CN110502036A - A kind of follower method and system based on Bluetooth technology - Google Patents
A kind of follower method and system based on Bluetooth technology Download PDFInfo
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- CN110502036A CN110502036A CN201910675463.0A CN201910675463A CN110502036A CN 110502036 A CN110502036 A CN 110502036A CN 201910675463 A CN201910675463 A CN 201910675463A CN 110502036 A CN110502036 A CN 110502036A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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Abstract
The invention discloses a kind of follower method and system based on Bluetooth technology, this method comprises: the Bluetooth signal for the identical frequency that reception device receiving and transmitting unit is sent from least two positions；Reception device calculates the location information of emitter according to the distance between Bluetooth signal and two positions；The location information of emitter is sent to control device by reception device, so that control device follows the direction of advance and/or speed of equipment according to the adjustment of the location information of emitter；Wherein, emitter and control device, which are set to, follows the present invention in equipment to pass through based on mature bluetooth standard 5.1AoD technology, scheme is mature and stable, and implementation is simple, and precision is high, centimetre class precision can be achieved, and it can be interacted in real time with mobile phone, while using the antenna array structure of single-chip, structure is simple, complexity is low, and cost performance is high.
Description
Technical field
The present invention relates to intelligence to follow technical field, in particular to a kind of follower method and system based on Bluetooth technology.
Background technique
With the continuous progress of science and technology, intellectual product brings conveniences much more very to the production and living of people, automatically with
It is exactly a kind of very novel sci-tech product with equipment, for example intelligence follows sweeping robot, intelligence to follow supermarket's cart, intelligence
Luggage case, intelligence is followed to follow perambulator etc..
It is current that follow technology mainly include the technology of view-based access control model and the technology based on label:
The technology of view-based access control model is being mainly to carry camera in equipment to scan the object to be followed (such as people leg),
3D solid figure is established, and models and is calculated, judgement is followed angle, orientation of object etc., and the method algorithm is complicated, efficiency
It is not high.
Technology based on label mainly uses UWB, bluetooth etc. as implementation.It is high using UWB technology precision, but at
This is also high, although at low cost using bluetooth, algorithm is simple, but is typically based on signal strength using the scheme of bluetooth at present to count
It calculates, precision is very low, cannot achieve and accurately follows.
In conclusion system for tracking in the prior art has the following problems:
1, judge that distance, precision are low according to the signal strength of common bluetooth compliant；
2, it is one group that the composed structure that currently existing scheme has, which is one antenna of a Bluetooth chip, while placing multiple bluetooths
Chip, mutiple antennas realize that aerial array calculates angle and distance, and implementation is complicated, and because doing caused by antenna structure
Disturbing causes system unstable；
3, solution is followed based on video, structure is complicated, and algorithm is complicated, expensive；
4, other solutions, such as UWB, cost is more expensive, and not general, can not be interconnected with mobile phone.
Therefore, how inexpensive, high-precision, simple realize follow automatically, are that there is an urgent need for solution a problems
Summary of the invention
In order to solve problems in the prior art, the embodiment of the invention provides a kind of follower method based on Bluetooth technology and
System, to overcome existing for scheme in the prior art or algorithm is complicated, inefficient or precision is high but cost
Although high or at low cost, algorithm is simple but precision also very low problem.
To solve said one or multiple technical problems, the technical solution adopted by the present invention is that:
On the one hand, a kind of follower method based on Bluetooth technology is provided, this method comprises the following steps:
The Bluetooth signal for the identical frequency that reception device receiving and transmitting unit is sent from least two positions；
The reception device calculates the transmitting according to the distance between the Bluetooth signal and described two positions and fills
The location information set；
The location information of the emitter is sent to control device by the reception device, so as to the control device root
The direction of advance and/or speed of equipment are followed according to the location information adjustment of the emitter；
Wherein, the emitter and the control device are set to described follow in equipment.
Further, the bluetooth for the identical frequency that the reception device receiving and transmitting unit is sent from least two positions is believed
Number include:
The reception device receive the emitter the first bluetooth module and the second bluetooth module it is suitable according to presetting
The Bluetooth signal for the identical frequency that sequence is sent respectively.
