CN202383520U - Sound positioning navigation device - Google Patents
Sound positioning navigation device Download PDFInfo
- Publication number
- CN202383520U CN202383520U CN2011205434367U CN201120543436U CN202383520U CN 202383520 U CN202383520 U CN 202383520U CN 2011205434367 U CN2011205434367 U CN 2011205434367U CN 201120543436 U CN201120543436 U CN 201120543436U CN 202383520 U CN202383520 U CN 202383520U
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- sound
- wireless sensor
- communication circuit
- positioning
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Abstract
The utility model discloses a sound positioning navigation device capable of performing sound source positioning navigation to a moving object. The device is characterized by comprising a mobile module connected with a wireless communication circuit and a wireless sensor network comprising at least three wireless sensor modules, wherein the wireless sensor module is connected with the wireless communication circuit; the wireless communication circuit of the mobile module and the wireless communication circuit of each wireless sensor module perform signal transmission; the mobile module comprises an AVR singlechip circuit connected with a sound source supply circuit and a motor drive circuit; and the wireless sensor module comprises an ARM (advanced RISC machine) processor circuit connected with a sound receiving and processing circuit, a display circuit and a keyboard circuit. According to the sound positioning navigation device, sound ranging positioning and sensor network are combined, and dynamic positioning and real-time navigation of a three-dimensional space of the moving object in a travelling process can be realized by utilizing the auto-positioning function of a sensor node in a sensor network, and the navigation has high accuracy and strong real-time performance.
Description
Technical field
The utility model relates to a kind of location and navigation technology, specifically a kind of sound localization guider.
Background technology
Sound localization airmanship based on sensor node engenders in recent years; As application number be 200810053508.2, the applying date is that 2008.6.13, publication number are the patent " a kind of sound source independent searching and locating method " of CN 101295016A; And application number is 200920245849.X, the applying date to be to be the patent of CN 20156268U " a kind of robot locating device based on sound guidance " 2009.12.17, Granted publication number; The former sound transducer is given in mobile apparatus head part square regularly and serves as mobile robot's ear for four jiaos, can realize the location, sound bearing and the accurate location that can not realize sound source by sound; Three the summit layout rules of latter's sensor node in 1m * 1m square planar scope can only be implemented in the location and the guiding of mobile object in 1m * 1m scope.The two all is based on several fixed sensing nodes employings and carries out sound localization and navigation, and location navigation is limited in scope.
How to design a kind of based on wireless sensor network; Be applicable to various complex environments and can realize mobile object is carried out the system of sound localization navigation, particularly being applied to robot and unmanned vehicle becomes the problem that present stage need solve in the navigation of various complex environments.
Summary of the invention
The purpose of the utility model provides a kind of sound localization guider that can carry out the auditory localization navigation to mobile object.In sensor network covering space scope; Node self-locating function by means of wireless sensor network; Utilize initiatively telemetry realization mobile object (sound source) location navigation of sound, be applicable to tunnel, mine and wait environment to carry out detection and the robot that searches and rescues and the location navigation of unmanned vehicle under water.
The utility model is to adopt following technical scheme to realize its goal of the invention; A kind of sound localization guider; It comprises the mobile module that is connected with radio communication circuit, the wireless sensor network of being made up of 3 wireless sensor module at least; Said wireless sensor module is connected with radio communication circuit; Carry out the signal transmission between the radio communication circuit of mobile module and the radio communication circuit of each wireless sensor module; Described mobile module comprises and is connected with the AVR single chip circuit that sound source provides circuit, motor-drive circuit, and described wireless sensor module comprises the arm processor circuit that is connected with sound acceptance and treatment circuit, display circuit, keyboard circuit.
The utility model is for accurate location, and described AVR single chip circuit also is circumscribed with sound light alarming circuit.
Owing to adopt technique scheme; The utility model has been realized goal of the invention preferably; It combines the sound ranging location with sensor network; Utilize the self-locating function of the sensor node in the sensor network, realized three-dimensional Kinematic Positioning and the real-time navigation of mobile object in traveling process, and the precision of navigation is high, real-time.
Description of drawings
Fig. 1 is the structural principle schematic block diagram of the utility model.
Embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is described further.
Can know by Fig. 1; A kind of sound localization guider; It comprises the mobile module that is connected with radio communication circuit, the wireless sensor network of being made up of 3 wireless sensor module at least; Said wireless sensor module is connected with radio communication circuit, and the wireless sensor module of present embodiment is 100, and random arrangement is a physical space.Carry out the signal transmission between the radio communication circuit of mobile module and the radio communication circuit of each wireless sensor module; Described mobile module comprises and is connected with the AVR single chip circuit that sound source provides circuit, motor-drive circuit, and described wireless sensor module comprises the arm processor circuit that is connected with sound acceptance and treatment circuit, display circuit, keyboard circuit.
