obtains object relative to following the method for thing to include：
S21：The ultrasonic wave that any 2 ultrasonic receivers at least four ultrasonic receiver are received, it is determined that with
With the distance of thing and object；
S22：Be combined with any 2 ultrasonic receivers, the ultrasound that the 3rd and the 4th ultrasonic receiver are received
Ripple, determines the quadrant of the vertical direction residing for the quadrant and the target of horizontal direction residing for object；
S23：Quadrant, the quadrant of vertical direction in the water planting direction residing for combining target, determine object relative to following
The orientation of thing.
Wherein, any 3 ultrasonic receivers at least four ultrasonic receiver are not on the same line.In addition,
The where above-mentioned used at least two ultrasonic receiver and the 3rd ultrasonic receiver or the 4th ultrasonic receiver
One plane, follows thing and the second plane where object, in actual application, in order to reduce amount of calculation, can design
Hardware configuration so that the first plane is overlapped or parallel with the second plane.
And in actual application, in addition to 4 ultrasonic receivers, one or more ultrasounds can also be set up in addition
Ripple receiver, the ultrasonic wave that each ultrasonic receiver is received can calculate the coordinate for obtaining an object, for aiding in school
The coordinate of positive goal thing so that positioning is more accurate.
In this case, actually only need to wherein any 3 of 4 reception devices to be not arranged on the same straight line, you can structure
Into receiving array.Carry out with any time, there is 2 receivers to receive ultrasonic signal, you can with complete determine object away from
From, and angle information.It is symmetrical with coordinate origin but the angle now calculated has two, so the 3rd receiver is received
Ultrasonic wave resolve obtained data be used to determining the quadrant of the horizontal direction residing for object (follow thing front or after
Side).4th receiver is used for the quadrant (top or lower section that follow thing) for determining the vertical direction residing for target.If
Can be in the front and top (or other orientation) for following thing with default objects thing, then at least can only use 2
Receiver.The receiver of 5 or more than 5 can be set simultaneously, so as to calculate different target article coordinates, for school
The coordinate of positive goal thing, obtains more accurate positional information.
Referring to Fig. 4, the embodiment of the present invention is by taking wherein 3 receivers as an example, the algorithm positioned in the present invention is described in detail.
As illustrated, on two dimensional surface, by receiver A B distance-finding method between C and object T measure TA TB TC
Length, sets up coordinate system, Z axis is perpendicular to plane ABC on plane ABC.A B C points coordinate, it is known that by TA/TB/AB length
Degree (distance measured) T and T can be calculated ' two point, and this 2 points symmetrical based on straight line AB.Again according to TC length, sentence
It is not real target point to determine T ', so that it is determined that the coordinate of T points.Further according to plane ABC and follow thing and the plane residing for target
The angle of (referred to as following plane), you can determine that target is following the positional information of plane.In product design, knot can be passed through
Structure design method, allow plane ABC and follow plane coincidence or it is parallel, so as to reduce amount of calculation.
For positioning system for tracking, in addition it is also necessary to consider locus.So by the 4th range unit, you can solution
Calculate the correct coordinates of object in three dimensions.
On the basis of the method for the panoramic limit ultrasonic wave positioning distance measuring that above example is provided, the embodiment of the present invention enters one
Walk and a kind of panoramic limit ultrasonic wave positioning distance measuring system is provided, the panoramic limit ultrasonic wave positioning distance measuring system is above-mentioned panoramic for realizing
The method for limiting ultrasonic wave positioning distance measuring.Referring to Fig. 5, Fig. 5 is panoramic limit ultrasonic wave positioning distance measuring provided in an embodiment of the present invention
The structural representation of system, as illustrated, the panoramic limit ultrasonic wave positioning distance measuring system 100 of the embodiment of the present invention includes processing mould
Block 11, acquisition module 12 and control module 13, wherein：
Processing module 11 is used for according to following that multiple ultrasonic receivers on thing receive respectively on object
The ultrasonic wave of ultrasonic wave theaomni-directional transmission device transmitting, calculates the distance for obtaining multiple ultrasonic receivers and object.
Processing module 11 is used for the distance according to multiple ultrasonic receivers and object, it is determined that following thing and the target
The distance between thing.
Acquisition module 12 is used to obtain object relative to the orientation for following thing.
Control module 13 is used for basis and follows the distance between thing and object and object relative to the side for following thing
Position, control follows thing movement to follow object.
