CN109269494A - Tracing system - Google Patents
Tracing system Download PDFInfo
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- CN109269494A CN109269494A CN201811202997.3A CN201811202997A CN109269494A CN 109269494 A CN109269494 A CN 109269494A CN 201811202997 A CN201811202997 A CN 201811202997A CN 109269494 A CN109269494 A CN 109269494A
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- Prior art keywords
- electronic device
- displacement
- itself
- wireless transmission
- positioning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The present invention proposes a kind of tracing system comprising has host, the first electronic device and second electronic device.First electronic device is set to the first predeterminated position, and second electronic device is set to the second predeterminated position.Wherein, during initialization, first electronic device and second electronic device are respectively communicated with each other with host respective initial position by wireless transmission method, and during initialization after, itself displacement relative to a plane of first electronic device and each self-inductance measurement of second electronic device, the displacement sensed is respectively transmitted to host by wireless transmission method, make host dynamic that the position of the first electronic device and second electronic device be presented.
Description
The application is the divisional application of following application: the applying date, on 2 28th, 2014；Application number,
201410071918.5；Invention and created name, Relatively orientation system and tracing system.
Technical field
The present invention relates to a kind of tracing systems, especially with regard to a kind of tracking system for being suitably applied multiple ground carriers
System.
Background technique
The application range of unmanned ground carrier is very extensive, can be used to replace personnel to execute various high-risk properties
Military mission (such as processing explosion object or execute reconnaissance mission etc.), can also be applied to general civil replace existing people
Power (e.g. unmanned grass trimmer or unmanned dust catcher etc.).
However, present unmanned ground carrier all only has single machine control, thus can not also control simultaneously at present it is multiple nobody
Ground carrier executes task.And to develop such technology, then how these unmanned ground carriers are positioned,
Just seem critically important.
Summary of the invention
The present invention provides a kind of tracing system for being suitably applied multiple ground carriers.
The present invention proposes a kind of tracing system comprising has host, the first electronic device and second electronic device.First electricity
Sub-device is set to the first predeterminated position, and second electronic device is set to the second predeterminated position.Wherein, during initialization,
First electronic device and second electronic device are respectively communicated with each other with host respective initial position by wireless transmission method, and
After during initialization, itself displacement relative to a plane of the first electronic device and each self-inductance measurement of second electronic device
The displacement sensed is respectively transmitted to host by wireless transmission method, makes host dynamic that the first electronics dress be presented by amount
Set the position with second electronic device.
The present invention proposes a kind of tracing system again comprising has main electronic device and secondary electronic device.Main electronic device is set
Be placed on a surface, and secondary electronic device is set on above-mentioned surface and with main electronic device at a distance of a distance.Wherein, initial
During change, main electronic device is communicated with each other with secondary electronic device by wireless transmission method, and during initialization after, main electronics
Device and secondary electronic device are suitable for itself displacement relative to above-mentioned plane of each self-inductance measurement, and secondary electronic device and main electronics
Device can keep above-mentioned distance.
Relatively orientation system of the invention mainly by all positioning devices in positioning system first carry out each other it
Between relative position sensing, the displacement of each positioning device is then shared with positioning system by wireless transmission method again
Other interior positioning devices, so that each positioning device in positioning system can all take according to the displacement of all positioning devices
Obtain the relative position between all positioning devices.In addition, tracing system of the invention is also by the electricity in detecting system
The displacement of sub-device itself, and the displacement detected is sent to other electronics in system dress by wireless transmission method
It sets or host, reaches the tracking effect of the position of electronic device whereby.
Detailed description of the invention
Fig. 1 is the operating instruction figure of the Relatively orientation system of one embodiment of the invention.
Fig. 2 is the side view block schematic diagram of the positioning device of one embodiment of the invention.
Fig. 3 is that the vertical view of the configuration mode of the distance measuring unit and processing unit in the positioning device of one embodiment of the invention is shown
It is intended to.
Fig. 4 is the schematic diagram of the tracing system of one embodiment of the invention.
