CN201654224U - Space positioning system based on acoustic waves - Google Patents
Space positioning system based on acoustic waves Download PDFInfo
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- CN201654224U CN201654224U CN2010201436424U CN201020143642U CN201654224U CN 201654224 U CN201654224 U CN 201654224U CN 2010201436424 U CN2010201436424 U CN 2010201436424U CN 201020143642 U CN201020143642 U CN 201020143642U CN 201654224 U CN201654224 U CN 201654224U
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Abstract
The utility model discloses a space positioning system based on acoustic waves, comprising a plurality of acoustic receiving devices, an acoustic sending device and a processing device, wherein the acoustic receiving devices are used for receiving the acoustic wave sent by the measured object, and converting the acoustic wave into electric signals; the acoustic sending device is used for sending the acoustic wave with fixed spectrum feature to the located space; and the processing device is used for recording the spectrum feature of the sent acoustic wave, and receiving the electric signal converted from the acoustic wave. The utility model matches the spectrum feature of the acoustic signal carried in the electric signal with the recorded spectrum feature of the acoustic wave sent by the measured object, calculates the distance between the measured object and each receiving location according to the time difference between the acoustic wave receiving and sending, and determines the space location of the measured object in the located space according to the calculated distance. The utility model can utilize common acoustic wave or echo; as the echo is not received, the affect of multi-path effect of the acoustic wave can be weakened, and the sensitivity and accuracy of measurement can be ensured.
Description
Technical field
The utility model relates to positioning field, particularly relates to a kind of space positioning system based on sound wave.
Background technology
The indoor positioning technology has a variety of at present, as A-GPS location technology, ultrasonic locating technology, Bluetooth technology, infrared technology, REID, super-broadband tech, WLAN, light track and localization technology, and graphical analysis, beacon location, computer vision location technology or the like, each have their own application merits and demerits.
Wherein, location technology bearing accuracies such as A-GPS, Bluetooth technology, infrared technology, REID, super-broadband tech, WLAN are all poor, generally in meter level resolution; Though light track and localization technology, graphical analysis, computer vision location technology precision are higher, but system cost is than higher; Existing ultrasound wave indoor positioning technology can have degree of precision, but what generally adopt is the ultrasonic reflections echo ranging, according to computed range testee is positioned then, but because the ultrasound wave transmitting terminal is accepted echo, can there be the influence of ultrasound wave multipath effect in this situation, thereby can't guarantee sensitivity and the accuracy measured.
The utility model content
Based on above-mentioned existing in prior technology problem, the utility model embodiment provides a kind of space positioning system based on sound wave, can conveniently accurately locate the measurand in the space.
The purpose of this utility model is achieved through the following technical solutions:
The utility model embodiment provides a kind of space positioning system based on sound wave, comprising:
A plurality of sound wave receiving traps, sound wave dispensing device and treating apparatus;
A plurality of sound wave receiving traps, be used for being arranged on a plurality of receiving positions in the space of locating receive the sound wave that measurand sent with certain spectrum signature, and the sound wave that is received is converted to electric signal;
The sound wave dispensing device is used to be arranged on measurand, sends the sound wave with certain spectrum signature in the location space;
Treating apparatus is used to write down the spectrum signature that described sound wave dispensing device sends sound wave; And receive a plurality of electric signal of described a plurality of sound wave receiving trap according to reception sound wave conversion; The spectrum signature of the acoustic signals that carries in each electric signal spectrum signature with the sound wave that measurand sends that is write down is mated, mistiming between utilization reception and the transmission sound wave calculates the distance between measurand and each receiving position, and determines the locus of measurand in the location space by the distance calculation that draws.
Described treating apparatus comprises:
Record cell, electric signal receiving element, timing unit, calculation processing unit and output unit;
Record cell is used to write down the spectrum signature of sound wave sound wave that dispensing device sends;
The electric signal receiving element is used to receive a plurality of electric signal of described a plurality of sound wave receiving trap according to the conversion of reception sound wave;
Timing unit is used for drawing the mistiming that receives and send between the sound wave according to the moment of described sound wave dispensing device transmission sound wave and the moment of described sound wave receiving trap reception sound wave;
Calculation processing unit is used to utilize the mistiming that receives and send between the sound wave to calculate distance between measurand and each receiving position, and determines the locus of measurand in the location space by the distance calculation that draws;
Output unit is used for exporting the spatial positional information of measurand in the location space.
