CN109540152A - Ultrasonic probe, ultrasonic receiver, ultrasonic transmission device and indoor ultrasonic locating system - Google Patents
Ultrasonic probe, ultrasonic receiver, ultrasonic transmission device and indoor ultrasonic locating system Download PDFInfo
- Publication number
- CN109540152A CN109540152A CN201910049689.XA CN201910049689A CN109540152A CN 109540152 A CN109540152 A CN 109540152A CN 201910049689 A CN201910049689 A CN 201910049689A CN 109540152 A CN109540152 A CN 109540152A
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- Prior art keywords
- ultrasonic
- transmission device
- probe
- ultrasonic wave
- indoor
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Classifications
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- 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
- G01S15/46—Indirect determination of position data
-
- 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
- G01S15/88—Sonar systems specially adapted for specific applications
Abstract
The present invention is suitable for indoor positioning technologies field, provide a kind of ultrasonic probe, ultrasonic receiver, ultrasonic transmission device and indoor ultrasonic locating system, wherein, above-mentioned ultrasonic probe, ultrasonic receiver includes: the first rotatable parts, at least two ultrasonic wave receiving transducers and timer, first communication module and the first controller；First controller is used to calculate the position of ultrasonic transmission device according to the clocking information of at least two timers, and according to the rotation of the first rotatable parts of position control.Ultrasonic probe, ultrasonic receiver, ultrasonic transmission device and indoor ultrasonic locating system provided in an embodiment of the present invention, by the way that the first rotatable parts are arranged, enable ultrasonic probe, ultrasonic receiver according to the position of its corresponding ultrasonic transmission device, the rotational angle of the first rotatable parts of adjustment in real time, to enable the corresponding ultrasonic transmission device of the ultrasonic wave receiving transducer being arranged on the first rotatable parts to keep just facing towards avoiding the occurrence of and receive dead zone and multipath effect.
Description
Technical field
The invention belongs to indoor positioning technologies field more particularly to a kind of ultrasonic probe, ultrasonic receivers, ultrasonic transmission device
And indoor ultrasonic locating system.
Background technique
With the development of science and technology, satellite positioning tech obtain it is continuous perfect.Since satellite-signal is difficult to across building,
So that satellite positioning is difficult to play a role in closed interior, indoor positioning technologies become the hot spot studied in recent years.It is indoor
Positioning carries out environment sensing by certain sensors i.e. under the two-dimensional environment that moving object works and obtains environmental information, is passing through
The coordinate and pose of the object itself are determined after information processing.Ultrasonic wave positioning is strong by reflectivity, penetration capacity is strong, energy is easy
It concentrates, the advantages that positioning accuracy and stability are higher, indoors using than wide in positioning.Ultrasonic wave positioning is exactly by super
Acoustic receiver device receives the time of ultrasonic wave, in conjunction with the spread speed of ultrasonic wave, calculates the position of target point.In logistics
In center, warehouse and factory, there is many mobile robots and carrier that hard work is done instead of people, by super
Acoustic positioning technology can control state and the position of these mobile objects；In medical field, ultrasonic wave positioning is applied to
The real time monitoring of the real-time searching of drug and Medical Devices, baby antitheft and staff.Some hospitals have introduced ultrasonic wave
Navigation system for blinds is positioned by ultrasonic wave, the size in specific orientation and barrier is converted into sound, blind person is enable to exist
Autonomous movement in hospital.Although ultrasonic wave location technology is quickly grown, dead zone and more is received since ultrasonic wave positions to exist
Diameter effect, so that the precision of localization by ultrasonic needs to be further increased.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of ultrasonic probe, ultrasonic receiver, ultrasonic transmission device and ultrasonic waves
Indoor locating system receives dead zone and multipath effect to solve the problems, such as that ultrasonic wave positioning is existing in the prior art.
According in a first aspect, the embodiment of the invention provides a kind of ultrasonic probe, ultrasonic receivers, comprising: the first rotatable parts,
At least two ultrasonic wave receiving transducers, at least two timers, first communication module and the first controller；Described at least two
Ultrasonic wave receiving transducer is arranged on first rotatable parts；Each ultrasonic wave receiving transducer and the corresponding timing
Device electrical connection, and control the corresponding timer after the ultrasonic wave receiving transducer receives ultrasonic signal and stop meter
When；First controller is used to issue ultrasonic wave firing order by the first communication module and starts described at least two
Timer, and according to the position of the clocking information of at least two timer calculating ultrasonic transmission device, and according to institute
State the rotation of the first rotatable parts described in the position control of ultrasonic transmission device.
