CN201266322Y - Ultrasonic target positioning and tracking device - Google Patents
Ultrasonic target positioning and tracking device Download PDFInfo
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- CN201266322Y CN201266322Y CNU2008201601693U CN200820160169U CN201266322Y CN 201266322 Y CN201266322 Y CN 201266322Y CN U2008201601693 U CNU2008201601693 U CN U2008201601693U CN 200820160169 U CN200820160169 U CN 200820160169U CN 201266322 Y CN201266322 Y CN 201266322Y
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Abstract
The utility model discloses an ultrasonic target locating and tracing device which comprises a group of ultrasonic transmitting and receiving device, a locating module and a tracing module; the locating module and the tracing module are formed by a micro-controller and a drive circuit as well as an actuating mechanism; the utility model is characterized in that the ultrasonic transmitting and receiving device mainly comprises an ultrasonic signal emitter and even number of ultrasonic signal receivers; and the ultrasonic signal receivers are symmetrically distributed at the two sides of the ultrasonic signal emitter. The ultrasonic target locating and tracing device can realize the locating of the target, and has simple structure and broad application range.
Description
Technical field
The utility model relates to a kind of target locating set, is specifically related to a kind of target localization and tracking means that adopts ultrasound wave to realize.
Background technology
The ultrasonic ranging system principle is simple, is easy to realize, and is with low cost, thereby has been widely used in productive life.Typical application have the measurement of ultrasound wave thing (material) position, obstacle distance measurement, riverbed depth survey, radar for backing car, or the like, ripe product has all been arranged.Its principle all is by the active emission pulse ultrasonic, and the time of return of detection of echoes signal gets range-to-go by after calculating again.
On this basis, if can determine target direction, then can realize location for target.This has great importance for a lot of practical applications (as robot system).
Chinese invention patent application CN101226405A discloses a kind of two-dimension positioning control system based on ultrasound source, comprise two static ultrasound wave base stations, be installed in the ultrasonic transmitter-receiver mechanically and the register control of controlled two dimensional surface operation, the ultrasound wave base station is the transmitted ultrasonic wave signal after receiving ultrasonic signal, register control comprises distance calculation module, be used to calculate the distance L 1 and the L2 of current point and two ultrasound wave base stations, the distance L 3 and the L4 of impact point and two ultrasound wave base stations; Data memory module is used to store two distance L, L1 and L2, L3 and L4 between the static ultrasound wave base station; Locate mobile control module, be used for when machinery when current point moves to impact point, move by X-axis and y-axis shift and to realize, with described X-axis and moving X-axis controlled motor and the Y-axis controlled motor that outputs to machinery apart from steering order of y-axis shift.This control system can realize the location on the two dimensional surface, but it needs 3 pairs of ultrasound transmitter device and receiver at least, the structure more complicated, and cost is higher; And wherein a pair of needs are installed on the target to be positioned, and in a lot of application scenarios, it is unpractical installing ultrasonic transmitter-receiver additional to target.Limited the application scenario of this locating device thus.
Summary of the invention
The utility model purpose provides a kind of ultrasound wave target localization and tracking means simple in structure, ultrasonic transmitter-receiver need be installed on target, can realize location and tracking to target.
For achieving the above object, the technical solution adopted in the utility model is: a kind of ultrasound wave target localization and tracking means, comprise at least one group of ultrasonic receiving device, locating module and tracking module, described locating module and tracking module are made of microcontroller and driving circuit and topworks, described ultrasonic receiving device comprises a ultrasonic signal emitters and even number ultrasonic signal receiver, and described ultrasonic signal receiver is symmetrically distributed in the both sides of ultrasonic signal emitters.
In the technique scheme, described locating module be according to two-way time of ultrasonic signal difference and principle of the present utility model calculate, the module with the distance and bearing of determining target can be realized by microcontroller; Described tracking module is a module of determining the direction of motion of device according to the orientation of object, is made of microcontroller and driving circuit and topworks usually, drives the carrier movement that carries this device by devices such as for example motors, realizes following the tracks of.
Further technical scheme is provided with 2 described ultrasonic signal receivers, and described ultrasonic signal emitters and 2 ultrasonic signal receivers are positioned on the straight line, and the direction of ultrasonic signal emitters emissive porwer maximum is vertical with this straight line.
In order to realize location to the target of different distance, need to adjust the distance of super ripple signal receiver to ultrasonic signal emitters, when target is far away, increase described distance, when target is nearer, reduce described distance.Thus, a kind of implementation is: described 2 ultrasonic signal receivers are located on the spacing adjusting mechanism, and the direction of motion of described spacing adjusting mechanism is parallel with the line direction of ultrasonic signal receiver and ultrasonic signal emitters.