Further, the reception device calculates institute according to the distance between the Bluetooth signal and described two positions
The location information for stating emitter includes:
Calculated according to the Bluetooth signal obtain first bluetooth module to the first angle of the reception device and
Second angle of second bluetooth module to the reception device；
According to first angle, second angle and first bluetooth module and second bluetooth module it
Between distance calculate the horizontal distance and vertical distance obtained between the emitter and the reception device；
The launcher position information includes first angle, second angle, the horizontal distance and institute
State vertical distance.
Further, the control device follows the direction of advance of equipment according to the adjustment of the location information of the emitter
And/or speed includes:
The control device according to first angle, second angle, the horizontal distance and it is described vertically away from
From the direction of advance and/or speed for following equipment described in adjustment.
Further, the method also includes:
The emitter sends control instruction to the control device, and the control device is according to the control instruction tune
The whole direction of advance and/or speed for following equipment.
On the other hand, a kind of system for tracking based on Bluetooth technology is provided, the system comprises:
Emitter, the Bluetooth signal of the identical frequency for being sent from least two positions；
Reception device is calculated for the reception device according to the distance between the Bluetooth signal and described two positions
The location information of the emitter out；
Control device, for following the direction of advance and/or speed of equipment according to the adjustment of the location information of the emitter
Degree；
Wherein, the emitter and the control device are set to described follow in equipment.
Further, the emitter includes:
First bluetooth module, for sending Bluetooth signal to the reception device according to preset order；
Second bluetooth module, for being sent and first bluetooth module according to the preset order to the reception device
The identical Bluetooth signal of the frequency of the signal of transmission.
Further, the reception device includes:
Angle calculation module is filled for calculating acquisition first bluetooth module according to the Bluetooth signal to the reception
Second angle of the first angle and second bluetooth module set to the reception device；
Distance calculation module, for according to first angle, second angle and first bluetooth module with
The distance between described second bluetooth module calculate obtain described in follow the horizontal distance between equipment and the reception device with
And vertical distance；
The location information of the emitter include first angle, second angle, the horizontal distance and
The vertical distance.
Further, the control device is specifically used for:
According to the adjustment of first angle, second angle, the horizontal distance and the vertical distance it is described with
With the direction of advance and/or speed of equipment.
Further, the emitter further include:
Instruction sending module, for sending control instruction to the control device, the control device is according to the control
The direction of advance and/or speed of equipment are followed described in instruction adjustment.
Technical solution provided in an embodiment of the present invention has the benefit that
1, the follower method and system provided in an embodiment of the present invention based on Bluetooth technology, based on mature bluetooth standard
5.1 AoD technologies, scheme is mature and stable, and implementation is simple, and precision is high, it can be achieved that centimetre class precision, and can in real time with
Mobile phone interacts；
2, the follower method and system provided in an embodiment of the present invention based on Bluetooth technology, using the aerial array of single-chip
Structure, structure is simple, and complexity is low, and cost performance is high.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the flow chart of the follower method shown according to an exemplary embodiment based on Bluetooth technology；
Fig. 2 is the three-dimensional of the realization principle figure of the follower method shown according to an exemplary embodiment based on Bluetooth technology
Figure；
Fig. 3 is the plane of the realization principle figure of the follower method shown according to an exemplary embodiment based on Bluetooth technology
Figure
Fig. 4 is the structural schematic diagram of the system for tracking shown according to an exemplary embodiment based on Bluetooth technology.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached in the embodiment of the present invention
Figure, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only this
Invention a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.
Follower method and system provided in an embodiment of the present invention based on Bluetooth technology is set suitable for various follow automatically
It is standby, follow sweeping robot, intelligence to follow supermarket's cart, intelligence that luggage case, intelligence is followed to follow perambulator such as intelligent.Such as
By taking the luggage case followed automatically as an example, a bluetooth mould group is placed respectively at the both ends of luggage upper box part, user holds corresponding
Handheld device (such as blue Tooth remote controller wears corresponding bluetooth bracelet, uses mobile phone open corresponding A pp), according to Bluetooth technology, is used
The handheld device at family can calculate the angle between two bluetooth mould groups, in conjunction with the distance between two bluetooth mould groups, user
Handheld device can finally calculate with the orientation of luggage case, distance, this information is passed through into bluetooth back to luggage case, luggage case again
Direction adjustment, speed adjustment are carried out according to these information, following automatically for luggage case is completed with this.