Described timing unit comprises:
A plurality of reception timing subelements, transmission timing unit and computing unit;
Described a plurality of reception timing subelement is respectively applied for the moment that each sound wave receiving trap of record receives sound wave;
Described transmission timing unit is used to write down the moment that described sound wave dispensing device sends sound wave;
Computing unit, be used for the moment, calculate the sound wave receiving trap that sends sound wave and each receiving position and receive mistiming between the sound wave according to the transmission sound wave of the described moment that receives sound wave that respectively receives timing subelement record and described transmission timing unit record.
Described output unit comprises:
Instantaneous speech power and/or demonstration output unit.
Described sound wave receiving trap comprises:
Acoustic receiver and converting unit;
Described acoustic receiver is used to receive sound wave;
Described converting unit is used for the sound wave that described acoustic receiver receives is converted to electric signal.
From the technical scheme that above-mentioned the utility model embodiment provides as can be seen, the mistiming that utilize acoustic signals transmitting speed and transmission among the utility model embodiment, receives this sound wave is calculated the measurand of being located and the distance between a plurality of receiving position, thereby utilizes the distance calculation that obtains to draw the locus of measurand in the location space.This localization method can utilize common sound wave or ultrasound wave, because the sound wave transmitting terminal is not accepted echo, can weaken the influence that the sound wave multipath effect produces in this case, guarantee the sensitivity and the accuracy of measurement, and this method is simple, and cost is low.
Description of drawings
The structured flowchart of the treating apparatus of the positioning system that Fig. 1 provides for the embodiment of the invention two;
The timing unit structured flowchart of the treating apparatus of the positioning system that Fig. 2 provides for the embodiment of the invention two
The structured flowchart of the sound wave receiving trap of the positioning system that Fig. 3 provides for the embodiment of the invention two
The localization method synoptic diagram that Fig. 4 provides for the embodiment of the invention one;
The structured flowchart of the positioning system that Fig. 5 provides for the embodiment of the invention two.
Embodiment
The utility model is described in further detail below in conjunction with the drawings and specific embodiments.
Embodiment
Present embodiment provides a kind of space positioning system based on sound wave, utilizes this system can realize the localization method that provides in the foregoing description one, and as shown in Figure 1, this system comprises:
A plurality of sound wave receiving traps 21,22 ... 2N, sound wave dispensing device 31 and treating apparatus 41;
A plurality of sound wave receiving traps 21,22 ... 2N, be used for being arranged on a plurality of receiving positions in the space of locating receive the sound wave that measurand sent with certain spectrum signature, and the sound wave that is received is converted to electric signal;
Sound wave dispensing device 31 is used to be arranged on measurand, sends the sound wave with certain spectrum signature in the location space;
Treating apparatus 41 is used to write down the spectrum signature that described sound wave dispensing device 31 sends sound wave; And receive described a plurality of sound wave receiving trap 21,22 ... 2N is according to a plurality of electric signal of reception sound wave conversion; The spectrum signature of the acoustic signals that carries in each electric signal spectrum signature with the sound wave that measurand sends that is write down is mated, mistiming between utilization reception and the transmission sound wave calculates the distance between measurand and each receiving position, and determines the locus of measurand in the location space by the distance calculation that draws.
As shown in Figure 2, the treating apparatus in the above-mentioned positioning system comprises:
Electric signal receiving element 211 is used to receive described a plurality of sound wave receiving trap 21,22 ... 2N is according to a plurality of electric signal of reception sound wave conversion;
As shown in Figure 3, the timing unit in the above-mentioned treating apparatus comprises:
A plurality of reception timing subelements 2121,2122 ... 212n, transmission timing unit 312 and computing unit 313;
Described a plurality of reception timing subelement 2121,2122 ... 212n is respectively applied for the moment that each sound wave receiving trap of record receives sound wave;
Described transmission timing unit 312 is used to write down the moment that described sound wave dispensing device sends sound wave;
As shown in Figure 4, the sound wave receiving trap in the above-mentioned positioning system comprises:
Described acoustic receiver 411 is used to receive sound wave;
Described converting unit 412 is used for the sound wave that described acoustic receiver receives is converted to electric signal.
This system architecture is simple, can utilize sound wave or ultrasound wave, easily the position of measured position in measurement space is positioned.
Can know that the treating apparatus in the above-mentioned positioning system can realize that the mode that software module also can be set realizes with the mode of hardware circuit module in computing machine.
Utilize present embodiment to provide positioning system to carry out sterically defined method, specifically comprise the steps: based on sound wave
A plurality of receiving positions receive the sound wave with certain spectrum signature that measurand sent from the location space, and the spectrum signature of record sound wave that measurand sends; Four receiving positions generally are set in the location space at least, four receiving positions distribute be arranged on the Different Plane in the space of locating;
In the above-mentioned steps, specifically be that a plurality of receiving positions in the location space all are provided with the sound wave receiving trap, the sound wave dispensing device is set on measurand, and a plurality of sound wave receiving traps in the space of locating receive the sound wave of certain spectrum signature that the sound wave dispensing device that is provided with on the measurands sends in the location space.