Ultrasonic probe, ultrasonic receiver provided in an embodiment of the present invention, by the way that the first rotatable parts are arranged, so that ultrasonic wave receives
Device can adjust in real time the rotational angle of the first rotatable parts according to the position of its corresponding ultrasonic transmission device, thus
Enable the ultrasonic wave receiving transducer being arranged on the first rotatable parts always towards corresponding ultrasonic transmission device, keeps away
Exempt to occur receiving dead zone and multipath effect.
With reference to first aspect, in first aspect first embodiment, first rotatable parts include the first steering engine with
And the second steering engine with first steering engine pivot joint；It is provided at least two ultrasonic wave on second steering engine and receives spy
Head.
Ultrasonic probe, ultrasonic receiver provided in an embodiment of the present invention, the first rotation being made up of the first steering engine and the second steering engine
Component realizes the rotation of ultrasonic wave receiving transducer in ultrasonic probe, ultrasonic receiver.Since the first rotatable parts include two steering engines, from
And the angle adjustment for being able to carry out ultrasonic wave receiving transducer in both direction, and then enable ultrasonic wave receiving transducer court always
To corresponding ultrasonic transmission device, avoids the occurrence of and receive dead zone and multipath effect.
According to second aspect, the embodiment of the invention provides a kind of ultrasonic transmission devices, comprising: the second rotatable parts,
Ultrasonic wave transmitting probe, second communication module and second controller；The ultrasonic wave transmitting probe is arranged at described second turn
On dynamic component；The second controller is used to receive ultrasonic wave firing order by the second communication module, and according to described
Ultrasonic wave firing order controls the ultrasonic wave transmitting probe and emits ultrasonic signal, and receives the ultrasonic transmission device
Position, and the rotation of the second rotatable parts according to the position control of the ultrasonic transmission device.
Ultrasonic transmission device provided in an embodiment of the present invention, by the way that the second rotatable parts are arranged, so that ultrasonic wave emits
Device can adjust in real time the rotational angle of the second rotatable parts according to its position, to make to be arranged on the second rotatable parts
Ultrasonic wave transmitting probe can avoid the occurrence of always towards corresponding ultrasonic probe, ultrasonic receiver and receive dead zone and multipath effect
It answers.
In conjunction with second aspect, in second aspect first embodiment, second rotatable parts include third steering engine with
And the 4th steering engine with third steering engine pivot joint；The ultrasonic wave transmitting probe is provided on 4th steering engine.
Ultrasonic transmission device provided in an embodiment of the present invention, the second rotation being made up of third steering engine and the 4th steering engine
Component realizes the rotation of ultrasonic wave transmitting probe in ultrasonic transmission device.Since the second rotatable parts include two steering engines, from
And the angle adjustment for being able to carry out ultrasonic wave transmitting probe in both direction, and then enable ultrasonic wave transmitting probe court always
To corresponding ultrasonic probe, ultrasonic receiver, avoids the occurrence of and receive dead zone and multipath effect.
According to the third aspect, the embodiment of the invention provides a kind of indoor ultrasonic locating systems, including such as first aspect
Or ultrasonic probe, ultrasonic receiver described in first aspect first embodiment.
In conjunction with the third aspect, in third aspect first embodiment, the indoor ultrasonic locating system further includes surpassing
Acoustic emission apparatus, the ultrasonic transmission device include the ultrasonic wave transmitting probe being arranged on mobile object, the second communication
Module and second controller；The second controller, which is used to receive the ultrasonic wave by the second communication module, receives dress
The ultrasonic wave firing order of sending is set, and the ultrasonic wave transmitting probe is controlled according to the ultrasonic wave firing order and emits ultrasound
Wave signal.
According to fourth aspect, the embodiment of the invention provides another indoor ultrasonic locating systems, including such as second party
Ultrasonic transmission device described in face or second aspect first embodiment.