Wherein, further referring to Fig. 6, Fig. 6 is the structural representation of processing module in another embodiment of the present invention, is such as schemed
Shown, in another embodiment, the processing module 11 of the embodiment of the present invention further comprises determining that unit 111, detection unit
112 and computing unit 113, wherein：
Determining unit 111 is used for according to following that multiple ultrasonic receivers on thing receive respectively on object
The ultrasonic wave that ultrasonic wave theaomni-directional transmission device is sent, determines the transmission time of ultrasonic wave.
Detection unit 112 is used for the temperature and air pressure for detecting current environment.
Determining unit 111 further determines the ultrasonic propagation velocity under current environment according to temperature and air pressure.
Computing unit 113 is used to combine the ultrasonic propagation velocity under transmission time and current environment, and calculating obtains multiple
The distance of ultrasonic receiver and object.
Wherein, each above-mentioned functional module or the concrete function implementation process of unit refer to above-mentioned panoramic limit ultrasonic wave and determined
Detailed description in the embodiment of the method for position ranging, here is omitted.
In addition, in another embodiment, referring to Fig. 6, Fig. 6 is the panoramic limit ultrasound of one kind provided in an embodiment of the present invention
The practical application schematic diagram of the system of ripple positioning distance measuring.
Panoramic limit ultrasonic wave positioning distance measuring system design is divided into emitter and reception device.When implementing, transmitting dress
Put by a piece of STM32MCU as core, a communication module based on 433MHZ radio, the ultrasound of a MAX232 driving
Ripple transmitter module, a set of 3.7V lithium batteries power supply is collectively formed as energy supply.
When implementing, reception device is used as core, the communication based on 433MHZ radio by a piece of STM32MCU
Module, the ultrasonic receiver of four LM324 drivings, a set of 3.7V lithium batteries power supply is used as energy supply, a 18B20 TEMP
Device is collectively constituted.4 receivers of reception device can constitute the receiving array in 360 ° of reception directions on a horizontal plane.
The method and system for the panoramic limit ultrasonic wave positioning distance measuring that the above embodiment of the present invention is provided, it will be understood that this
Invention sets multiple ultrasonic receivers to constitute receiving array by following on thing, received by ultrasonic wave receiving array and come from mesh
The ultrasonic wave of the ultrasonic wave theaomni-directional transmission device transmitting on thing is marked, is determined to follow between thing and object according to the ultrasonic wave of reception
Distance, and by further obtaining object relative to the orientation for following thing, thus according to follow between thing and object away from
From, object relative to the orientation for following thing, control follows thing movement to follow object.Pass through such mode, Neng Gouli
With the ultrasonic transmitter-receiver followed on thing and object, the positioning of ultrasonic wave object is realized, and then controls to carry out object
Follow.
It should be noted that it is related to the words such as " first ", " second " in all embodiments of the invention, such as the first plane,
Two planes etc. are only the convenience stated and referred to herein, be not meant in the specific implementation of the present invention it is certain have with
Corresponding first plane and the second plane.
The foregoing is only the principle of the invention and embodiment are made in conjunction with specific embodiments further specifically
It is bright, it is impossible to assert that the specific implementation of the present invention is confined to these explanations, be only intended to help to understand the present invention method and its
Core concept；For general technical staff of the technical field of the invention, before present inventive concept is not departed from
Put, equivalent structure or equivalent flow conversion that every utilization description of the invention and accompanying drawing content are made, or directly or indirectly
Other related technical fields are used in, the scope of patent protection of the present invention should be all considered as belonging to.
Claims (10)
1. a kind of method of panoramic limit ultrasonic wave positioning distance measuring, it is characterised in that methods described includes：
According to the hair of the ultrasonic wave theaomni-directional transmission device on object for following multiple ultrasonic receivers on thing to receive respectively
The ultrasonic wave penetrated, calculates the distance for obtaining the multiple ultrasonic receiver and the object；
According to the distance of the multiple ultrasonic receiver and the object, it is determined that described follow between thing and the object
Distance；
The object is obtained relative to the orientation for following thing；
The distance between thing and described object and the object are followed relative to the side for following thing according to described
, follow thing movement to follow the object described in control.
2. according to the method described in claim 1, it is characterised in that described to obtain the object relative to the thing that follows
Orientation includes：By obtaining the object in default systematic parameter relative to the orientation for following thing, or by following
The ultrasonic wave for the transmitting of the ultrasonic wave theaomni-directional transmission device on object that multiple ultrasonic receivers on thing are received respectively, meter
Calculate and obtain the object relative to the orientation for following thing.