Optimized technical scheme is, the distance between described ultrasonic signal receiver and ultrasonic signal emitters be the measured target distance 1/4～1/2 between, be the best with 1/2 distance.
Another kind of implementation is: be provided with at least 2 pairs of described ultrasonic signal receivers, the relative transmitter of 2 receivers of every centering is symmetrically distributed.As required, 2 pairs, 3 pairs or more receiver can be set, to select to use corresponding receiver right according to switching of target apart from situation.
In the technique scheme, can also be provided with display module, described display module is electrically connected with the output terminal of described microcontroller.Display module is used for the azimuth-range of display-object.
In the technique scheme, can be provided with travel mechanism by microprocessor controls, all parts of ultrasound wave target localization and tracking means are loading in described travel mechanism, and can move to target direction under the control of microcontroller, thereby realize the tracking for target.
Principle of work of the present utility model is described as follows:
Shown in accompanying drawing 1, earlier ultrasonic sensor and target all are idealized as a point.System adopt a ultrasonic transmitter (SP) and two balanced configurations mutually mutual edge distance be the ultrasonic receiver (R1, R2) of 2S.
Utilize the method for ultrasonic measurement distance, can obtain from hyperacoustic round delivery time t1 and t2 between transmitter to two receiver, they are directly proportional with distance L+L1 and L+L2, v is a ultrasonic propagation velocity, utilizes triangle relation can obtain mean distance L (distance between promptly from the transmitter to the target) and position angle after calculating
Between relation as follows:
L1+L＝v×t1＝C1
L2+L＝v×t2＝C2
Through obtaining after simple the derivation:
If L1〉L2, then have
Otherwise, then have
Because the technique scheme utilization, the advantage that the utility model compared with prior art has is:
1, because the utility model has been symmetrical arranged receiver with respect to ultrasonic signal emitters, utilize triangle relation, can realize location, and ultrasonic unit need be set on target target, simple in structure thus, applied widely.
2, device of the present utility model is fine for the locating effect of single small size discrete objects, in the experiment in sizable scope moving target can both carry out accurate in locating, by selecting suitable ultrasonic sensor and testing circuit, maximum detectable range can reach 5 meters, and the maximum probe angle can reach 120 degree.
3, by with the cooperating of tracking module, can realize tracking to target, be suitable for making for example product such as toy, intelligent robot.
Description of drawings
Fig. 1 is the basic principle schematic of ultrasound wave target localization;
Fig. 2 is that the device circuit of embodiment one is formed the structural representation block diagram;
Fig. 3 is the spacing adjusting mechanism synoptic diagram of embodiment two;
Fig. 4 is that the device circuit of embodiment two is formed the structural representation block diagram;
Fig. 5 is that the device circuit of embodiment three is formed the structural representation block diagram.
Embodiment
Below in conjunction with drawings and Examples the utility model is further described:
Embodiment one: shown in accompanying drawing 2, a kind of ultrasound wave target localization and tracking means, comprise one group of ultrasonic receiving device, locating module, tracking module and display module, described locating module and tracking module are by microcontroller and driving circuit and topworks, described display module is electrically connected with the output terminal of described microcontroller, described ultrasonic receiving device is made of a ultrasonic signal emitters and 2 ultrasonic signal receivers, described ultrasonic signal receiver is symmetrically distributed in the both sides of ultrasonic signal emitters, and 2 ultrasonic signal receivers are equal to the distance of ultrasonic signal emitters.Described ultrasonic signal emitters comprises ultrasonic signal driving amplifier, the sound-producing device SP that is driven by microcontroller; Described ultrasonic signal receiver comprises 2 ultrasonic sensor R1, R2, ultrasonic signal amplification, filtering and detecting circuit, and its output connects the input port of microcontroller.Ultrasonic signal emitters and 2 ultrasonic signal receivers are positioned on the straight line, and the direction of ultrasonic signal emitters emissive porwer maximum is vertical with this straight line.Distance between ultrasonic signal receiver and ultrasonic signal emitters is 100～500 millimeters.
The realization of the device in the present embodiment also needs to utilize microcontroller to carry out corresponding mathematical computations, result's demonstration and whole control except hyperacoustic driving of needs and testing circuit.System architecture diagram as shown in Figure 2.
In Fig. 2, send a ultrasonic pulse ripple by microcontroller (MCU) through ovennodulation, start timer simultaneously and pick up counting.The level signal that obtains a variation after the echoed signal that receiving sensor receives is handled through amplification, filtering and detecting circuit is delivered to microcontroller.After calculating two received signals, microcontroller can obtain the azimuth information of target object.These information can show with needed form in display module, also offer tracking module to carry out the tracking Control for target simultaneously.