In conjunction with fourth aspect, in fourth aspect first embodiment, the indoor ultrasonic locating system further includes surpassing
Acoustic receiver device, the ultrasonic probe, ultrasonic receiver include at least two ultrasonic wave receiving transducers being arranged on roof, at least
Two timers, first communication module and the first controller；Each ultrasonic wave receiving transducer and the corresponding timing
Device electrical connection, and control the corresponding timer after the ultrasonic wave receiving transducer receives ultrasonic signal and stop meter
When；First controller is used to issue ultrasonic wave firing order by the first communication module and starts described at least two
Timer, and calculate according to the clocking information of at least two timer position of the ultrasonic transmission device.
According to the 5th aspect, the embodiment of the invention provides the third indoor ultrasonic locating systems, including first aspect
Or ultrasonic probe, ultrasonic receiver described in first aspect first embodiment and such as the first embodiment party of second aspect or second aspect
Ultrasonic transmission device described in formula.
In conjunction with the 5th aspect, in the 5th aspect first embodiment, the ultrasonic probe, ultrasonic receiver is arranged on roof,
The ultrasonic transmission device is arranged on mobile object.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the structural schematic diagram of a specific example of ultrasonic probe, ultrasonic receiver provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of a specific example of indoor ultrasonic locating system provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of a specific example of ultrasonic transmission device provided in an embodiment of the present invention；
Fig. 4 is the structural representation of another specific example of indoor ultrasonic locating system provided in an embodiment of the present invention
Figure；
Fig. 5 is the structural representation of the third specific example of indoor ultrasonic locating system provided in an embodiment of the present invention
Figure.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
The embodiment of the invention provides a kind of ultrasonic probe, ultrasonic receivers, as shown in Figure 1, the ultrasonic probe, ultrasonic receiver can wrap
It includes: the first rotatable parts 100, ultrasonic wave receiving transducer 201~204, timer, first communication module 300 and the first control
Device 400.Ultrasonic wave receiving transducer 201~204 is arranged on the first rotatable parts 100.
In ultrasonic probe, ultrasonic receiver shown in Fig. 1, one has been respectively configured for each ultrasonic wave receiving transducer 201~204
A timer, each ultrasonic wave receiving transducer 201~204 are electrically connected with corresponding timer respectively.Each ultrasonic wave, which receives, to be visited
After first 201~204 receive ultrasonic signal, controls corresponding timer and stop timing.
First controller 400 is used to issue ultrasonic wave firing order by first communication module 300 and starts timer.?
After each ultrasonic wave receiving transducer 201~204 receives ultrasonic signal, ultrasonic wave receiving transducer 201~204 can control correspondence
Timer stop timing, and its clocking information can be sent to the first controller 400 by timer.First controller 400
The position of corresponding ultrasonic transmission device is calculated according to the clocking information of timer, and is controlled according to the position of ultrasonic transmission device
Make the rotation of the first rotatable parts 100.
In a specific embodiment, the first rotatable parts 100 may include the first steering engine 101 and with the first steering engine
Second steering engine 102 of 101 pivot joints.Ultrasonic wave receiving transducer 201~204 is provided on second steering engine 102.In a specific embodiment party
In formula, one plate can be set in the lower end surface of the second steering engine 102, ultrasonic wave receiving transducer 201~204 is separately positioned on flat
The quadrangle of plate.Due to being provided with two steering engines 101 and 102 in the first rotatable parts 100, so that ultrasonic wave receiving transducer 201
~204 are able to carry out the angle adjustment in both direction.
It should be noted that the quantity of ultrasonic wave receiving transducer needs to be set as two or two in ultrasonic probe, ultrasonic receiver
More than, the embodiment of the present invention is to its particular number and with no restriction.In Fig. 1, with setting, there are four ultrasonic wave receiving transducers 201
It is schematically illustrated for~204 ultrasonic probe, ultrasonic receiver.
Ultrasonic probe, ultrasonic receiver provided in an embodiment of the present invention, by the way that the first rotatable parts are arranged, so that ultrasonic wave receives
Device can adjust in real time the rotational angle of the first rotatable parts according to the position of its corresponding ultrasonic transmission device, thus
Enable the ultrasonic wave receiving transducer being arranged on the first rotatable parts always towards corresponding ultrasonic transmission device, keeps away
Exempt to occur receiving dead zone and multipath effect.