Fig. 5 is the schematic diagram of the tracing system of another embodiment of the present invention.
Specific embodiment
Fig. 1 is the operating instruction figure of the Relatively orientation system of one embodiment of the invention.Fig. 1 is please referred to, this is with respect to position
Setting positioning system includes positioning device 102 and 104.During initialization, between positioning device 102 and 104 senses
Relative position.By taking Fig. 1 as an example, it is assumed that during initialization, positioning device 102 is located at position (0,0), and positioning device 104
In position (1,0), then positioning device 102 can learn that positioning device 104 is located at its right in such initialization operation
The position of one unit distance, and positioning device 104 is also it can be seen that positioning device 102 is located at the position of its one unit distance in left
It sets.
Then, during operation, positioning device 102 and 104 all senses itself displacement relative to a plane.To scheme
For 1, during operation, positioning device 102 is to be moved to position (1,2) from position (0,0), therefore positioning device 102 is known
Its displacement is a unit distance, northwards two unit distances to the right；Similarly, during operation, positioning device 104 be from
Position (1,0) is moved to position (2,1), therefore its displacement known to positioning device 104 is a unit distance, northwards one to the right
A unit distance.And after positioning device 102 and 104 all obtains itself displacement relative to above-mentioned plane, it can incite somebody to action
The displacement sensed is transmitted to other side by wireless transmission method, and new opposite position is calculated according to mutual displacement
It sets.Therefore, it is positioned at the unit distance of its right one, south one that positioning device 102, which can learn positioning device 104 after movement,
The position of a unit distance；Similarly, positioning device 104 is also it can be seen that positioning device 102 is to be located at its left one after movement
The position of a unit distance, a northern unit distance.
Certainly, since during operation, positioning device 102 and 104 may all continue to move, therefore during operation, fixed
Position device 102 and 104, which can be in a manner of timing, is transmitted to other side for the displacement sensed by wireless transmission method, or
It is that the displacement sensed is transmitted to other side by wireless transmission method in a manner of not timing, wherein again in a manner of timing
Preferably.
In an embodiment of the present invention, the positioning device 102 and 104 in Fig. 1 is all realized using mode shown in Fig. 2,
But the present invention is not limited thereto.It referring to figure 2., is the side view according to the positioning device of one embodiment of the invention shown in
Block schematic diagram.And as shown in Fig. 2, positioning device include wireless transmission unit 202, processing unit 204, distance measuring unit (by
This four sensing parts 206-1~206-4 are formed, and wherein sensing part 206-4 is not illustrated in Fig. 2) and light sensing unit
208.Direction and distance of the processing unit 204 to sense another positioning device by distance measuring unit during initialization, to take
Relative position between two positioning devices (i.e. between positioning device 102 and 104).Fig. 3 is according to this hair
The schematic top plan view of the configuration mode of distance measuring unit and processing unit in the positioning device of a bright embodiment.As shown in figure 3, surveying
Four sensing part 206-1~206-4 away from unit are to carry out respectively towards the west of positioning device, south, east and the north
Range operation, and it is all electrically coupled to processing unit 204, the transmission of signal is carried out with processing unit 204.Certainly, such
Configuration mode is only to for example, being not intended to limit the invention.
Referring again to Fig. 2, processing unit 204 also to pass through 208 sense plane 250 of light sensing unit during operation
Image to calculate displacement of the positioning device relative to plane 250 itself according to the image obtained, and passes through wireless transmission
Unit 202 sends another positioning device to.In addition, processing unit 204 is also to according to two mutual displacements of positioning device
(i.e. the mutual displacement of positioning device 102 and 104) calculates new relative position.
In another embodiment, Relatively orientation system is further included there are three above positioning device.With relative position
Positioning system includes there are three for positioning device, and the mode of operation of this Relatively orientation system may is that in the initialization phase
Between, these three positioning devices all sense between relative position；And during operation, these three positioning devices all sense it
The displacement sensed is transmitted to remaining other two by wireless transmission method by displacement relative to a plane itself
Positioning device, and new relative position is calculated according to three mutual displacements of positioning device.