In the present embodiment, can select any microcontroller that can realize above-mentioned functions for use; Display circuit can adopt charactron to show or LCD.
The device of present embodiment is fine for the locating effect of single small size discrete objects, in the experiment in sizable scope moving target can both carry out accurate in locating.By selecting suitable ultrasonic sensor and testing circuit, maximum detectable range can reach 5 meters, and the maximum probe angle can reach 120 degree.
Present embodiment can cooperate other structure, constitutes the device with location and following function.
For example:
Toy from the motion tracking object:
At the toy that can independently move, this device for example is installed on the toy dog, just can measure the distance and bearing of the interior object of certain distance on every side, and move to target by the telecontrol equipment of controlling self.When surveying less than object in coverage, then rotate in the original place on one side, continue to survey on one side.Such toy will have more interesting and recreational.
The obstacle detection device that blind man uses:
Can utilize this device to be made into the obstacle detection device that blind man uses.The distance and bearing information of target provides by the special pause alarm sound that stereophone sends.Distance is near more, and the interval of interruption tone is short more, until continuously.Target is when the dead ahead, and two wave volumes that earphone sent are the same.Target is taken back, and then the earpiece volume on the left side is greater than the right; Otherwise then You Bian earpiece volume is greater than the left side.Angular deviation is big more, and then the volume difference is also big more, until the sound complete obiteration of a side.Such device can provide the information of certain surrounding environment to the blind person.
Be installed in the environment sensing system in the robot:
Can utilize this device to make the sensor (ultrasonic radar) of autonomous mobile robot perception surrounding environment.Can form the rough image of object on every side in ideal conditions, so that robot keeps away the planning of barrier motion and motion path.
Embodiment two: shown in accompanying drawing 3 and accompanying drawing 4, a kind of ultrasound wave target localization and tracking means, its basic structure is identical with embodiment one, wherein, described 2 ultrasonic signal receivers are located on the spacing adjusting mechanism, and the direction of motion of described spacing adjusting mechanism is parallel with the line direction of ultrasonic signal receiver and ultrasonic signal emitters.The spacing adjusting mechanism of present embodiment can adopt a pair of to lift one's head motor, and two output terminals of motor connect left-handed screw and right handed screw respectively, realizes the synchronous adjustment of ultrasonic signal receiver spacing.
During use, utilize the motion of microprocessor controls spacing adjusting mechanism, guaranteeing under the prerequisite of 2 ultrasonic signal receiver symmetric arrangement, change the distance between itself and the transmitter, thereby be applicable to the location of different far and near targets.
Embodiment three: shown in accompanying drawing 5, a kind of ultrasound wave target localization and tracking means, its basic structure is identical with embodiment one, wherein, the receiving sensor R1 of balanced configuration more than 2 couples ..., Rn, when target is far away, use the sensor in the outside, and target is used inboard sensor when nearer.
Claims (7)
1. ultrasound wave target localization and tracking means, comprise one group of ultrasonic receiving device, locating module and tracking module, described locating module and tracking module are made of microcontroller and driving circuit and topworks, it is characterized in that: described ultrasonic receiving device mainly is made of a ultrasonic signal emitters and even number ultrasonic signal receiver, and described ultrasonic signal receiver is symmetrically distributed in the both sides of ultrasonic signal emitters.
2. ultrasound wave target localization according to claim 1 and tracking means, it is characterized in that: be provided with 2 described ultrasonic signal receivers, described ultrasonic signal emitters and 2 ultrasonic signal receivers are positioned on the straight line, and the direction of ultrasonic signal emitters emissive porwer maximum is vertical with this straight line.
3. ultrasound wave target localization according to claim 1 and tracking means, it is characterized in that: described 2 ultrasonic signal receivers are located on the spacing adjusting mechanism, and the direction of motion of described spacing adjusting mechanism is parallel with the line direction of ultrasonic signal receiver and ultrasonic signal emitters.
4. according to claim 1 or 3 described ultrasound wave target localization and tracking means, it is characterized in that: the distance between described ultrasonic signal receiver and ultrasonic signal emitters the measured target distance 1/4～1/2 between.
5. ultrasound wave target localization according to claim 1 and tracking means is characterized in that: be provided with at least 2 pairs of described ultrasonic signal receivers, the relative transmitter of 2 receivers of every centering is symmetrically distributed.
6. ultrasound wave target localization according to claim 1 and tracking means is characterized in that: be provided with information display module, described information display module is electrically connected with the output terminal of described microcontroller.
