CN206804856U - Indoor ultrasonic 3 D positioning system - Google Patents
Indoor ultrasonic 3 D positioning system Download PDFInfo
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- CN206804856U CN206804856U CN201720522011.5U CN201720522011U CN206804856U CN 206804856 U CN206804856 U CN 206804856U CN 201720522011 U CN201720522011 U CN 201720522011U CN 206804856 U CN206804856 U CN 206804856U
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Abstract
It the utility model is related to a kind of indoor ultrasonic 3 D positioning system, the system includes beacon end and destination node, beacon end includes origin beacon and node beacon group, and node beacon group includes two node beacons, and origin beacon and two node beacons are arranged in same plane；Origin beacon is used to send positioning ultrasonic to destination node, and infrared optical synchronous signal is sent to destination node and two node beacons by predetermined time interval；Two node beacons are used for the infrared optical synchronous signal for receiving the transmission of origin beacon, and send positioning ultrasonic to destination node；Destination node is used to receive the positioning ultrasonic that the positioning ultrasonic of origin beacon transmission, infrared optical synchronous signal and two node beacons are sent, and obtains the three-dimensional coordinate of the destination node.The utility model has the advantages that cost is low, easy to install, anti-electromagnetic interference capability is strong, it is directly perceived with temporal information not influenceed by outside environmental elements.
Description
Technical field
It the utility model is related to technical field of navigation and positioning, more particularly to a kind of indoor ultrasonic 3 D positioning system.
Background technology
Indoor positioning refers to realize in environment indoors carries out position positioning to indoor occupant, object, and current interior is determined
Position technology mainly using infrared technology, ZigBee technology, wireless blue tooth technology, REID, super-broadband tech and
Light tracking technique.
However, indoor occupant, object is positioned using current localization method not only easily by indoor complicated ring
The influence in border, position stability is poor, and overall cost is high.
Thus, it is necessary to it is small to propose that one kind is affected by the external environment, the high solution of positioning accuracy.
Utility model content
Main purpose of the present utility model be to provide a kind of cost is low, easy to install, anti-electromagnetic interference capability is strong,
Do not influenceed and temporal information intuitively indoor ultrasonic 3 D positioning system by outside environmental elements, it is intended to which it is existing indoor fixed to overcome
The shortcomings that information error is big, time response is slow in the technology of position.
To achieve the above object, the utility model is achieved in that the utility model provides a kind of indoor ultrasonic three
Alignment system, including beacon end and destination node are tieed up, the beacon end includes origin beacon and node beacon group, the node letter
Mark group includes two node beacons, and the origin beacon and described two node beacons are arranged in same plane；
The origin beacon is used to send positioning ultrasonic to the destination node, by predetermined time interval to the mesh
Mark node and two node beacons send infrared optical synchronous signal；
Described two node beacons are used to receiving the infrared optical synchronous signal that the origin beacon is sent, and to the target
Node sends positioning ultrasonic；
The destination node be used to receiving the positioning ultrasonic that the origin beacon sends, infrared optical synchronous signal and
The positioning ultrasonic that described two node beacons are sent, and obtain the three-dimensional coordinate of the destination node.
Further technical scheme of the present utility model is that the origin beacon is straight in isosceles with described two node beacons
Angle triangular arrangement is in same plane.
Further technical scheme of the present utility model is that the origin beacon includes the first controller, the first ultrasonic wave
Generation sensor, the first ultrasonic wave transmitting circuit and infrared light synchronous generator, the first ultrasonic wave transmitting circuit
And infrared light synchronous generator is connected with first controller respectively, the first ultrasonic wave transmitting circuit and described the
Sensor connection occurs for one ultrasonic wave；Wherein, first controller is used to controlling first ultrasonic wave that sensor, the occurs
One ultrasonic wave transmitting circuit sends positioning ultrasonic to the node beacon and destination node, controls the infrared optical synchronous signal
Generator sends infrared optical synchronous signal by predetermined time interval to the destination node and two node beacons；
Each node beacon in the node beacon group includes second controller, sensor occurs for the second ultrasonic wave,
Second ultrasonic wave transmitting circuit and the first infrared light synchronous signal receiver, the second ultrasonic wave transmitting circuit and infrared light
Synchronous signal receiver is connected with the second controller respectively, the second ultrasonic wave transmitting circuit and second ultrasonic wave
Generation sensor connects；Wherein, the second controller is used to be received according to the first infrared light synchronous signal receiver
Infrared optical synchronous signal control second ultrasonic wave that sensor, the second ultrasonic wave transmitting circuit occurs to the destination node
Send positioning ultrasonic；
The destination node includes the 3rd controller, two ultrasonic receivers, received corresponding to described two ultrasonic waves
Two ultrasound detection circuits and the second infrared light synchronous signal receiver of device, described two ultrasonic receiver intervals are set
Put；
Described two ultrasound detection circuits, the second infrared light synchronous signal receiver connect with the 3rd controller respectively
Connect, ultrasound detection circuit corresponding with described two ultrasound detection circuits connects described two ultrasonic receivers respectively
Connect.