Using ultrasonic probe, ultrasonic receiver shown in FIG. 1, the embodiment of the invention also provides a kind of ultrasonic wave indoor positioning systems
System, as shown in Fig. 2, the indoor ultrasonic locating system includes ultrasonic probe, ultrasonic receiver as shown in Figure 1.Optionally, such as Fig. 2 institute
Show, indoor ultrasonic locating system can also include the ultrasonic transmission device being used cooperatively with ultrasonic probe, ultrasonic receiver.One
In specific embodiment, ultrasonic transmission device may include the ultrasonic wave transmitting probe 500, second being arranged on mobile object
Communication module 600 and second controller 700.
Second controller 700 is used to receive the ultrasonic wave hair that ultrasonic probe, ultrasonic receiver issues by second communication module 600
Instruction is penetrated, and ultrasonic wave transmitting probe 500 is controlled according to ultrasonic wave firing order and emits ultrasonic signal.
The embodiment of the invention also provides a kind of ultrasonic transmission devices, as shown in figure 3, the ultrasonic transmission device can be with
It include: the second rotatable parts 800, ultrasonic wave transmitting probe 500, second communication module 600 and second controller 700.Ultrasound
Wave transmitting probe 500 is arranged on the second rotatable parts 800.
Second controller 700 is used to receive ultrasonic wave firing order by second communication module 600, and is sent out according to ultrasonic wave
It penetrates instruction control ultrasonic wave transmitting probe 500 and emits ultrasonic signal.It is used cooperatively with ultrasonic transmission device shown in Fig. 3
Ultrasonic probe, ultrasonic receiver can calculate the position of ultrasonic transmission device after receiving ultrasonic signal according to ultrasonic signal
It sets, and location information is fed back into ultrasonic transmission device shown in Fig. 3.The second control in ultrasonic transmission device shown in Fig. 3
Device 700 processed can receive location information by second communication module 600, control the second rotatable parts 800 according to location information
Rotation.
In a specific embodiment, the second rotatable parts 800 may include third steering engine 801 and with third steering engine
4th steering engine 802 of 801 pivot joints.Ultrasonic wave transmitting probe 500 is provided on 4th steering engine 802.Due in the second rotatable parts
Two steering engines 801 and 802 are provided in 800, so that ultrasonic wave transmitting probe 500 is able to carry out the angle tune in both direction
It is whole.
Optionally, in a specific embodiment, as shown in figure 3, posture can also be added in ultrasonic transmission device
Detection module 910 and display screen 920, attitude detection module 910 and display screen 920 are electrically connected with second controller 700.Posture
Detection module 910 is used for the posture information of real-time detection ultrasonic transmission device, and posture information is sent to second controller
700, to make second controller 700 according to location information and combine posture information, rotation control is carried out to the second rotatable parts 800
System.
Ultrasonic transmission device provided in an embodiment of the present invention, by the way that the second rotatable parts are arranged, so that ultrasonic wave emits
Device can adjust in real time the rotational angle of the second rotatable parts according to its position, to make to be arranged on the second rotatable parts
Ultrasonic wave transmitting probe can avoid the occurrence of always towards corresponding ultrasonic probe, ultrasonic receiver and receive dead zone and multipath effect
It answers.
Using ultrasonic transmission device shown in Fig. 3, the embodiment of the invention also provides another ultrasonic wave indoor positionings
System, as shown in figure 4, the indoor ultrasonic locating system includes ultrasonic transmission device as shown in Figure 3.Optionally, such as Fig. 4
Shown, indoor ultrasonic locating system can also include the ultrasonic probe, ultrasonic receiver being used cooperatively with ultrasonic transmission device.?
In one specific embodiment, ultrasonic probe, ultrasonic receiver may include
Be arranged in two ultrasonic wave receiving transducers, 201~202, two timers on roof, first communication module 300 with
And first controller 400.In a specific embodiment, one has been respectively configured for each ultrasonic wave receiving transducer 201~202
Timer, each ultrasonic wave receiving transducer 201~202 are electrically connected with corresponding timer respectively, each ultrasonic wave receiving transducer
After 201~202 receive ultrasonic signal, controls corresponding timer and stop timing.