7. ultrasound wave target localization according to claim 1 and tracking means is characterized in that: be provided with the travel mechanism by microprocessor controls, described ultrasonic receiving device, locating module and tracking module are installed in the described travel mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CNU2008201601693U CN201266322Y (en) | 2008-09-27 | 2008-09-27 | Ultrasonic target positioning and tracking device |
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| CNU2008201601693U CN201266322Y (en) | 2008-09-27 | 2008-09-27 | Ultrasonic target positioning and tracking device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2011069362A1 (en) * | 2009-12-09 | 2011-06-16 | 湖南三一智能控制设备有限公司 | Position detecting device and method of concrete pump vehicle and concrete pump vehicle |
| CN102981148A (en) * | 2011-11-30 | 2013-03-20 | 深圳市恒润晖光电科技有限公司 | Positioning system and method thereof |
| CN104991557A (en) * | 2015-07-02 | 2015-10-21 | 深圳乐行天下科技有限公司 | Autonomous following dolly and system thereof |
| CN105182992A (en) * | 2015-06-30 | 2015-12-23 | 深圳一电科技有限公司 | Unmanned aerial vehicle control method and device |
| CN105807260A (en) * | 2016-04-19 | 2016-07-27 | 北京九星智元科技有限公司 | Dynamic positioning system and method based on ultrasonic sensor |
| CN107167513A (en) * | 2017-06-23 | 2017-09-15 | 成都聚深科技有限责任公司 | Tube rod defect-detecting equipment based on stray field method |
| CN107466371A (en) * | 2016-07-21 | 2017-12-12 | 深圳前海达闼云端智能科技有限公司 | Target tracking device and system and robot |
| WO2018045876A1 (en) * | 2016-09-08 | 2018-03-15 | 南京阿凡达机器人科技有限公司 | Method and system for ultrasonic wave-based autonomous robot charging |
| WO2018045875A1 (en) * | 2016-09-08 | 2018-03-15 | 南京阿凡达机器人科技有限公司 | Method and system for autonomous robot charging |
| CN109240308A (en) * | 2018-11-12 | 2019-01-18 | 辽东学院 | Automatically track shopping cart |
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2008
- 2008-09-27 CN CNU2008201601693U patent/CN201266322Y/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011069362A1 (en) * | 2009-12-09 | 2011-06-16 | 湖南三一智能控制设备有限公司 | Position detecting device and method of concrete pump vehicle and concrete pump vehicle |
| CN102981148A (en) * | 2011-11-30 | 2013-03-20 | 深圳市恒润晖光电科技有限公司 | Positioning system and method thereof |
| CN102981148B (en) * | 2011-11-30 | 2015-06-03 | 深圳市恒润晖光电科技有限公司 | Positioning system and method thereof |
| CN105182992A (en) * | 2015-06-30 | 2015-12-23 | 深圳一电科技有限公司 | Unmanned aerial vehicle control method and device |
| CN104991557A (en) * | 2015-07-02 | 2015-10-21 | 深圳乐行天下科技有限公司 | Autonomous following dolly and system thereof |
| CN105807260A (en) * | 2016-04-19 | 2016-07-27 | 北京九星智元科技有限公司 | Dynamic positioning system and method based on ultrasonic sensor |
| CN105807260B (en) * | 2016-04-19 | 2019-06-04 | 北京九星智元科技有限公司 | A kind of dynamic positioning system and method based on ultrasonic sensor |
| CN107466371B (en) * | 2016-07-21 | 2021-08-13 | 深圳前海达闼云端智能科技有限公司 | Target tracking device and system and robot |
| CN107466371A (en) * | 2016-07-21 | 2017-12-12 | 深圳前海达闼云端智能科技有限公司 | Target tracking device and system and robot |
| WO2018045875A1 (en) * | 2016-09-08 | 2018-03-15 | 南京阿凡达机器人科技有限公司 | Method and system for autonomous robot charging |
| WO2018045876A1 (en) * | 2016-09-08 | 2018-03-15 | 南京阿凡达机器人科技有限公司 | Method and system for ultrasonic wave-based autonomous robot charging |
| CN107167513B (en) * | 2017-06-23 | 2020-08-18 | 成都聚深科技有限责任公司 | Pipe pole equipment of detecting a flaw based on magnetic leakage field method |
| CN107167513A (en) * | 2017-06-23 | 2017-09-15 | 成都聚深科技有限责任公司 | Tube rod defect-detecting equipment based on stray field method |
| CN109240308A (en) * | 2018-11-12 | 2019-01-18 | 辽东学院 | Automatically track shopping cart |
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Granted publication date: 20090701 Termination date: 20110927 |