Further technical scheme of the present utility model is that the destination node also includes what is be connected with extraneous applied host machine
Communication module, the communication module are connected with the 3rd controller, and the communication module is used to send the three-dimensional coordinate
To the extraneous applied host machine.
The beneficial effects of the utility model are：The utility model proposes indoor ultrasonic 3 D positioning system pass through origin
Beacon sends positioning ultrasonic to destination node, infrared to destination node and two node beacons transmissions by predetermined time interval
Optical synchronous signal, after two node beacons receive synchronizing signal, positioning ultrasonic is sent to destination node, destination node receives
After the positioning ultrasonic sent to origin beacon and two node beacons, the three-dimensional coordinate of destination node is obtained, is overcome existing
The shortcomings that information error is big in indoor positioning technologies, time response is slow, in addition, using ultrasonic wave location technology, have cost it is low,
Easy to install, anti-electromagnetic interference capability is strong, not by outside environmental elements influenceed with temporal information it is directly perceived the advantages that.
Brief description of the drawings
Fig. 1 be the utility model proposes indoor ultrasonic 3 D positioning system preferred embodiment structural representation；
Fig. 2 be the utility model proposes the preferred embodiment of indoor ultrasonic 3 D positioning system use three side location algorithms
The principle schematic of three-dimensional localization；
Fig. 3 be the utility model proposes indoor ultrasonic 3 D positioning system preferred embodiment origin beacon function mould
Block schematic diagram；
Fig. 4 be the utility model proposes indoor ultrasonic 3 D positioning system preferred embodiment node beacon function mould
Block schematic diagram；
Fig. 5 be the utility model proposes indoor ultrasonic 3 D positioning system preferred embodiment destination node function mould
Block schematic diagram.
Drawing reference numeral：
Destination node -10；
3rd controller -101；
Ultrasonic receiver -102；
Ultrasound detection circuit -103；
Second infrared light synchronous signal receiver -104；
Communication module -105；
Origin beacon -20；
First controller -201；
Sensor -202 occurs for the first ultrasonic wave；
First ultrasonic wave transmitting circuit -203；
Infrared light synchronous generator -204；
Node beacon -30；
Second controller -301；
Sensor -302 occurs for the second ultrasonic wave；
Second ultrasonic wave transmitting circuit -303；
First infrared light synchronous signal receiver -304.
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the utility model is further elaborated.
Embodiment
It should be appreciated that specific embodiment described herein is not used to limit this only to explain the utility model
Utility model.
Primary solutions of the present utility model are：The utility model sends positioning to destination node by origin beacon and surpassed
Sound wave, infrared optical synchronous signal, two node beacons are sent to destination node and two node beacons by predetermined time interval
After receiving synchronizing signal, positioning ultrasonic is sent to destination node, destination node receives origin beacon and two node letters
After marking the positioning ultrasonic sent, the three-dimensional coordinate of destination node is obtained, overcomes information error in existing indoor positioning technologies
Greatly, the shortcomings that time response is slow, in addition, using ultrasonic wave location technology, there is low, easy to install, the anti-electromagnetism of cost to do
Disturb ability it is strong, not by outside environmental elements influenceed with temporal information it is directly perceived the advantages that.
Current indoor orientation method is positioned not only to indoor occupant, object easily by the shadow of indoor complex environment
Ring, position stability is poor, and overall cost is high.
Thus, it is affected by the external environment the utility model proposes one kind small, the high indoor ultrasonic of positioning accuracy is three-dimensional
Alignment system.
Specifically, Fig. 1 to Fig. 5 is refer to, the utility model preferred embodiment proposes a kind of indoor ultrasonic three-dimensional localization
System.
The indoor ultrasonic 3 D positioning system that the utility model preferred embodiment proposes, including beacon end and destination node
10, wherein, the beacon end includes origin beacon 20 and node beacon group, and the node beacon group includes two node beacons
30, the origin beacon 20 and described two node beacons 30 are arranged in same plane.
For the ease of calculating described 20, two mutual distances of node beacon 30 of origin beacon, the present embodiment is by institute
State origin beacon 20 and two node beacons 30 are arranged as the isosceles right triangle of handstand.
