CN203759546U - Following apparatus - Google Patents
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- CN203759546U CN203759546U CN201420103660.8U CN201420103660U CN203759546U CN 203759546 U CN203759546 U CN 203759546U CN 201420103660 U CN201420103660 U CN 201420103660U CN 203759546 U CN203759546 U CN 203759546U
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Abstract
The utility model relates to the automatic following field and especially relates to a following apparatus. The following apparatus comprises a wireless transmitting beacon, a receiving antenna and a following object. The wireless transmitting beacon is used for communicating with the receiving antenna and the wireless transmitting beacon is arranged on an object to be followed. The receiving antenna is arranged on the following object. By using the following apparatus provided in the utility model, the wireless transmitting beacon arranged on the object to be followed establishes communication with the receiving antenna so that the position of the object to be followed is calculated according to a signal received by the receiving antenna arranged on the following object and then the object to be followed is followed. The communication established by the wireless transmitting beacon and the receiving antenna is relatively stable and is not easy to be interfered so that a following distance is increased.
Description
Technical field
The utility model relates to the field of automatically following, in particular to a kind of following device.
Background technology
Along with the development of mechanics of communication, for the quantity that reduces a staff, use following device to replace manually being followed the mode of following that thing follows comparatively general.
Common following device has two kinds, what the first adopted is to survey the position of being followed thing by following the infrared sensor arranging on thing, what the second adopted is to survey being followed thing by following the ultrasonic sensor arranging on thing, then follows according to the predetermined mode of advancing according to the thing of following of the data-driven following device detecting.
Due to infrared ray sensor or ultrasonic sensor detection range limited, the distance that causes following is less than the operating distance of sensor substantially, great majority can only be followed in two meters, following distance is limited.
Utility model content
The purpose of this utility model is to provide a kind of following device, to solve the above problems.
A kind of following device is provided in embodiment of the present utility model, has comprised: wireless transmit beacon, receiving antenna and follow thing,
Wireless transmit beacon is for carrying out communication with receiving antenna, and wireless transmit beacon is placed in and is followed on thing;
Receiving antenna is placed in follows on thing.
Preferably, receiving antenna comprises the first directional receiving antenna, and the first directional receiving antenna can with the communication of wireless transmit beacon.
Preferably, receiving antenna also comprises: the second directional receiving antenna and the 3rd directional receiving antenna,
The second directional receiving antenna and the 3rd directional receiving antenna are placed in follows on thing, and the projection of signal center's line along continuous straight runs of the second directional receiving antenna and the 3rd directional receiving antenna is all 15 degree to 30 degree with the angle of the projection of signal center's line along continuous straight runs of the first directional receiving antenna, and the second directional receiving antenna and the 3rd directional receiving antenna can with the communication of wireless transmit beacon.
Preferably, the angle of radiation of the first directional receiving antenna is ± 30 degree, and/or be ± 40 degree of the angle of radiation of the second directional receiving antenna and the 3rd directional receiving antenna.
Preferably, signal center's line of the first directional receiving antenna, the second directional receiving antenna, the 3rd directional receiving antenna is parallel to the ground.
Preferably, also comprise the first omnidirectional antenna and the second omnidirectional antenna,
The first omnidirectional antenna is on signal center's line of the 3rd directional receiving antenna receive direction; The second omnidirectional antenna is on signal center's line of the second directional receiving antenna receive direction.
Preferably, first distance of omnidirectional antenna to the three directional receiving antennas and the distance of the second omnidirectional antenna to the second directional receiving antenna equate.
Preferably, also comprise: ultrasonic sensor,
Ultrasonic sensor is placed in the peripheral part of following thing.
A kind of following device that the utility model embodiment provides, survey the position of being followed thing with use infrared sensor of the prior art or ultrasonic sensor, according to the data that detect, to being followed thing, follow again, because the detection range of infrared ray sensor and ultrasonic sensor is limited, caused following distance Limited Phase ratio, it sets up communication by being arranged on wireless transmit beacon and the receiving antenna of being followed on thing, again according to being arranged on the position that the received calculated signals of receiving antenna of following on thing is followed thing, and then followed following thing, because communicating by letter of setting up with receiving antenna of wireless transmit beacon is relatively stable, and be not easy disturbed, increased the distance of following, solved deficiency of the prior art.