It certainly, include positioning device in the implementation pattern there are three above positioning device in Relatively orientation system
The sharing mode of displacement each other can also have different variations.It include again that there are three positioning with Relatively orientation system
For device, the mode of operation of this Relatively orientation system be may is that during initialization, first by two of them positioning device
Come mutually sense between relative position, then again by one of above-mentioned two positioning device by itself with it is upper
State two positioning devices it is wherein another between relative position by wireless transmission method send to third positioning
Device, so as to third positioning device obtain accordingly itself and above-mentioned two positioning device it is wherein another between
Relative position；And during operation, these three positioning devices all sense itself displacement relative to a plane, will sense
To displacement remaining other two positioning device is transmitted to by wireless transmission method, and each other according to these three positioning devices
Displacement calculate new relative position.
Another displacement sharing mode between positioning device is enumerated again below, equally with Relatively orientation
For system includes the implementation pattern there are three positioning device, the mode of operation of this Relatively orientation system be may is that first
During beginningization, these three positioning devices all sense between relative position；And during operation, these three positioning devices are all
Itself displacement relative to a plane is sensed, and two of them positioning device is all by the displacement sensed by wirelessly passing
Defeated mode is transmitted to third positioning device, so that the displacement of all positioning devices is passed through wireless transmission by third positioning device
Mode is transmitted to remaining other two positioning device, so that each positioning device all can be according to the mutual position of these three positioning devices
Shifting amount calculates new relative position.
In above-mentioned two positioning devices for being transmitted to third positioning device to the displacement that will first sense, each
Positioning device all includes distance measuring unit, light sensing unit, wireless transmission unit and processing unit, and implementation can be with Fig. 2
Shown in positioning device it is identical, however processing unit running but with aforementioned reason unit running it is somewhat different, following institute
It states: in this instance, direction of the processing unit to sense remaining two positioning device by distance measuring unit during initialization
With distance, to obtain the relative position between all positioning devices, and to pass through light sensing unit sense during operation
The image of a plane is surveyed, to calculate displacement of the affiliated positioning device relative to this plane itself according to the image obtained,
And third positioning device is sent to by wireless transmission unit.In addition, processing unit also to according to these three positioning devices that
This displacement calculates new relative position.
In addition, above-mentioned third positioning device also includes distance measuring unit, light sensing unit, wireless transmission unit and processing
Unit, implementation can be identical as positioning device shown in Fig. 2, however the running of processing unit also manages unit with aforementioned
Running it is somewhat different, as described below: in this instance, processing unit is to sense remaining by distance measuring unit during initialization
Two positioning devices direction and distance, to obtain the relative position between all positioning devices, and to operate
Period senses the image of above-mentioned plane by light sensing unit, to calculate third positioning device phase itself according to the image obtained
The displacement that other two positioning device is transmitted is received for the displacement of above-mentioned plane, and by wireless transmission unit, into
And the displacement of all positioning device is transmitted to other two positioning device by wireless transmission method.In addition, processing unit
Also to calculate new relative position according to the mutual displacement of these three positioning devices.
Certainly, since during operation, three above-mentioned positioning devices may all continue to move, therefore during operation,
Each of three above-mentioned positioning device can be by the displacement sensed in a manner of timing by wirelessly passing
Defeated mode is transmitted to both remaining, or is transmitted to the displacement sensed by wireless transmission method all in a manner of not timing
Both remaining, wherein again preferable in a manner of timing.The sharing mode of this displacement is also only to illustrate, not to limit
The system present invention.
In addition, in actual design, above-mentioned each distance measuring unit can be realized using an optical ranging unit, and
Above-mentioned each wireless transmission unit can be realized using a radio frequency units, so this nor to limit the present invention.
And via the teaching of the various embodiments described above, there are four positioning when the present invention can be extended to tool by tool usually intellectual in this field
Relatively orientation system more than device, just repeats no more herein.