The sound wave that a plurality of receiving positions are received is converted to a plurality of electric signal;
The spectrum signature of the acoustic signals that carries in each electric signal spectrum signature with the sound wave that measurand sends that is write down is mated, utilize receive and the transmission sound wave between mistiming calculate distance between measurand and each receiving position;
Determine the locus of measurand in the location space by the distance calculation that draws.Generally utilize the triangulation calculation method to calculate the locus of measurand in the location space by the distance that draws.
In the said method, described utilization receives and sends the distance that the mistiming between the sound wave calculates between measurand and each receiving position and is specially: utilize the product of the mistiming that sends between sound wave and the reception sound wave and acoustic wave propagation velocity to draw distance between the measurand of receiving position and transmission sound wave.
Below in conjunction with synoptic diagram shown in Figure 5, the localization method of above-mentioned positioning system is described further:
(1) measures the place at needs and lay some acoustic receivers 1,2,3 ... n is as receiving position, each acoustic receiver all is connected to computing machine 5, and the exact position of definite each acoustic receiver, acoustic receiver quantity can be by the decision of measured site space size, 4 above acoustic receivers (a plurality of receiving positions promptly are set in measured site space) generally are set at least, and all not within same plane;
(2) sound wave generating device 6 is placed on the testee, this sound wave generating device 6 is connected with computing machine 5 by wireless mode;
(3) sound wave generating device 6 sends the sound wave of certain spectrum signature, can be sent the sound wave of certain spectrum signature by computing machine 5 controls according to instruction;
(4) be arranged on the acoustic receiver 1,2,3 of receiving position ... n is converted to electric signal with the sound wave that receives and sends on the computing machine 5;
(5) 5 pairs of each acoustic receivers 1,2,3 of computing machine ... the signal spectrum feature that n receives sound wave (is each acoustic receiver 1,2,3 ... n converts the sound wave that receives to electric signal, electric signal sends computing machine to, the frequecy characteristic of the corresponding sound wave of carrying in the electric signal) spectrum signature that sends sound wave with sound wave generating device mates, and utilizes the mistiming that receives and send between the sound wave to calculate distance (promptly calculating the distance between testee and the receiving position) between sound wave generating device and each acoustic receiver;
(6) according to sound wave generating device that calculates and the distance between each acoustic receiver, utilize the triangulation calculation method to calculate the locus of sound wave generating device, promptly determine the position of testee in measuring site space that sound wave generating device is installed.
Localization method in the present embodiment if positioning accuracy request is low, can use common sound wave (as music) to position, and common sound wave can detour by certain barrier because wavelength is longer, is fit to be applied in the place of environment more complicated; If ultrasound wave then can be used in the higher place of positioning accuracy request; Do not accept echo owing to send the transmitting terminal of sound wave, can weaken the influence that the sound wave multipath effect produces in this case, guarantee sensitivity and the accuracy measured; And, realize that the system architecture of this localization method is simple, cost is lower.
In sum, the mistiming that utilize acoustic signals transmitting speed and transmission among the utility model embodiment, receives this sound wave is calculated the measurand of being located and the distance between a plurality of receiving position, thereby utilizes the distance calculation that obtains to draw the locus of measurand in the location space.This localization method can utilize common sound wave or ultrasound wave, because the sound wave transmitting terminal is not accepted echo, can weaken the influence that the sound wave multipath effect produces in this case, guarantees sensitivity and the accuracy measured.
The above; it only is the preferable embodiment of the utility model; but protection domain of the present utility model is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the utility model discloses; the variation that can expect easily or replacement all should be encompassed within the protection domain of the present utility model.Therefore, protection domain of the present utility model should be as the criterion with the protection domain of claims.
Claims (5)
1. the space positioning system based on sound wave is characterized in that, comprising:
A plurality of sound wave receiving traps, sound wave dispensing device and treating apparatus;
A plurality of sound wave receiving traps, be used for being arranged on a plurality of receiving positions in the space of locating receive the sound wave that measurand sent with certain spectrum signature, and the sound wave that is received is converted to electric signal;
The sound wave dispensing device is used to be arranged on measurand, sends the sound wave with certain spectrum signature in the location space;
Treating apparatus is used to write down the spectrum signature that described sound wave dispensing device sends sound wave; And receive a plurality of electric signal of described a plurality of sound wave receiving trap according to reception sound wave conversion; The spectrum signature of the acoustic signals that carries in each electric signal spectrum signature with the sound wave that measurand sends that is write down is mated, mistiming between utilization reception and the transmission sound wave calculates the distance between measurand and each receiving position, and determines the locus of measurand in the location space by the distance calculation that draws.