Accompanying drawing explanation
Fig. 1 shows the basic block diagram of a kind of following device of the utility model embodiment;
Fig. 2 show the utility model embodiment a kind of following device follow thing vertical view;
Fig. 3 show the utility model embodiment a kind of following device follow thing side view.
In figure: 1, follow thing; 2, receiving antenna; 3, followed thing; 4, wireless transmit beacon; 5, the first directional receiving antenna; 6, the second directional receiving antenna; 7, the 3rd directional receiving antenna; 8, the first omnidirectional antenna; 9, the second omnidirectional antenna; 10, ultrasonic sensor.
Embodiment
Below by specific embodiment, also by reference to the accompanying drawings the utility model is described in further detail.
The basic block diagram of a kind of following device as shown in Figure 1, comprising: wireless transmit beacon 4, receiving antenna 2 and follow thing 1,
Wireless transmit beacon 4 is for carrying out communication with receiving antenna 2, and wireless transmit beacon 4 is placed in and is followed on thing 3; Receiving antenna 2 is placed in follows on thing 1.Before use, first wireless transmit beacon 4 is set to and is followed on thing 3, this wireless transmit beacon 4 can be according to the difference of communications protocol, be designed to the bluetooth of 2.4Ghz frequency range or the communication of the interior 2.4Ghz of 802.11 protocol stacks or 5Ghz frequency range etc., and need before use by the identification code of pairing wireless beacon, make to follow the definite object of being followed of object.The wireless beacon agreement that is arranged on the receiving antenna of following on thing 1 is identical with receiving antenna, makes the two can carry out communication.Use 2.4Ghz radiowave, when utilizing signal intensity range finding, can also transmit data, can identify respectively and Classification and Identification tracked object, can in system, draw out a plurality of geographical location information of being followed object.Simultaneously because 2.4Ghz signal has certain penetrability and diffractive, can easily penetrate barrier, can identify and be followed thing 3 bodies and follow between thing 1 body whether inserted barrier simultaneously, and because 2.4GHz wireless signal is under the effect of high-gain aerial, can propagate several kilometers, therefore the distance of range finding can easily surpass ultrasound wave and infrared ray, can freely according to field environmental condition, regulate and be followed object and follow following distance and the speed between object.This signal is invisible electromagnetic wave signal again, and object and light common in life can not impact it, and this frequency range is medical science frequency range, can not damage human body and animal.Because wireless transmit beacon is mounted in, followed on thing 3, and follow the small volume of thing, so can be understood as, to follow thing 1 be identical with following the distance of thing 3 and following thing 1 with the distance of wireless transmit beacon.
What deserves to be explained is, receiving antenna 2 can comprise directional antenna or omnidirectional antenna, can also be to be mixed and formed by directional antenna and omnidirectional antenna.First introduce the related content of lower relevant directional antenna and omnidirectional antenna herein.Directional antenna, is a kind of directive antenna, inside at signal reciever, and signal can be highly stable.If exceeded the scope that signal receives (acute angle that normally angle is very little is fan-shaped), signal receives and significantly drops to no signal.Omnidirectional antenna is relative with directional antenna, and omnidirectional antenna can receive stable signal at 360 degree.But by contrast, omnidirectional antenna can receive the distance of signal will be much smaller than directional antenna, and meanwhile, directional antenna can only be accomplished to receive signal in certain angular range.Given this, the receiving antenna 2 of a kind of following device provided by the utility model can carry out multi-form setting according to the difference of service condition.