Fig. 1 is the flow chart of the follower method shown according to an exemplary embodiment based on Bluetooth technology, referring to Fig.1 institute
Show, this method comprises the following steps:
S1: the Bluetooth signal for the identical frequency that reception device receiving and transmitting unit is sent from least two positions.
Specifically, emitter needs to send the Bluetooth signal of identical frequency from least two positions to reception device, such as
Fixed frequency extends signal (Constant Tone Extension:CTE).Here the same frequency that at least two positions are sent
The Bluetooth signal of rate can be the Bluetooth signal that same bluetooth module is moved to the identical frequency that different positions is launched,
It can be the Bluetooth signal that the identical frequency that two identical bluetooth modules of different positions are launched is set.It needs exist for
Illustrate, calculate and improve the accuracy rate calculated for convenience, the two positions need to be arranged to be located at same level
It is interior, and keep the height of two positions consistent.
S2: the reception device calculates the transmitting according to the distance between the Bluetooth signal and described two positions
The location information of device.
Specifically, two Bluetooth signals launching according to the slave different location received and sending the two bluetooths letter
Number the distance between position, calculate the location information of emitter.What needs to be explained here is that as a kind of preferably real
Apply mode, in the embodiment of the present invention, the location information for calculating emitter is can to realize based on AoD technology, when transmitter is pressed
Switch different transmission antennas according to certain sequence send fixed frequency extension signal (Constant Tone Extension:
When CTE), receiver can extract IQ sample, according to different IQ samples, can calculate the information such as the direction of signal.
S3: the location information of the emitter is sent to control device by the reception device, so as to control dress
Set the direction of advance and/or speed that equipment is followed according to the adjustment of the location information of the emitter；
Wherein, the emitter and the control device are set to described follow in equipment.
Specifically, emitter is set to handheld device (such as blue Tooth remote controller, bluetooth bracelet, the App being installed on mobile phone
Deng) on, emitter and control device are all set in and follow equipment (such as sweeping robot, supermarket's cart, luggage case, baby
Vehicle, balance car etc.) on, control device follows the driving device of equipment to connect with driving.Reception device is by the position of emitter
After information is sent to control device, control device controls driving device according to the location information of emitter, and adjustment follows equipment
Direction of advance and/or speed.
As a kind of preferably embodiment, in the embodiment of the present invention, the reception device receiving and transmitting unit is from least
The Bluetooth signal of identical frequency that two positions are sent includes:
The reception device receive the emitter the first bluetooth module and the second bluetooth module it is suitable according to presetting
The Bluetooth signal for the identical frequency that sequence is sent respectively.
Specifically, there are two identical bluetooth module, the first bluetooth module and the second bluetooths for setting in the embodiment of the present invention
Module.The bluetooth for the identical frequency that first bluetooth module and the second bluetooth module are sent to reception device respectively according to preset order
Signal.First bluetooth module and the second bluetooth module are set to the upper end for following equipment, and are located in the same horizontal plane.
As a kind of preferably embodiment, the first bluetooth module and the second bluetooth module include in the embodiment of the present invention
One aerial array and a Bluetooth chip, reception device include an antenna and a Bluetooth chip.Preferably as one kind
Embodiment, in the embodiment of the present invention, Bluetooth chip uses the AoD technology of bluetooth 5.1, bluetooth 5.1 have seek to
(direction finding) function cooperates bluetooth proximity (proximity) technology, equipment can be allowed to be easier to be detected hair
It is existing, while the precision of bluetooth positioning being promoted to Centimeter Level, it can be achieved that the positioning of small Bluetooth equipment.Need exist for explanation
It is that the composite structure of bluetooth module in the prior art is usually that one antenna of a Bluetooth chip is one group, while being placed more
A Bluetooth chip, mutiple antennas realize that aerial array calculates angle and distance, and implementation is complicated, and because antenna structure is made
At interference cause system unstable.And in the embodiment of the present invention, using the antenna array scheme of single-chip, structure is simple, multiple
Miscellaneous degree is low and cost performance is high.