The origin beacon 20 is used to send positioning ultrasonic to the destination node 10, by predetermined time interval to institute
State destination node 10 and two node beacons 30 send infrared optical synchronous signal；
Described two node beacons 30 are used to receiving the infrared optical synchronous signal that the origin beacon 20 is sent, and to described
Destination node 10 sends positioning ultrasonic；
The destination node 10 be used to receiving the positioning ultrasonic that the origin beacon sends, infrared optical synchronous signal, with
And the positioning ultrasonic that described two node beacons 30 are sent, and calculate the origin beacon 20 and described two nodes
The distance of beacon 30 and the destination node 10, the three-dimensional coordinate of the destination node 10 is calculated according to the distance.
It should be noted that in order to distinguish the origin beacon 20 and two node beacons 30, it is easy to the destination node
10 distinguish and calculate the distance of the origin beacon 20 and described two node beacons 30 and the destination node 10, can be pre-
32Bits geocodings and 8Bits control codings first are carried out to the origin beacon 20 and two node beacons 30.
For example the origin beacon 20 sends infrared optical synchronous signal and positioning ultrasonic signal to the target section first
Point 10, after the destination node 10 receives infrared optical synchronous signal, start timing, calculate positioning ultrasonic and reach the target
The time of node 10, and according to the time T of the positioning ultrasonic arrival destination node 101Calculated with the wave velocity C of ultrasonic wave
The distance l of the origin beacon 20 and the destination node 10, calculation formula are：L=C*T1(C be ultrasonic wave at room temperature
Spread speed)；Then, after 50ms is spaced, the first segment in infrared optical synchronous signal to described two node beacons 30 is sent
Point beacon 30, after the first node beacon 30 receives infrared optical synchronous signal, positioning ultrasonic is sent to the target section
Point 10, now, the time that the destination node 10 receives the positioning ultrasonic that the first node beacon 30 is sent is T2, its
In, T2=T1- 50ms, the time T of the destination node 10 is reached thus according to positioning ultrasonic2With the wave velocity C meter of ultrasonic wave
Calculate the distance m of the origin beacon 20 and the destination node 10；Finally, after being spaced 50ms again, infrared phototiming is sent
Section point beacon 30 in signal to described two node beacons 30, it is same that the section point beacon 30 receives infrared light
After walking signal, positioning ultrasonic is sent to the destination node 10, now, the destination node 10 receives the section point
The time for the positioning ultrasonic that beacon 30 is sent is T3, wherein, T3=T1- 100ms, thus according to described in positioning ultrasonic arrival
The time T of destination node 103The distance of the origin beacon 20 and the destination node 10 is calculated with the wave velocity C of ultrasonic wave
n。
It is understood that due to the origin beacon 20, first node beacon 30 and second progress
32Bits geocodings and 8Bits control codings, therefore, the destination node 10 can accurately distinguish the origin beacon 20, the
One node beacon 30 and section point beacon 30.
As shown in Fig. 2 the destination node 10 calculates the origin beacon 20, first node beacon 30, section point
Beacon 30 is with after distance l, m, n of the destination node 10, the three of the destination node 10 are calculated according to three side location algorithms
Dimension coordinate M (X, Y, Z), wherein, the corresponding origin beacon 20 of point 1 in Fig. 2 puts 2 corresponding first node beacons 30, point 3 corresponding the
Two node beacons 30.Three side location algorithm is as follows：
, can be with red so indoors under environment it is worth mentioning that because the speed of light is much larger than the velocity of wave of ultrasonic wave
Thus outer light overcomes in existing indoor positioning technologies the determination that information error is big, time response is slow, so as to carry as synchronizing signal
The accuracy of height positioning.
Thus, the indoor ultrasonic 3 D positioning system that the present embodiment proposes is sent out by origin beacon 20 to destination node 10
Positioning ultrasonic is sent, infrared optical synchronous signal is sent to destination node 10 and two node beacons 30 by predetermined time interval,
After two node beacons 30 receive synchronizing signal, positioning ultrasonic is sent to destination node 10, destination node 10 receives original
After the positioning ultrasonic that point beacon 20 and two node beacons 30 are sent, origin beacon 20 and two node beacons 30 are calculated
With the distance of destination node 10, the three-dimensional coordinate of destination node 10 is calculated according to distance, overcomes existing indoor positioning technologies
The shortcomings that middle information error is big, time response is slow, in addition, using ultrasonic wave location technology, have that cost is low, the side of installing and using
Just, anti-electromagnetic interference capability it is strong, not by outside environmental elements influenceed with temporal information it is directly perceived the advantages that.