First controller 400 is used to issue ultrasound to ultrasonic transmission device shown in Fig. 3 by first communication module 300
Wave firing order simultaneously starts two timers.Ultrasonic wave shown in Fig. 3 is received in each ultrasonic wave receiving transducer 201~202
After the ultrasonic signal that emitter issues, ultrasonic wave receiving transducer 201~202 can control corresponding timer and stop timing,
And its clocking information can be sent to the first controller 400 by timer.First controller 400 is according to the clocking information of timer
The position of corresponding ultrasonic transmission device is calculated, and location information is fed back into ultrasonic transmission device shown in Fig. 3.Fig. 3
Shown in ultrasonic transmission device after receiving location information, can according to location information control the second rotatable parts 800 turn
It is dynamic, to enable the ultrasonic wave transmitting probe 500 being arranged on the second rotatable parts 800 always towards corresponding ultrasound
Wave receiving device avoids the occurrence of and receives dead zone and multipath effect.
It should be noted that the quantity of ultrasonic wave receiving transducer needs to be set as two or two in ultrasonic probe, ultrasonic receiver
More than, the embodiment of the present invention is to its particular number and with no restriction.In Fig. 4, with setting, there are two ultrasonic wave receiving transducers 201
It is schematically illustrated for~202 ultrasonic probe, ultrasonic receiver.
The embodiment of the invention also provides the third indoor ultrasonic locating systems, as shown in figure 5, the sonication chamber is default
Position system includes ultrasonic probe, ultrasonic receiver as shown in Figure 1 and ultrasonic transmission device as shown in Figure 3.In a specific embodiment party
In formula, ultrasonic probe, ultrasonic receiver can be arranged on roof, ultrasonic transmission device is arranged on mobile object.
In ultrasonic probe, ultrasonic receiver, a timer has been respectively configured for each ultrasonic wave receiving transducer 201~204,
Each ultrasonic wave receiving transducer 201~204 is electrically connected with corresponding timer respectively.Each ultrasonic wave receiving transducer 201~204
After receiving ultrasonic signal, controls corresponding timer and stop timing.
First controller 400, which is used to issue ultrasonic wave transmitting to ultrasonic transmission device by first communication module 300, to be referred to
It enables and starts timer.After each ultrasonic wave receiving transducer 201~204 receives ultrasonic signal, ultrasonic wave receiving transducer
201~204, which can control corresponding timer, stops timing, and its clocking information can be sent to the first controller by timer
400.First controller 400 calculates the position of corresponding ultrasonic transmission device according to the clocking information of timer, and according to super
The rotation of the first rotatable parts of position control 100 of acoustic emission apparatus.Meanwhile first controller 400 also using first communication
Module 300 is to ultrasonic transmission device feedback position information, to make 700 basis of second controller in ultrasonic transmission device
Location information controls the rotation of the second rotatable parts 800.By the rotation of the first rotatable parts 100 and the second rotatable parts 800,
The ultrasonic wave receiving transducer 201~204 being arranged on the first rotatable parts 100 can be made to rotate always towards with setting second
Ultrasonic wave transmitting probe 500 on component 800 avoids the occurrence of and receives dead zone and multipath effect.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of ultrasonic probe, ultrasonic receiver characterized by comprising the first rotatable parts, at least two ultrasonic wave receiving transducers,
At least two timers, first communication module and the first controller；At least two ultrasonic waves receiving transducer is arranged in institute
It states on the first rotatable parts；
Each ultrasonic wave receiving transducer is electrically connected with the corresponding timer, and is received in the ultrasonic wave receiving transducer
The corresponding timer is controlled after to ultrasonic signal stops timing；
First controller is used to issue ultrasonic wave firing order by the first communication module and starts described at least two
A timer, and according to the position of the clocking information of at least two timer calculating ultrasonic transmission device, and according to
The rotation of first rotatable parts described in the position control of the ultrasonic transmission device.
2. ultrasonic probe, ultrasonic receiver as described in claim 1, which is characterized in that first rotatable parts include the first steering engine
And the second steering engine with first steering engine pivot joint；
At least two ultrasonic waves receiving transducer is provided on second steering engine.
3. a kind of ultrasonic transmission device characterized by comprising the second rotatable parts, ultrasonic wave transmitting probe, the second communication
Module and second controller；The ultrasonic wave transmitting probe is arranged on second rotatable parts；
The second controller is used to receive ultrasonic wave firing order by the second communication module, and according to the ultrasonic wave
Firing order controls the ultrasonic wave transmitting probe and emits ultrasonic signal, and receives the position of the ultrasonic transmission device
It sets, and the rotation of the second rotatable parts according to the position control of the ultrasonic transmission device.