The wireless transmit beacon 4 of being followed on thing 3 is being set up after communication with the receiving antenna 2 of following on thing 1, and receiving antenna 2 can calculate the distance of being followed thing 3 apart from following thing 1 according to the power that receives wireless signal and be how many, and angle is how many.Concrete account form is, at least two are arranged on the receiving antenna 2 of following on thing 1 and receive wireless signal, this receiving antenna 2 can be that directional receiving antenna or the mixing of directional receiving antenna and isotropic receiving antenna form, and can be also to consist of three above omnidirectional antennas.If two receiving antennas receive after wireless signal, herein two receive in the receiving antenna of signal has at least one to be directional receiving antenna, according to the degree of strength of the signal receiving, can calculate and be arranged on the wireless transmit beacon 4 of being followed on thing 3 two length that receive the receiving antenna 2 of signal of distance respectively.Meanwhile, two receiving antennas 2 that receive signal are known with distance and the angle of following thing 1, or can be understood as, and two receiving antennas 2 that receive signal are substantially to overlap with following thing 1.Certainly, the riding position of receiving antenna 2 can be arranged on the outside of following thing 1, apart from the center of following thing 1, have certain distance in other words, as long as can receive the signal that wireless transmit beacon 4 sends, and two receiving antennas are known apart from distance and the angle of following thing 1.Calculating two receiving antenna 2 distances that receive signal, and the known two receiving antennas 2 distances distance of following thing 1 is with after relative angle of following thing 1, according to triangulation, both can calculate and followed distance and the angle of thing 3 with respect to wireless transmit beacon 4, namely follow distance and angle that thing 1 is followed thing 3 relatively.Now, being followed thing 3 can, according to default follow the mode, be followed following thing 3.When the receiving antenna 2 of following on thing 1 is three omnidirectional antennas, and three omnidirectional antennas are not during conllinear, can pass through said method, the distance He Liang omnidirectional antenna distance that can follow thing 1 by two omnidirectional antennas distance be followed the distance of thing 1 and with respect to the angle of following thing 1, determine and followed on two possible points of the position of thing 3, by the 3rd omnidirectional antenna, determine and followed thing 3 specifically on that aspect again, then follow being followed thing 3 according to distance and the angle of following thing 1 distance and followed thing 3.
Certainly, the quantity of following the receiving antenna 2 on thing 1 is more, calculates that to follow thing 1 just more accurate with respect to the distance of being followed thing 3 and angle.If the quantity of receiving antenna 2 is abundant, so, according to the combination of different receiving antennas 2, can calculate to follow thing 1 also just more with respect to the value of the distance of being followed thing 3 and angle, can be by repeatedly ask the mean value of distance and repeatedly ask the mean value of angle to reduce error as far as possible, thereby increase, follow 1 pair of quilt of thing and follow the accuracy that thing 3 is followed.Consider that wireless transmit beacon 4 and receiving antenna 2 are when communicating, when there is barrier on transmission path, the received signal intensity of receiving antenna 2 can decline, and the reason that this this kind of signal declines not is to change and cause apart from the distance of being followed thing 3 because follow thing 1.After following the quantity increase of the receiving antenna 2 arranging on thing 1, this kind of problem also can be solved, can think, barrier only can exert an influence to the received signal intensity of certain a part of receiving antenna 2 under normal circumstances, and the received not impact of signal intensity of other receiving antennas 2, now just can think that the affected reason of intensity of these signals is barriers, rather than because follow thing 1 and the change of distance of being followed thing 3.Now, according to signal intensity, do not receive that the received signal intensity of receiving antenna 2 of impact is calculated and follow thing 1 and distance and the angle of being followed thing 3.
Same this barrier hinders the problem that signal is propagated, and the following device of existing use infrared ray sensor or ultrasonic sensor 10 is difficult to solve.When having barrier to be present in to follow thing 1 and being followed the signal propagation path of thing 3, infrared ray sensor can change except signal intensity, may recognize in addition other the barrier that can launch infrared signal, and then caused and cannot accurately calculate the position of being followed thing 3, thereby cause following unsuccessfully.Ultrasonic sensor 10 is after transmitting ultrasound wave, and barrier may send to ultrasonic signal bounce-back to follow thing 1, and then has caused and cannot accurately calculate the position of being followed thing 3, causes following unsuccessfully.
The position that is arranged on the receiving antenna 2 of following on thing 1 also has certain requirements, in order to guarantee that each constantly all has the receiving antenna 2 of abundant quantity can receive wireless signal, namely the region of effective reception signal of receiving antenna 2 can cover wireless transmit beacon 4.When receiving antenna 2 is omnidirectional antenna, because its signal cover is circular, as long as guarantee that wireless transmit beacon 4 does not exceed its effective radius.Wireless transmit beacon 4 should be arranged in the overlapping region of the signal effective coverage range of at least two directional receiving antennas 2, or be arranged in the overlapping region of the signal effective coverage range of at least one directional antenna and at least one omnidirectional antenna, and three omnidirectional antennas are conllinear not, or in the overlapping region of the signal effective coverage range of at least three omnidirectional antennas.The receiving antenna 2 that the mode that receiving antenna 2 is so set can ensure sufficient amount can receive the signal that wireless transmit beacon 4 sends, and then according to the intensitometer of this signal, calculate the distance of receiving antenna 2 and wireless transmit beacon, known receiving antenna 2 with follow after the distance of thing 1, and wireless transmit beacon 4 is arranged on is followed on thing 3, just can calculate and follow thing 1 and followed distance and the angle of thing 3 according to triangle algorithm, and follow according to this distance and angle.