3. method according to claim 2, it is characterised in that the object is obtained in by default systematic parameter
Relative to it is described follow the orientation of thing when, the multiple ultrasonic receiver be at least two；When multiple super on thing by following
The ultrasonic wave for the transmitting of the ultrasonic wave theaomni-directional transmission device on object that acoustic receiver is received respectively, calculating obtains the mesh
Mark thing relative to it is described follow the orientation of thing when, the multiple ultrasonic receiver is at least four, and wherein any 3 ultrasounds
Ripple receiver is not arranged on the same straight line.
4. method according to claim 3, it is characterised in that multiple ultrasonic receivers point by following on thing
The ultrasonic wave of the ultrasonic wave theaomni-directional transmission device transmitting on object is not received, and calculating obtains the object relative to described
Following the orientation of thing includes：
The ultrasonic wave that any 2 ultrasonic receivers at least four ultrasonic receiver are received, it is determined that described follow thing
With the distance of the object；
Be combined with any 2 ultrasonic receivers, the ultrasonic wave that the 3rd and the 4th ultrasonic receiver are received, really
The quadrant of vertical direction residing for the quadrant and the object of horizontal direction residing for the fixed object；
The quadrant of horizontal direction with reference to residing for the object, the quadrant of vertical direction, determine the object relative to institute
State the orientation for following thing.
5. method according to claim 4, it is characterised in that any 2 ultrasonic receivers surpass with described 3rd
The first plane where acoustic receiver or the 4th ultrasonic receiver, with it is described follow thing and where the object the
Two planes are overlapped or parallel.
6. method according to claim 4, it is characterised in that according to any 2 ultrasonic receivers, the 3rd and
The ultrasonic wave of other ultrasonic receivers outside 4th ultrasonic receiver, calculates the seat for obtaining the different objects
Mark, for the coordinate of object described in auxiliary corrective.
7. according to the method described in claim 1, it is characterised in that the basis follows multiple ultrasonic receivers point on thing
The ultrasonic wave for the transmitting of the ultrasonic wave theaomni-directional transmission device on object not received, calculating obtains the multiple ultrasonic wave and received
The distance of device and the object includes：
According to the hair of the ultrasonic wave theaomni-directional transmission device on object for following multiple ultrasonic receivers on thing to receive respectively
The ultrasonic wave sent, determines the transmission time of the ultrasonic wave；
The temperature and air pressure of current environment are detected, the ultrasonic propagation under the current environment is determined according to the temperature and air pressure
Speed；
With reference to the ultrasonic propagation velocity under the transmission time and the current environment, calculating obtains the multiple ultrasonic wave and connect
Receive the distance of device and the object.
8. according to the method described in claim 1, it is characterised in that keep the ultrasonic wave to connect by the way of radio signal
Receive the time synchronized of device and the ultrasonic wave theaomni-directional transmission device.
9. a kind of system of panoramic limit ultrasonic wave positioning distance measuring, it is characterised in that the system includes processing module, acquisition module
And control module, wherein：
The processing module was used for according to the surpassing on object for following multiple ultrasonic receivers on thing to receive respectively
The ultrasonic wave of sound wave theaomni-directional transmission device transmitting, calculates the distance for obtaining the multiple ultrasonic receiver and the object；
The processing module is used for the distance according to the multiple ultrasonic receiver and the object, it is determined that described follow thing
The distance between with the object；
The acquisition module is used to obtain the object relative to the orientation for following thing；
The control module be used for according to it is described follow the distance between thing and described object and the object relative to
The orientation for following thing, follows thing movement to follow the object described in control.
10. system according to claim 9, it is characterised in that the processing module include determining unit, detection unit with
And computing unit, wherein：
Shown determining unit was used for according to the surpassing on object for following multiple ultrasonic receivers on thing to receive respectively
The ultrasonic wave that sound wave theaomni-directional transmission device is sent, determines the transmission time of the ultrasonic wave；
The detection unit is used for the temperature and air pressure for detecting current environment；
The determining unit further determines the ultrasonic propagation velocity under the current environment according to the temperature and air pressure；
The computing unit is used for reference to the ultrasonic propagation velocity under the transmission time and the current environment, and calculating is obtained
The distance of the multiple ultrasonic receiver and the object.
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| CN108120977A (en) * | 2017-12-14 | 2018-06-05 | 广东五月花网络科技有限公司 | A kind of method and system of panoramic magnetic wave positioning distance measuring of rationing the power supply |
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