As a kind of preferably embodiment, in the embodiment of the present invention, the reception device according to the Bluetooth signal with
And the distance between described two positions calculates the location information of the emitter and includes:
Calculated according to the Bluetooth signal obtain first bluetooth module to the first angle of the reception device and
Second angle of second bluetooth module to the reception device.
Specifically, Fig. 2 is the realization principle of the follower method shown according to an exemplary embodiment based on Bluetooth technology
The three-dimensional figure of figure, referring to shown in Fig. 2, the first bluetooth module and the second bluetooth module are arranged at and follow in equipment, here with
With equipment by taking luggage case as an example, the distance between the first bluetooth module and the second bluetooth module are denoted as L, and reception device is denoted as T.It connects
Receiving apparatus calculates according to the Bluetooth signal that the first bluetooth module received is launched obtain the first bluetooth module to reception respectively
The first angle (herein referring to AoD angle) of device, is denoted as α, the Bluetooth signal launched according to the second bluetooth module received
The second angle (equally referring to AoD angle here) for obtaining the second bluetooth module to reception device is calculated, β is denoted as.
According to first angle, second angle and first bluetooth module and second bluetooth module it
Between distance calculate the horizontal distance and vertical distance obtained between the emitter and the reception device.
Specifically, Fig. 3 is the realization principle of the follower method shown according to an exemplary embodiment based on Bluetooth technology
The plan view of figure, referring to shown in Fig. 3, according to the first angle α, the second angle β and the first bluetooth module and the second bluetooth module
The distance between L calculate the horizontal distance X and vertical distance Y obtained between emitter and reception device.When it is implemented,
Calculate the horizontal distance and vertical distance of the midpoint S to reception device T of the first bluetooth module and the second bluetooth module.Specific meter
When calculation, following formula can be used:
The launcher position information includes first angle, second angle, the horizontal distance and institute
State vertical distance.
Specifically, above-mentioned steps are calculated the first angle obtained, the second angle, horizontal distance in the embodiment of the present invention
And location information of the vertical distance as emitter.
There is also the need to explanation, in order to realize it is more accurate follow, orient the three of target user's handheld device
Angle is tieed up, the first bluetooth module and the identical third bluetooth module of the second bluetooth module, root can be set on following equipment
According to the distance between three angles and three bluetooth modules of three bluetooth modules and reception device, can be realized more accurate
Three-dimensional space follow.
As a kind of preferably embodiment, in the embodiment of the present invention, the control device is according to the emitter
Location information adjustment follows the direction of advance of equipment and/or speed includes:
The control device according to first angle, second angle, the horizontal distance and it is described vertically away from
From the direction of advance and/or speed for following equipment described in adjustment.
Specifically, above-mentioned steps are calculated the first angle obtained, the second angle, horizontal distance and vertical by reception device
Distance is sent to control device as the location information of emitter, and control device is according to the first angle received, the second folder
The information such as angle, horizontal distance and vertical distance adjust the direction of advance and/or speed for following equipment, when it is implemented, control
Device, which can control, follows the driving device of equipment to be adjusted the direction of advance and/or speed that follow equipment.
As a kind of preferably embodiment, in the embodiment of the present invention, the method also includes:
The emitter sends control instruction to the control device, and the control device is according to the control instruction tune
The whole direction of advance and/or speed for following equipment.
Specifically, also support handheld device is to the direct control function for following equipment in the embodiment of the present invention.User is hand-held
Equipment can be communicated with the bluetooth mould group of equipment is followed, and send control instruction to control device by emitter.It is specific real
Shi Shi, can be arranged on handheld device (such as blue Tooth remote controller, bluetooth bracelet, the App being installed on mobile phone) mechanical key or
Soft-key button is set on App, and key includes advancing, retreating, turn left, turn right, stop, accelerating, slow down etc..Control device receives phase
Adjustment follows equipment to execute advance, retrogressing, left-hand rotation, right-hand rotation, stopping, acceleration, deceleration-operation after closing control instruction.