Following device provided by the utility model, by being arranged on the wireless transmit beacon 4 of being followed on thing 3, set up communication with receiving antenna 2, again according to being arranged on the position that the received calculated signals of receiving antenna 2 of following on thing 1 is followed thing 3, and then followed following thing 3, because communicating by letter of setting up with receiving antenna 2 of wireless transmit beacon is relatively stable, and be not easy disturbedly, increased the distance of following, solved deficiency of the prior art.
The vertical view of a kind of following device as shown in Figures 2 and 3, on the basis of embodiment 1, concrete, receiving antenna 2 comprises the first directional receiving antenna 5, and the first directional receiving antenna 5 can with 4 communications of wireless transmit beacon.Conventionally, directional receiving antenna is plate aerial, and its signal center's line also just can be understood as the vertical line of the geometric center point of square dull and stereotyped directional receiving antenna.When being followed 3 of things while carrying out rectilinear motion, owing to need not considering angle problem, depend merely on a directional receiving antenna and can complete being followed the tracking of thing 3.Namely wireless transmit beacon 4 is all the time in the signal cover in the first directional receiving antenna 5, power by the first directional receiving antenna 5 received signals can calculate the distance of being followed thing 3 distances and follow thing 1, and follow thing 1 straight ahead, follow, when being followed thing 3 while exceeding the signal cover of the first directional receiving antenna 5, following thing 1 also can know, being followed thing 3 is to exceed signal cover apart from its place how far, and this is also a kind of more satisfactory situation.
But under normal condition, the movement of being followed thing 3 is not straight line, now, except needs, know that following thing 1 distance is followed the distance of thing 3, also need to know to follow thing 1 and the angle of being followed thing 3, make to follow thing 1 and can follow accurately and followed thing 3.Receiving antenna also comprises: the second directional receiving antenna 6 and the 3rd directional receiving antenna 7, the second directional receiving antenna 6 and the 3rd directional receiving antenna 7 are placed in follows on thing 1, and the projection of signal center's line along continuous straight runs of the second directional receiving antenna 6 and the 3rd directional receiving antenna 7 is all 15 degree to 30 degree with the angle of the projection of signal center's line along continuous straight runs of the first directional receiving antenna 5, and the second directional receiving antenna 6 and the 3rd directional receiving antenna 7 can with 4 communications of wireless transmit beacon.Only having on the basis of the first directional receiving antenna 5, increased the second directional receiving antenna 6 and the 3rd directional receiving antenna 7, and the projection of signal center's line along continuous straight runs of the second directional receiving antenna 6 and the 3rd directional receiving antenna 7 is all 15 degree to 30 degree with the angle of the projection of signal center's line along continuous straight runs of the first directional receiving antenna 5.And three directional receiving antennas all have certain angle of radiation, the distance of effective reception signal of directional antenna can reach several kilometers, make the overlapping part of signal cover of two directional antennas also have several kilometers, the part of signal overlap namely effectively receives the scope of signal, in the overlapping part of signal cover, be can calculate accurately to be followed thing 3 and relatively follow distance and the angle of thing 1, and then make to follow thing 1 and can follow being followed thing 3.When being followed thing 3, turn or accelerate, may depart from before the scope of effective reception signal, following thing 1 may be by turning to or mobilely making to be followed thing 3 always in the scope of effective reception signal in following thing 1 in advance.This projection of sentencing signal center's line along continuous straight runs describes, and is because its signal center's line might not be parallel to the ground, as long as directional receiving antenna can carry out communication with wireless transmit beacon 4.