By above-mentioned each implementation pattern, tool usually intellectual is when can be according to the substantially smart of the various embodiments described above in this field
Mind expands out some tracing systems applied to multiple ground carriers.For example, one kind can be expanded out not need using upper
The tracing system for the distance measuring unit stated.Fig. 4 is the schematic diagram of such tracing system.Referring to figure 4., this tracing system includes
Host 402, electronic device 404 and electronic device 406.Wherein, host 402 includes screen (not shown), needed for display
Picture.And electronic device 404 can be realized with electronic device 406 using positioning device shown in Fig. 2, and optionally will
All or part of distance measuring unit removals in used positioning device.Electronic device 404 is set to the first predeterminated position (figure
In do not indicate), and electronic device 406 is set to the second predeterminated position (also not indicating in figure).During initialization, electronic device
404 are respectively communicated with each other with host 402 respective initial position with electronic device 406 by wireless transmission method.And initial
After during change, itself displacement relative to a plane (not being painted) of electronic device 404 and each self-inductance measurement of electronic device 406
The displacement sensed is respectively transmitted to host 402 by wireless transmission method, makes host 402 that electronics dynamically be presented by amount
The position of device 404 and electronic device 406.
In addition, can also expand out another tracing system, illustrated with Fig. 5, Fig. 5 is another tracing system
Schematic diagram.Referring to figure 5., this tracing system includes main electronic device 502 and secondary electronic device 504.Main electronic device 502
It can be realized using positioning device shown in Fig. 2 with secondary electronic device 504, and optionally by used positioning device
In all or part of distance measuring unit removals.Main electronic device 502 is set on a surface (not being painted), and secondary electronic device
504 are also disposed on above-mentioned surface, and with main electronic device 504 at a distance of a distance.During initialization, main electronic device 502
It is communicated with each other with secondary electronic device 504 by wireless transmission method.And during initialization after, main electronic device 502 and pair electricity
Sub-device 504 is suitable for itself displacement relative to above-mentioned plane of each self-inductance measurement, and secondary electronic device 504 and main electronic device
502 can keep above-mentioned distance.
To keep above-mentioned distance, main electronic device 502 and pair electronic device 504 each self-inductance measurement itself relative to above-mentioned
After the displacement of plane, the displacement of itself is more passed through wireless transmission method with secondary electronic device 504 by main electronic device 502
Send other side to, and secondary electronic device 504 more follows master according to the displacement of the displacement of itself and main electronic device 502
Electronic device 502 and move, and keep above-mentioned distance accordingly.
It is exactly main electronic device 502 and secondary electronic device 504 in each self-induction there are also another practice to keep above-mentioned distance
After surveying itself displacement relative to above-mentioned plane, the displacement of itself is more passed through wireless transmission by main electronic device 502
Mode sends secondary electronic device 504 to, and secondary electronic device 504 is more according to the displacement of itself and main electronic device 502
Displacement moves to follow main electronic device 502, and keeps above-mentioned distance accordingly.
In conclusion Relatively orientation system of the invention is mainly that all positioning devices in positioning system are advanced
Then the displacement of each positioning device is shared with by the sensing of the relative position between row by wireless transmission method again
Other positioning devices in positioning system, so that each positioning device in positioning system all can be according to the position of all positioning devices
Shifting amount obtains the relative position between all positioning devices.In addition, tracing system of the invention is also to be by detecting
The displacement of electronic device in system itself, and the displacement detected is sent to by wireless transmission method to its in system
His electronic device or host, reach the tracking effect of the position of electronic device whereby.
Claims (4)
1. a kind of tracing system, comprising:
One host；
One first electronic device is set to one first predeterminated position；And
One second electronic device is set to one second predeterminated position,
It is characterized in that, first electronic device and the second electronic device pass through wireless transmission method during an initialization
Respectively communicate with each other with the host respective initial position, and during the initialization after, first electronic device and this
Itself displacement relative to a plane of each self-inductance measurement of two electronic devices, passes through wireless transmission for the displacement sensed
Mode is respectively transmitted to the host, makes host dynamic that the position of first electronic device and the second electronic device be presented.