2. the space positioning system based on sound wave as claimed in claim 1 is characterized in that, described treating apparatus comprises:
Record cell, electric signal receiving element, timing unit, calculation processing unit and output unit;
Record cell is used to write down the spectrum signature of sound wave sound wave that dispensing device sends;
The electric signal receiving element is used to receive a plurality of electric signal of described a plurality of sound wave receiving trap according to the conversion of reception sound wave;
Timing unit is used for drawing the mistiming that receives and send between the sound wave according to the moment of described sound wave dispensing device transmission sound wave and the moment of described sound wave receiving trap reception sound wave;
Calculation processing unit is used to utilize the mistiming that receives and send between the sound wave to calculate distance between measurand and each receiving position, and determines the locus of measurand in the location space by the distance calculation that draws;
Output unit is used for exporting the spatial positional information of measurand in the location space.
3. the space positioning system based on sound wave as claimed in claim 2 is characterized in that, described timing unit comprises:
A plurality of reception timing subelements, transmission timing unit and computing unit;
Described a plurality of reception timing subelement is respectively applied for the moment that each sound wave receiving trap of record receives sound wave;
Described transmission timing unit is used to write down the moment that described sound wave dispensing device sends sound wave;
Computing unit, be used for the moment, calculate the sound wave receiving trap that sends sound wave and each receiving position and receive mistiming between the sound wave according to the transmission sound wave of the described moment that receives sound wave that respectively receives timing subelement record and described transmission timing unit record.
4. the space positioning system based on sound wave as claimed in claim 2 is characterized in that, described output unit comprises:
Instantaneous speech power and/or demonstration output unit.
5. the space positioning system based on sound wave as claimed in claim 1 is characterized in that, described sound wave receiving trap comprises:
Acoustic receiver and converting unit;
Described acoustic receiver is used to receive sound wave;
Described converting unit is used for the sound wave that described acoustic receiver receives is converted to electric signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201436424U CN201654224U (en) | 2010-03-26 | 2010-03-26 | Space positioning system based on acoustic waves |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010201436424U CN201654224U (en) | 2010-03-26 | 2010-03-26 | Space positioning system based on acoustic waves |
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| CN201654224U true CN201654224U (en) | 2010-11-24 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102721942A (en) * | 2012-06-29 | 2012-10-10 | 中国科学院声学研究所 | Acoustic positioning system and acoustic positioning method for object in building environment |
| CN103832905A (en) * | 2012-11-20 | 2014-06-04 | 日立电梯（中国）有限公司 | Position detection device for elevator cab |
| CN105044674A (en) * | 2015-06-10 | 2015-11-11 | 国网山东省电力公司泰安供电公司 | Acoustic positioning method for warehousing system |
| CN108663658A (en) * | 2017-03-30 | 2018-10-16 | 北京京东尚科信息技术有限公司 | Indoor orientation method and device for terminal |
| CN111142095A (en) * | 2020-01-16 | 2020-05-12 | 三星电子（中国）研发中心 | Indoor positioning system, method and device |
| CN111638503A (en) * | 2020-06-19 | 2020-09-08 | 深圳市听多多科技有限公司 | Method, system and computer readable medium for locating wireless device |
-
2010
- 2010-03-26 CN CN2010201436424U patent/CN201654224U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102721942A (en) * | 2012-06-29 | 2012-10-10 | 中国科学院声学研究所 | Acoustic positioning system and acoustic positioning method for object in building environment |
| CN103832905A (en) * | 2012-11-20 | 2014-06-04 | 日立电梯（中国）有限公司 | Position detection device for elevator cab |
| CN105044674A (en) * | 2015-06-10 | 2015-11-11 | 国网山东省电力公司泰安供电公司 | Acoustic positioning method for warehousing system |
| CN108663658A (en) * | 2017-03-30 | 2018-10-16 | 北京京东尚科信息技术有限公司 | Indoor orientation method and device for terminal |
| CN108663658B (en) * | 2017-03-30 | 2020-11-03 | 北京京东尚科信息技术有限公司 | Indoor positioning method and device for terminal |
| CN111142095A (en) * | 2020-01-16 | 2020-05-12 | 三星电子（中国）研发中心 | Indoor positioning system, method and device |
| CN111638503A (en) * | 2020-06-19 | 2020-09-08 | 深圳市听多多科技有限公司 | Method, system and computer readable medium for locating wireless device |
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Granted publication date: 20101124 Termination date: 20160326 |
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