Wherein the first directional receiving antenna 5, the second directional receiving antenna 6 and the 3rd directional receiving antenna 7 can be microstrip antenna (also can be slot antenna or microstrip slot antenna), on a thin-medium substrate, one side is enclosed thin metal layer as ground plate, another side is made the metal patch of definite shape with photoetching caustic solution, the antenna that utilizes microstrip line or coaxial probe to form paster feed.And the antenna that cracks on the conductor surface of paster and form, also referred to as slot antenna.Typical seam shape is strip, and length is about half wavelength.Gap can be with the transmission line feed being connected across on its narrow limit, also can be by waveguide or resonator cavity feed.At this moment, on gap, excitation has radio frequency electromagnetic field, and to space radiation electromagnetic wave.This kind of antenna has the following advantages, and 1, volume is little, lightweight, and low section can be conformal with carrier (as aircraft); 2, electrical property variation.Micro-band of different designs is first, and its greatest irradiation direction can be mapped within the scope of end-fire and adjust from limit; Be easy to obtain various polarization; 3, easy of integration.Energy and active device, circuit are integrated into unified assembly.This kind of antenna is more suitable for being arranged on is followed on thing 3.
After through actual measuring and calculating, the projection of signal center's line along continuous straight runs of the second directional receiving antenna 6 and the 3rd directional receiving antenna 7 is all preferably 20 degree with the angle of the projection of signal center's line along continuous straight runs of the first directional receiving antenna 5.During triangle location, 20 degree are the relatively better numerical value calculating, with respect to other angle values, computing system on following device, it is less that namely CPU consumes meeting, makes the state that remains on low power consumption and low temperature of CPU, extended the serviceable life of CPU, also under the certain prerequisite of the energy, extended being followed the time that thing 3 is followed.
It should be noted that, the shape of directional antenna is square, signal center's line of directional antenna is the vertical line of the geometric center point of square dull and stereotyped directional receiving antenna namely, so the projection of signal center's line along continuous straight runs of the second directional receiving antenna 6 and the 3rd directional receiving antenna 7 is all 15 degree to 30 degree with the angle of the projection of signal center's line along continuous straight runs of the first directional receiving antenna 5, also the projection of vertical line along continuous straight runs that can be understood as the geometric center point of the second directional receiving antenna 6 and the 3rd directional receiving antenna 7 is all 15 degree to 30 degree with the angle of the projection of the vertical line along continuous straight runs of the geometric center point of the first directional receiving antenna 5.Simultaneously, the mode that this kind arranges directional receiving antenna signal center line can make signal center's line of the first directional receiving antenna 5, the second directional receiving antenna 6 and the 3rd directional receiving antenna 7 intersect at a point, crossing this point just can be used as the central point of following thing 1, facilitates CPU to calculate.The projection of signal center's line along continuous straight runs of the second directional receiving antenna 6 and the 3rd directional receiving antenna 7 is all preferably 20 degree with the angle of the projection of signal center's line along continuous straight runs of the first directional receiving antenna 5, and the namely projection of the vertical line along continuous straight runs of the geometric center point of the second directional receiving antenna 6 and the 3rd directional receiving antenna 7 is all preferably 20 degree with the angle of the projection of the vertical line along continuous straight runs of the geometric center point of the first directional receiving antenna 5.In the utility model application documents, signal center's line of directional receiving antenna all can be understood as the vertical line of the geometric center point of square dull and stereotyped directional receiving antenna.What deserves to be explained is, the first directional receiving antenna 5, the second directional receiving antenna 6 and the 3rd directional receiving antenna 7 are as an antenna sets, a plurality of antenna sets can be set following on thing 1, the corresponding angle of each antenna sets is different, when the quantity of this kind of antenna sets is abundant, just can cover all angles, make to be followed the effective signal cover of the more difficult disengaging of thing 3.In antenna sets, can also increase the area of effective signal cover by increasing the quantity of directional receiving antenna, also can increase the accuracy that CPU calculates by covering the antenna amount of the same area.
Concrete, the second directional receiving antenna 6 and the 3rd directional receiving antenna 7 will be lower than the first directional receiving antennas 5 in the position of vertical direction.Followed object normally contour with normal person, and the first directional receiving antenna 5 is to use maximum directional antennas in range finding, simultaneously, the second directional receiving antenna 6 and the 3rd directional receiving antenna 7 also have the function that short barrier is measured, so the height of the second directional receiving antenna 6 and the 3rd directional receiving antenna 7 will be lower than the first directional receiving antenna 5.