Further, the origin beacon 20 includes the first controller 201, sensor 202, first occurs for the first ultrasonic wave
Ultrasonic wave transmitting circuit 203 and infrared light synchronous generator 204, the first ultrasonic wave transmitting circuit 203 and infrared
Optical synchronous signal generator 204 is connected with first controller 201 respectively, the first ultrasonic wave transmitting circuit 203 and institute
The first ultrasonic wave generation sensor 202 is stated to connect；Wherein, first controller 201 is used to control first ultrasonic wave to send out
Raw sensor 202, the first ultrasonic wave transmitting circuit 203 send positioning ultrasonic to the node beacon 30 and destination node 10,
Control the infrared light synchronous generator 204 by predetermined time interval to the destination node 10 and two node beacons
30 send infrared optical synchronous signal；
Each node beacon 30 in 30 groups of the node beacon includes second controller 301, the second ultrasonic wave occurs
Sensor 302, the second ultrasonic infrared light synchronous signal receiver 304 of wave transmitting circuit 303 and first, second ultrasonic wave
Radiating circuit 303 and infrared light synchronous signal receiver are connected with the second controller 301 respectively, the second ultrasonic wave hair
Transmit-receive radio road 303 occurs sensor 302 with second ultrasonic wave and is connected；Wherein, the second controller 301 is used for according to
The infrared optical synchronous signal that first infrared light synchronous signal receiver 304 receives controls second ultrasonic wave that sensor occurs
302nd, the second ultrasonic wave transmitting circuit 303 sends positioning ultrasonic to the destination node 10；
The destination node 10 includes 101, two ultrasonic receivers 102 of the 3rd controller, corresponding to described two super
The infrared light synchronous signal receiver 104 of two ultrasound detection circuits 103 and second of acoustic receiver 102, it is described two
Ultrasonic receiver 102 is arranged at intervals；
Described two ultrasound detection circuits 103, the second infrared light synchronous signal receiver 104 are controlled with the described 3rd respectively
Device 101 processed connects, and described two ultrasonic receivers 102 are corresponding with described two ultrasound detection circuits 103 super respectively
Sonic detection circuit 103 connects；Wherein, the 3rd controller 101 is used in the second infrared light synchronous signal receiver
104 receive the time that positioning ultrasonic reaches the destination node 10 are calculated after infrared optical synchronous signal, super according to positioning
The time that sound wave reaches the destination node 10 calculates the origin beacon 20 and two node beacons 30 and the target
The distance of node 10, the three-dimensional coordinate of the destination node 10 is calculated according to the distance.
It is emphasized that when the destination node 10 is two destination nodes 10, because the transmission of ultrasonic wave needs
Regular hour, although the physical location of two destination nodes 10 is different, the ultrasonic wave that interval 50ms is sent still may
First time point and second time point occurs while reaches the ultrasonic sensor of described two destination nodes 10, without
The destination node 10 can be distinguished.Practical two ultrasonic receivers of each destination node 10 in the present embodiment, due to two it is super
The position of acoustic receiver is otherwise varied, so this special circumstances can be distinguished.When it is implemented, in order to further discriminate between difference
Destination node 10,32Bits geocodings can also be carried out to different destination node 10.
In addition, the destination node 10 also includes the communication module 105 being connected with extraneous applied host machine, wherein, it is described logical
Letter module 105 can select bluetooth communication module, and the communication module 105 is connected with the 3rd controller 101, the communication
Module 105 is used to send the three-dimensional coordinate of the destination node 10 or geocoding to the extraneous applied host machine, can also
The three-dimensional coordinate of the destination node 10 and geocoding are sent to extraneous applied host machine, the extraneous applied host machine root together
Different destination nodes 10 is distinguished according to geocoding.
In summary, the utility model proposes indoor ultrasonic 3 D positioning system by origin beacon to destination node
Positioning ultrasonic is sent, infrared optical synchronous signals are sent to destination node and two node beacons by predetermined time interval, two
After individual node beacon receives synchronizing signal, to destination node send positioning ultrasonic, destination node receive origin beacon and
After the positioning ultrasonic that two node beacons are sent, calculate origin beacon and two node beacons and destination node away from
From calculating the three-dimensional coordinate of destination node according to distance, overcome in existing indoor positioning technologies that information error is big, the time is anti-
Answer the shortcomings that slow, in addition, using ultrasonic wave location technology, have cost is low, easy to install, anti-electromagnetic interference capability is strong,
Not by outside environmental elements influenceed with temporal information it is directly perceived the advantages that.