4. ultrasonic transmission device as claimed in claim 3, which is characterized in that second rotatable parts include third steering engine
And the 4th steering engine with third steering engine pivot joint；
The ultrasonic wave transmitting probe is provided on 4th steering engine.
5. a kind of indoor ultrasonic locating system, which is characterized in that the indoor ultrasonic locating system includes such as claim 1
Or ultrasonic probe, ultrasonic receiver described in 2.
6. indoor ultrasonic locating system as claimed in claim 5, which is characterized in that the indoor ultrasonic locating system is also
Including ultrasonic transmission device, the ultrasonic transmission device includes the ultrasonic wave transmitting probe being arranged on mobile object,
Two communication modules and second controller；
The second controller is used to receive the ultrasonic wave that the ultrasonic probe, ultrasonic receiver issues by the second communication module
Firing order, and the ultrasonic wave transmitting probe is controlled according to the ultrasonic wave firing order and emits ultrasonic signal.
7. a kind of indoor ultrasonic locating system, which is characterized in that the indoor ultrasonic locating system includes such as claim 3
Or ultrasonic transmission device described in 4.
8. indoor ultrasonic locating system as claimed in claim 7, which is characterized in that the indoor ultrasonic locating system is also
Including ultrasonic probe, ultrasonic receiver, the ultrasonic probe, ultrasonic receiver includes that at least two ultrasonic waves being arranged on roof receive spy
Head, at least two timers, first communication module and the first controller；
Each ultrasonic wave receiving transducer is electrically connected with the corresponding timer, and is received in the ultrasonic wave receiving transducer
The corresponding timer is controlled after to ultrasonic signal stops timing；
First controller is used to issue ultrasonic wave firing order by the first communication module and starts described at least two
A timer, and calculate according to the clocking information of at least two timer position of the ultrasonic transmission device.
9. a kind of indoor ultrasonic locating system, which is characterized in that the indoor ultrasonic locating system includes such as claim 1
Or ultrasonic probe, ultrasonic receiver described in 2 and ultrasonic transmission device as described in claim 3 or 4.
10. indoor ultrasonic locating system as claimed in claim 9, which is characterized in that the ultrasonic probe, ultrasonic receiver setting
On roof, the ultrasonic transmission device is arranged on mobile object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910049689.XA CN109540152A (en) | 2019-01-18 | 2019-01-18 | Ultrasonic probe, ultrasonic receiver, ultrasonic transmission device and indoor ultrasonic locating system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910049689.XA CN109540152A (en) | 2019-01-18 | 2019-01-18 | Ultrasonic probe, ultrasonic receiver, ultrasonic transmission device and indoor ultrasonic locating system |
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| Publication Number | Publication Date |
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| CN109540152A true CN109540152A (en) | 2019-03-29 |
Family
ID=65837821
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910049689.XA Pending CN109540152A (en) | 2019-01-18 | 2019-01-18 | Ultrasonic probe, ultrasonic receiver, ultrasonic transmission device and indoor ultrasonic locating system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111551899A (en) * | 2020-03-31 | 2020-08-18 | 河北科技大学 | Ultrasonic positioning method, terminal device and storage medium |
| CN116295448A (en) * | 2023-05-24 | 2023-06-23 | 成都航空职业技术学院 | Robot path planning method and system based on multi-source information navigation |
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| CN107907861A (en) * | 2017-11-07 | 2018-04-13 | 河北科技大学 | A kind of flooring transport vehicle ultrasonic wave positioning control system and its control method |
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| DE102004005421A1 (en) * | 2004-02-03 | 2005-08-18 | Robert Bosch Gmbh | Device and method for monitoring the environment of a motor vehicle |
| CN107728624A (en) * | 2017-11-07 | 2018-02-23 | 河北科技大学 | A kind of control device for ground handling trolley |
| CN107861511A (en) * | 2017-11-07 | 2018-03-30 | 河北科技大学 | A kind of control device and its control method for ground handling trolley |
| CN107907861A (en) * | 2017-11-07 | 2018-04-13 | 河北科技大学 | A kind of flooring transport vehicle ultrasonic wave positioning control system and its control method |
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| CN111551899A (en) * | 2020-03-31 | 2020-08-18 | 河北科技大学 | Ultrasonic positioning method, terminal device and storage medium |
| CN116295448A (en) * | 2023-05-24 | 2023-06-23 | 成都航空职业技术学院 | Robot path planning method and system based on multi-source information navigation |
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