The signal angle of radiation that orientation is accepted antenna is larger, its intensity that receives signal is also just poorer, through calculating and actual measurement, the angle of radiation that the first directional receiving antenna 5, the second directional receiving antenna 6 and the 3rd orientation are accepted antenna, when meeting certain value and obtain, can make the intensity of signal and the value of useful signal coverage that receive reach relatively reasonably level.The angle of radiation of the first directional receiving antenna 5 is ± 30 degree, and/or be ± 40 degree of the angle of radiation of the second directional receiving antenna 6 and the 3rd directional receiving antenna 7.Namely the angle of radiation of the first directional receiving antenna 5 is 60 degree, and the angle of radiation of the second directional receiving antenna 6 and the 3rd directional receiving antenna 7 is 80 degree.According to different service conditions, the angle of radiation of the first directional receiving antenna 5 can be the arbitrary values of be less than ± 30 degree, and/angle of radiation of the second directional receiving antenna 6 and the 3rd directional receiving antenna 7 can be the arbitrary values of be less than ± 40 degree.
Certainly, in order to facilitate the CPU on mobile following device to calculate, signal center's line of the first directional receiving antenna 5, the second directional receiving antenna 6, the 3rd directional receiving antenna 7 is parallel to the ground.Namely the vertical line of the geometric center point of the first directional receiving antenna 5, the second directional receiving antenna 6, the 3rd directional receiving antenna 7 is parallel to the ground.Arrange in this manner, can reduce the power consumption of CPU, extended the serviceable life of CPU, also under the certain prerequisite of the energy, following device can be followed more of a specified duration.
Except using directional receiving antenna to be positioned following thing 3, can also use omnidirectional antenna that the received signal of directional antenna is calibrated and verified.Also comprise that the first omnidirectional antenna 8 and the second omnidirectional antenna 9, the first omnidirectional antennas 8 are on signal center's line of the 3rd directional receiving antenna 7 receive directions; The second omnidirectional antenna 9 is on signal center's line of the second directional receiving antenna 6 receive directions.The signal cover of omnidirectional antenna approaches 360 degree, relative, the signal cover of directional receiving antenna is similar fan-shaped, but its accuracy and range of receiving signal will be lower than directional receiving antennas, use omnidirectional antenna to proofread the received signal of directional receiving antenna, the result that can calculate according to different pieces of information combination, averages, and reduces the error that thing 3 is followed in location.Simultaneously, can also detect directional antenna and receive the part that range of signal cannot cover, being followed thing 3 departs from away from the side of the signal cover of directional receiving antenna at a terrific speed, omnidirectional antenna also may capture is followed the signal that on thing 3, wireless transmit beacon 4 is sent, thus auxiliary tracking.Setting is the first omnidirectional antenna 8 on signal center's line of the 3rd directional receiving antenna 7 receive directions; The second omnidirectional antenna 9 is on signal center's line of the second directional receiving antenna 6 receive directions.Under the prerequisite intersecting at a point at signal center's line of the first directional receiving antenna 5, the second directional receiving antenna 6 and the 3rd directional receiving antenna 7, two omnidirectional antennas on the extended line of signal center's line of the second directional receiving antenna 6 and signal center's line of the 3rd directional receiving antenna 7, can facilitate CPU to calculate data respectively.Same reason, the first omnidirectional antenna 8 to the distance of the 3rd directional receiving antenna 7 and the distance of the second omnidirectional antenna 9 to second directional receiving antennas 6 equates, after relative distance has been fixed, the computing power consumption of CPU also can decline to a certain extent, extended the serviceable life of CPU, also under the certain prerequisite of the energy, can follow longer distance making to be followed thing 3.
Follow thing 1 and also can run into barrier on the road of advancing, except according to the received signal intensity of directional receiving antenna, barrier being surveyed, can also survey by 10 pairs of barriers of ultrasonic sensor.Also comprise: ultrasonic sensor 10, ultrasonic sensor 10 is placed in the peripheral part of following thing 1.The signal transmit direction of ultrasonic sensor 10 should cover at least and be followed the contour height of thing 3 with quilt.The ultrasonic signal of launching and receiving according to ultrasonic sensor 10, can calculate the position of following the barrier in thing 1 course, and hides according to the position of barrier.Certainly, increase the quantity of ultrasonic sensor 10, and make the hyperacoustic angle faces of ultrasonic sensor 10 transmitting to different angles, can make the information of the barrier that its ultrasonic sensor 10 obtains more comprehensive.