Fig. 4 is the structural schematic diagram of the system for tracking shown according to an exemplary embodiment based on Bluetooth technology, reference
Shown in Fig. 4, which includes:
Emitter, the Bluetooth signal of the identical frequency for being sent from least two positions；
Reception device is calculated for the reception device according to the distance between the Bluetooth signal and described two positions
The location information of the emitter out；
Control device, for following the direction of advance and/or speed of equipment according to the adjustment of the location information of the emitter
Degree；
Wherein, the emitter and the control device are set to described follow in equipment.
Specifically, emitter is set to handheld device (such as blue Tooth remote controller, bluetooth bracelet, the App being installed on mobile phone
Deng) on, emitter and control device are all set in and follow equipment (such as sweeping robot, supermarket's cart, luggage case, baby
Vehicle, balance car etc.) on, control device follows the driving device of equipment to connect with driving, and as an example, driving device includes
Wheel and the motor etc. being connect with wheel.
As a kind of preferably embodiment, in the embodiment of the present invention, the emitter includes:
First bluetooth module, for sending Bluetooth signal to the reception device according to preset order；
Second bluetooth module, for being sent and first bluetooth module according to the preset order to the reception device
The identical Bluetooth signal of the frequency of the signal of transmission.
As a kind of preferably embodiment, in the embodiment of the present invention, the reception device includes:
Angle calculation module is filled for calculating acquisition first bluetooth module according to the Bluetooth signal to the reception
Second angle of the first angle and second bluetooth module set to the reception device；
Distance calculation module, for according to first angle, second angle and first bluetooth module with
The distance between described second bluetooth module calculate obtain described in follow the horizontal distance between equipment and the reception device with
And vertical distance；
The location information of the emitter include first angle, second angle, the horizontal distance and
The vertical distance.
Specifically, reception device further include:
Information sending module, for the location information of the emitter to be sent to control device.
As a kind of preferably embodiment, in the embodiment of the present invention, the control device is specifically used for:
According to the adjustment of first angle, second angle, the horizontal distance and the vertical distance it is described with
With the direction of advance and/or speed of equipment.
As a kind of preferably embodiment, in the embodiment of the present invention, the emitter further include:
Instruction sending module, for sending control instruction to the control device, the control device is according to the control
The direction of advance and/or speed of equipment are followed described in instruction adjustment.
In conclusion technical solution provided in an embodiment of the present invention has the benefit that
1, the follower method and device provided in an embodiment of the present invention based on Bluetooth technology, implementation is simple, based at
Ripe 5.1 AoD technology of bluetooth standard, scheme is mature and stable, and precision is high, it can be achieved that centimetre class precision, and can in real time and hand
Machine interacts；
2, the follower method and device provided in an embodiment of the present invention based on Bluetooth technology, using the aerial array of single-chip
Structure, structure is simple, and complexity is low, and cost performance is high.
It should be understood that it is provided by the above embodiment based on the system for tracking of Bluetooth technology when triggering follows business,
Only the example of the division of the above functional modules, it in practical application, can according to need and by above-mentioned function distribution
It is completed by different functional modules, i.e., the internal structure of system is divided into different functional modules, it is described above to complete
All or part of function.In addition, the system for tracking provided by the above embodiment based on Bluetooth technology with based on Bluetooth technology
Follower method embodiment belongs to same design, i.e. the device is the follower method based on this based on Bluetooth technology, specific real
Existing process is detailed in embodiment of the method, and which is not described herein again.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of follower method based on Bluetooth technology, which is characterized in that described method includes following steps:
The Bluetooth signal for the identical frequency that reception device receiving and transmitting unit is sent from least two positions；
The reception device calculates the emitter according to the distance between the Bluetooth signal and described two positions
Location information；
The location information of the emitter is sent to control device by the reception device, so that the control device is according to institute
The location information adjustment for stating emitter follows the direction of advance and/or speed of equipment；
Wherein, the emitter and the control device are set to described follow in equipment.