Preferred embodiment of the present utility model is the foregoing is only, not thereby limits the scope of the claims of the present utility model,
Every equivalent structure made using the utility model specification and accompanying drawing content or flow conversion, or be directly or indirectly used in
Other related technical fields, are similarly included in scope of patent protection of the present utility model.
Claims (4)
- A kind of 1. indoor ultrasonic 3 D positioning system, it is characterised in that including beacon end and destination node, the beacon end bag Include origin beacon and node beacon group, the node beacon group includes two node beacons, the origin beacon and described two Node beacon is arranged in same plane；The origin beacon is used to send positioning ultrasonic to the destination node, by predetermined time interval to the target section Point and two node beacons send infrared optical synchronous signal；Described two node beacons are used to receiving the infrared optical synchronous signal that the origin beacon is sent, and to the destination node Send positioning ultrasonic；The destination node is used to receiving the positioning ultrasonic that the origin beacon sends, infrared optical synchronous signal and described The positioning ultrasonic that two node beacons are sent, and obtain the three-dimensional coordinate of the destination node.
- 2. indoor ultrasonic 3 D positioning system according to claim 1, it is characterised in that the origin beacon with it is described Two node beacons are arranged in same plane in isosceles right triangle.
- 3. indoor ultrasonic 3 D positioning system according to claim 2, it is characterised in thatThe origin beacon includes the first controller, sensor, the first ultrasonic wave transmitting circuit and red occur for the first ultrasonic wave Outer optical synchronous signal generator, first ultrasonic wave transmitting circuit and the infrared light synchronous generator is respectively with described first Controller connects, and the first ultrasonic wave transmitting circuit occurs sensor with first ultrasonic wave and is connected；Wherein, described first Controller is used to controlling first ultrasonic wave that sensor, the first ultrasonic wave transmitting circuit occurs to the node beacon and target Node sends positioning ultrasonic, controls the infrared light synchronous generator by predetermined time interval to the destination node And two node beacons send infrared optical synchronous signal；Each node beacon in the node beacon group includes second controller, sensor, second occur for the second ultrasonic wave Ultrasonic wave transmitting circuit and the first infrared light synchronous signal receiver, the second ultrasonic wave transmitting circuit and infrared phototiming Signal receiver is connected with the second controller respectively, and the second ultrasonic wave transmitting circuit occurs with second ultrasonic wave Sensor connects；Wherein, the second controller is red for being received according to the first infrared light synchronous signal receiver Outer optical synchronous signal controls the second ultrasonic wave generation sensor, the second ultrasonic wave transmitting circuit to be sent to the destination node Positioning ultrasonic；The destination node includes the 3rd controller, two ultrasonic receivers, corresponding to described two ultrasonic receivers Two ultrasound detection circuits and the second infrared light synchronous signal receiver, described two ultrasonic receivers are arranged at intervals；Described two ultrasound detection circuits, the second infrared light synchronous signal receiver are connected with the 3rd controller respectively, The ultrasound detection circuit connection corresponding with described two ultrasound detection circuits respectively of described two ultrasonic receivers.
- 4. indoor ultrasonic 3 D positioning system according to claim 3, it is characterised in that the destination node also includes The communication module being connected with extraneous applied host machine, the communication module are connected with the 3rd controller, and the communication module is used Sent in by the three-dimensional coordinate to the extraneous applied host machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720522011.5U CN206804856U (en) | 2017-05-11 | 2017-05-11 | Indoor ultrasonic 3 D positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720522011.5U CN206804856U (en) | 2017-05-11 | 2017-05-11 | Indoor ultrasonic 3 D positioning system |
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| Publication Number | Publication Date |
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| CN206804856U true CN206804856U (en) | 2017-12-26 |
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ID=60740516
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| CN201720522011.5U Active CN206804856U (en) | 2017-05-11 | 2017-05-11 | Indoor ultrasonic 3 D positioning system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111210471A (en) * | 2018-11-22 | 2020-05-29 | 北京欣奕华科技有限公司 | Positioning method, device and system |
| CN111292288A (en) * | 2018-12-06 | 2020-06-16 | 北京欣奕华科技有限公司 | Target detection and positioning method and device |
-
2017
- 2017-05-11 CN CN201720522011.5U patent/CN206804856U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111210471A (en) * | 2018-11-22 | 2020-05-29 | 北京欣奕华科技有限公司 | Positioning method, device and system |
| CN111210471B (en) * | 2018-11-22 | 2023-08-25 | 浙江欣奕华智能科技有限公司 | Positioning method, device and system |
| CN111292288A (en) * | 2018-12-06 | 2020-06-16 | 北京欣奕华科技有限公司 | Target detection and positioning method and device |
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