2. a kind of tracing system, comprising:
One main electronic device, is set on a surface；And
One secondary electronic device is set on the surface and with the main electronic device at a distance of a distance,
It is characterized in that, the main electronic device is mutual by wireless transmission method with the pair electronic device during an initialization
Link up, and during the initialization after, the main electronic device and the pair electronic device suitable for each self-inductance measurement itself relative to one
The displacement of plane, and the pair electronic device and the main electronic device can keep the distance.
3. tracing system as claimed in claim 2, which is characterized in that the main electronic device and the pair electronic device are in each self-induction
After itself is surveyed relative to the displacement of the plane, which more leads to the displacement of itself with the pair electronic device
It crosses wireless transmission method and sends other side to, and the position of the pair electronic device more according to the displacement of itself and the main electronic device
Shifting amount moves to follow the main electronic device, and keeps the distance accordingly.
4. tracing system as claimed in claim 2, which is characterized in that the main electronic device and the pair electronic device are in each self-induction
After itself is surveyed relative to the displacement of the plane, which more passes through wireless transmission method for the displacement of itself
Send the pair electronic device to, and the pair electronic device more comes according to the displacement of the displacement of itself and the main electronic device
It follows the main electronic device and moves, and keep the distance accordingly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811202997.3A CN109269494B (en) | 2014-02-28 | 2014-02-28 | Tracking system |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410071918.5A CN104880184B (en) | 2014-02-28 | 2014-02-28 | Relatively orientation system and tracing system |
| CN201811202997.3A CN109269494B (en) | 2014-02-28 | 2014-02-28 | Tracking system |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410071918.5A Division CN104880184B (en) | 2014-02-28 | 2014-02-28 | Relatively orientation system and tracing system |
Publications (2)
| Publication Number | Publication Date |
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| CN109269494A true CN109269494A (en) | 2019-01-25 |
| CN109269494B CN109269494B (en) | 2022-08-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811202997.3A Active CN109269494B (en) | 2014-02-28 | 2014-02-28 | Tracking system |
| CN201410071918.5A Active CN104880184B (en) | 2014-02-28 | 2014-02-28 | Relatively orientation system and tracing system |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410071918.5A Active CN104880184B (en) | 2014-02-28 | 2014-02-28 | Relatively orientation system and tracing system |
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| US9696431B2 (en) * | 2010-04-12 | 2017-07-04 | Nokia Technologies Oy | Selection of a relative positioning method |
| GB201107849D0 (en) * | 2011-05-11 | 2011-06-22 | Cambridge Silicon Radio Ltd | Cooperative positioning |
| US9235212B2 (en) * | 2012-05-01 | 2016-01-12 | 5D Robotics, Inc. | Conflict resolution based on object behavioral determination and collaborative relative positioning |
| CN102981175B (en) * | 2012-12-24 | 2014-04-30 | 北京理工大学 | Method of master-slave object cooperation positioning for cluster space robots |
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| CN1185206A (en) * | 1995-05-26 | 1998-06-17 | 株式会社小松制作所 | Device for detecting moving body deviating from course |
| US20080208444A1 (en) * | 2007-02-23 | 2008-08-28 | Bellsouth Intellectual Property Corporation | Methods for obtaining a navigation track between a first and a second location based on location information shared between peer devices and related devices and computer program products |
| CN101487710A (en) * | 2008-01-18 | 2009-07-22 | 财团法人工业技术研究院 | Combined sensing apparatus and method thereof |
| CN103542847A (en) * | 2012-07-16 | 2014-01-29 | 苏州科瓴精密机械科技有限公司 | Locating system and method of mobile robot |
| CN103197684A (en) * | 2013-04-25 | 2013-07-10 | 清华大学 | Method and system for cooperatively tracking target by unmanned aerial vehicle cluster |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104880184B (en) | 2018-11-16 |
| CN109269494B (en) | 2022-08-02 |
| CN104880184A (en) | 2015-09-02 |
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