2. the follower method according to claim 1 based on Bluetooth technology, which is characterized in that the reception device receives hair
Injection device includes: from the Bluetooth signal for the identical frequency that at least two positions are sent
The first bluetooth module and the second bluetooth module that the reception device receives the emitter are according to preset order point
The Bluetooth signal for the identical frequency not sent.
3. the follower method according to claim 2 based on Bluetooth technology, which is characterized in that the reception device is according to institute
It states the distance between Bluetooth signal and described two positions and calculates the location information of the emitter and include:
It is calculated according to the Bluetooth signal and obtains first bluetooth module to the first angle of the reception device and described
Second angle of second bluetooth module to the reception device；
According between first angle, second angle and first bluetooth module and second bluetooth module
Distance calculates the horizontal distance and vertical distance obtained between the emitter and the reception device；
The launcher position information includes first angle, second angle, the horizontal distance and described perpendicular
Straight distance.
4. the follower method according to claim 3 based on Bluetooth technology, which is characterized in that the control device is according to institute
The location information adjustment for stating emitter follows the direction of advance of equipment and/or speed includes:
The control device is according to first angle, second angle, the horizontal distance and the vertical distance tune
The whole direction of advance and/or speed for following equipment.
5. the follower method according to claim 1 or 2 based on Bluetooth technology, which is characterized in that the method also includes:
The emitter sends control instruction to the control device, and the control device adjusts institute according to the control instruction
State the direction of advance and/or speed for following equipment.
6. a kind of system for tracking based on Bluetooth technology, which is characterized in that the system comprises:
Emitter, the Bluetooth signal of the identical frequency for being sent from least two positions；
Reception device calculates institute according to the distance between the Bluetooth signal and described two positions for the reception device
State the location information of emitter；
Control device, for following the direction of advance and/or speed of equipment according to the adjustment of the location information of the emitter；
Wherein, the emitter and the control device are set to described follow in equipment.
7. the system for tracking according to claim 6 based on Bluetooth technology, which is characterized in that the emitter includes:
First bluetooth module, for sending Bluetooth signal to the reception device according to preset order；
Second bluetooth module is sent for sending according to the preset order to the reception device with first bluetooth module
Signal the identical Bluetooth signal of frequency.
8. the system for tracking according to claim 7 based on Bluetooth technology, which is characterized in that the reception device includes:
Angle calculation module obtains first bluetooth module to the reception device for calculating according to the Bluetooth signal
The second angle of first angle and second bluetooth module to the reception device；
Distance calculation module, for according to first angle, second angle and first bluetooth module with it is described
The horizontal distance between equipment and the reception device is followed described in the calculating acquisition of the distance between second bluetooth module and is erected
Straight distance；
The location information of the emitter includes first angle, second angle, the horizontal distance and described
Vertical distance.
9. the system for tracking according to claim 8 based on Bluetooth technology, which is characterized in that the control device is specifically used
In:
It follows and sets according to the adjustment of first angle, second angle, the horizontal distance and the vertical distance
Standby direction of advance and/or speed.
10. the system for tracking according to claim 6 or 7 based on Bluetooth technology, which is characterized in that the emitter is also
Include:
Instruction sending module, for sending control instruction to the control device, the control device is according to the control instruction
The direction of advance and/or speed of equipment are followed described in adjustment.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111405508A (en) * | 2020-02-19 | 2020-07-10 | 华为技术有限公司 | Wearable device positioning method and wearable device |
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| CN111405508A (en) * | 2020-02-19 | 2020-07-10 | 华为技术有限公司 | Wearable device positioning method and wearable device |
| CN111479253A (en) * | 2020-04-21 | 2020-07-31 | 山东卓文信息科技有限公司 | Intelligent power distribution system based on Bluetooth networking communication and working method |
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| CN113096374A (en) * | 2021-03-31 | 2021-07-09 | 长城汽车股份有限公司 | Following control method, following device and user terminal |
| CN115223349A (en) * | 2021-04-15 | 2022-10-21 | 海信集团控股股份有限公司 | Remote controller equipment and control method of electronic household equipment |
| CN113490142A (en) * | 2021-07-15 | 2021-10-08 | 重庆庄周科技有限责任公司 | Bluetooth positioning terminal, positioning method and following mobile device |
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Application publication date: 20191126 |