The said AVR single chip circuit of the utility model is made up of the Atmega64 processor circuit, is the governor circuit of mobile module; Said sound source provides circuit to be made up of power amplifier and loudspeaker, is used for the pulse-width signal (PWM, Pulse Width Modulation) that mobile module AVR single-chip microcomputer produces is amplified, and through the loudspeaker output sound signal; Said motor-drive circuit is made up of the two-way driving circuit, is used for controlling turning to of the upper and lower and left and right four direction of mobile object.
The said arm processor circuit of the utility model is made up of the S3C2410 processor circuit, is the governor circuit of wireless sensor module; Said sound is accepted and treatment circuit is made up of receiver, pre-amplification circuit, BPF., voltage comparator, is used for transferring voice signal to voltage signal, amplification, filtering and relatively output; Said display circuit is made up of 24 very color LCD liquid crystal display circuits; Said keyboard circuit is made up of 4 * 4 keyboard circuits.
The utility model is for accurate location, and described AVR single chip circuit also is circumscribed with sound light alarming circuit, and sound light alarming circuit provides circuit and circuit of LED to form by sound source, is used for the sound and light alarm after mobile object arrives destination locations.
During the utility model location navigation, at first through keyboard to set up mobile object moving target position coordinate O (x
o, y
o, z
o), and be transferred to mobile module through radio communication circuit.When mobile object is advanced; When sounding signal; Send the reception order through radio communication circuit and give each wireless sensor module; Three not the wireless sensor module on same straight line calculate the distance of confirming each wireless sensor module and mobile object according to the reception order and the voice signal that receive through the arm processor circuit, and be transferred to mobile module through radio communication circuit.The data of the AVR single chip circuit of mobile module to obtaining, (x, y z), adjust the direct of travel of mobile object to the real-time coordinate position M of definite mobile object more in real time through motor-drive circuit after treatment.
In the real-time traveling process of mobile object, constantly repeat above step, can realize the three dimensions real-time positioning and the navigation of mobile object.After mobile object arrived target coordinate, sound light alarming circuit carried out the sound and light alarm prompting, and waited for new target coordinate setting.
Claims (2)
1. sound localization guider; It is characterized in that it comprises the mobile module that is connected with radio communication circuit, the wireless sensor network of being made up of 3 wireless sensor module at least; Said wireless sensor module is connected with radio communication circuit; Carry out the signal transmission between the radio communication circuit of mobile module and the radio communication circuit of each wireless sensor module; Described mobile module comprises and is connected with the AVR single chip circuit that sound source provides circuit, motor-drive circuit, and described wireless sensor module comprises the arm processor circuit that is connected with sound acceptance and treatment circuit, display circuit, keyboard circuit.
2. sound localization guider according to claim 1 is characterized in that described AVR single chip circuit also is circumscribed with sound light alarming circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205434367U CN202383520U (en) | 2011-12-22 | 2011-12-22 | Sound positioning navigation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205434367U CN202383520U (en) | 2011-12-22 | 2011-12-22 | Sound positioning navigation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202383520U true CN202383520U (en) | 2012-08-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205434367U Expired - Fee Related CN202383520U (en) | 2011-12-22 | 2011-12-22 | Sound positioning navigation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202383520U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661188A (en) * | 2012-09-17 | 2014-03-26 | 纬创资通股份有限公司 | Warning device and warning method |
| CN104698973A (en) * | 2015-01-23 | 2015-06-10 | 中国矿业大学 | Automatic centering system and method of parallel type mining crushing station |
| CN105094136A (en) * | 2015-09-14 | 2015-11-25 | 桂林电子科技大学 | Adaptive microphone array sound positioning rescue robot and using method thereof |
| CN108139215A (en) * | 2015-10-16 | 2018-06-08 | 因温特奥股份公司 | Using voice signal to the route guidance of personnel |
| US10379534B2 (en) | 2016-01-28 | 2019-08-13 | Qualcomm Incorporated | Drone flight control |
-
2011
- 2011-12-22 CN CN2011205434367U patent/CN202383520U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661188A (en) * | 2012-09-17 | 2014-03-26 | 纬创资通股份有限公司 | Warning device and warning method |
| CN104698973A (en) * | 2015-01-23 | 2015-06-10 | 中国矿业大学 | Automatic centering system and method of parallel type mining crushing station |
| CN104698973B (en) * | 2015-01-23 | 2017-11-21 | 中国矿业大学 | A kind of automatic centering system and centering method at parallel mine crushing station |
| CN105094136A (en) * | 2015-09-14 | 2015-11-25 | 桂林电子科技大学 | Adaptive microphone array sound positioning rescue robot and using method thereof |
| CN105094136B (en) * | 2015-09-14 | 2017-09-01 | 桂林电子科技大学 | The sound positioning rescue robot and its application method of adaptive microphone array |
| CN108139215A (en) * | 2015-10-16 | 2018-06-08 | 因温特奥股份公司 | Using voice signal to the route guidance of personnel |
| CN108139215B (en) * | 2015-10-16 | 2021-10-15 | 因温特奥股份公司 | Routing of persons by means of acoustic signals |
| US10379534B2 (en) | 2016-01-28 | 2019-08-13 | Qualcomm Incorporated | Drone flight control |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120815 Termination date: 20121222 |