Follow on thing 1 and also comprise information accumulation device, information accumulation device is for storing directional antenna, omnidirectional antenna and the received signal of ultrasonic sensor 10.The function of information accumulation device is identical with drive recorder, can to the information in information accumulation device, transfer as required.
Follow on thing 1 and also comprise that wireless transmission antenna, its effect are that directional receiving antenna omnidirectional antenna, the received signal of ultrasonic sensor 10 are sent, make user at a distance can recognize the current following state of following thing 1.Wireless transmission antenna can be arranged on the optional position of following thing 1, but is preferably arranged on its surface, and is arranged near isotropic receiving antenna, the little reception of directional receiving antenna to signal that affect of trying one's best when wireless transmission antenna transmits.
In order to make to follow thing 1, can better move, and adapt to various landform situations, follow on thing 1 and be provided with two crawler belts, two crawler belts be arranged in parallel, and driving is followed thing 1 and moved.
A kind of following device provided by the utility model, by being arranged on the wireless transmit beacon 4 of being followed on thing 3, set up communication with receiving antenna, again according to being arranged on the position that the received calculated signals of receiving antenna of following on thing 1 is followed thing 3, and then followed following thing 3, because communicating by letter of setting up with receiving antenna of wireless transmit beacon is relatively stable, and be not easy disturbed, increased the distance of following, and carry out auxiliary positioning by omnidirectional antenna, also used ultrasonic sensor 10, the structures such as information accumulation device, increased the job stability of following thing 1, better solved deficiency of the prior art.
The foregoing is only preferred embodiment of the present utility model, be not limited to the utility model, for a person skilled in the art, the utility model can have various modifications and variations.All within spirit of the present utility model and principle, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection domain of the present utility model.
Claims (8)
1. a following device, is characterized in that, comprising: wireless transmit beacon, receiving antenna and follow thing,
Described wireless transmit beacon is for carrying out communication with described receiving antenna, and described wireless transmit beacon is placed in and is followed on thing;
Described in being placed in, described receiving antenna follows on thing.
2. a kind of following device according to claim 1, is characterized in that, described receiving antenna comprises the first directional receiving antenna, and described the first directional receiving antenna can with the communication of described wireless transmit beacon.
3. a kind of following device according to claim 2, is characterized in that, described receiving antenna also comprises: the second directional receiving antenna and the 3rd directional receiving antenna,
Described in being placed in, described the second directional receiving antenna and described the 3rd directional receiving antenna follow on thing, and the projection of signal center's line along continuous straight runs of described the second directional receiving antenna and described the 3rd directional receiving antenna is all 15 degree to 30 degree with the angle of the projection of signal center's line along continuous straight runs of described the first directional receiving antenna, and described the second directional receiving antenna and described the 3rd directional receiving antenna can with the communication of described wireless transmit beacon.
4. a kind of following device according to claim 3, is characterized in that, the angle of radiation of described the first directional receiving antenna is ± 30 degree, and/or be ± 40 degree of the angle of radiation of described the second directional receiving antenna and described the 3rd directional receiving antenna.
5. a kind of following device according to claim 4, is characterized in that, signal center's line of described the first directional receiving antenna, described the second directional receiving antenna, described the 3rd directional receiving antenna is parallel to the ground.
6. a kind of following device according to claim 5, is characterized in that, also comprises the first omnidirectional antenna and the second omnidirectional antenna,
Described the first omnidirectional antenna is on signal center's line of described the 3rd directional receiving antenna receive direction; Described the second omnidirectional antenna is on signal center's line of described the second directional receiving antenna receive direction.
7. a kind of following device according to claim 6, is characterized in that,
Described the first omnidirectional antenna is equal to the distance of described the second directional receiving antenna to distance and described second omnidirectional antenna of described the 3rd directional receiving antenna.
8. according to a kind of following device described in claim 1 to 7 any one, it is characterized in that, also comprise: ultrasonic sensor,
Described in being placed in, described ultrasonic sensor follows the peripheral part of thing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420103660.8U CN203759546U (en) | 2014-03-07 | 2014-03-07 | Following apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420103660.8U CN203759546U (en) | 2014-03-07 | 2014-03-07 | Following apparatus |
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|---|---|
| CN203759546U true CN203759546U (en) | 2014-08-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420103660.8U Expired - Fee Related CN203759546U (en) | 2014-03-07 | 2014-03-07 | Following apparatus |
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