CN208297716U - Sonication chamber interior locating device - Google Patents

Abstract

The utility model discloses a kind of sonication chamber interior locating devices, comprising: the first ultrasonic transceiver module group, including for spaced multiple ultrasonic transceiver modules in a first direction；Second ultrasonic transceiver module group, including for spaced multiple ultrasonic transceiver modules in the second direction for being different from the first direction；Control module, each ultrasonic transceiver module in the first ultrasonic transceiver module group and the second ultrasonic transceiver module group is connected, the distance between the signal strength and the ultrasonic transceiver module for receiving according to each ultrasonic transceiver module carries out indoor positioning.The sonication chamber interior locating device of the utility model can be realized indoor precise positioning, and use easy, simple to install.

Description

Sonication chamber interior locating device

Technical field

The utility model relates to smart home fields, in particular to a kind of sonication chamber interior locating device.

Background technique

Currently, smart home enters people's lives on a large scale, but indoor precise positioning technology develops slowly, right It is many in requiring customization smart home personalized service that can lead to the problem of, for example resident visits the restroom at midnight, goes to toilet Night-light cannot automatically turn on, and air-conditioner air outlet cannot follow human motion adjustment direction, cause the wasting of resources to a certain extent. Therefore it is badly in need of a kind of novel, practical indoor accurate-location device to improve such case.

Utility model content

In view of the above problems, the utility model provides a kind of ultrasonic wave indoor positioning dress for realizing indoor precise positioning It sets.

An embodiment according to the present utility model, provides a kind of sonication chamber interior locating device, comprising:

First ultrasonic transceiver module group, including for spaced multiple ultrasonic transmission/reception moulds in a first direction Block；

Second ultrasonic transceiver module group, including for being spaced setting in the second direction for being different from the first direction Multiple ultrasonic transceiver modules；

Control module connects each in the first ultrasonic transceiver module group and the second ultrasonic transceiver module group A ultrasonic transceiver module, signal strength and the ultrasonic wave for being received according to each ultrasonic transceiver module are received The distance for sending out intermodule carries out indoor positioning.

It is optionally, multiple in the first ultrasonic transceiver module group in above-mentioned sonication chamber interior locating device Ultrasonic transceiver module is arranged with the first predetermined space；Multiple ultrasonic transmission/reception moulds in the second ultrasonic transceiver module group Block is arranged with the second predetermined space.

In above-mentioned sonication chamber interior locating device, optionally, the multiple ultrasonic transceiver module is arranged in fixation It takes.

In above-mentioned sonication chamber interior locating device, optionally, each ultrasonic transceiver module is removably set It sets in the fixing belt.

In above-mentioned sonication chamber interior locating device, optionally, each ultrasonic transceiver module is provided with switch To open or close sending and receiving for ultrasonic wave.

In above-mentioned sonication chamber interior locating device, optionally, the first ultrasonic transceiver module group is arranged in room On interior the first side wall；The second ultrasonic transceiver module group is arranged in the second sidewall adjacent with the first side wall.

In above-mentioned sonication chamber interior locating device, optionally, further includes:

Third ultrasonic transceiver module group, including multiple ultrasonic transceiver modules are arranged opposite with the first side wall Third side wall on；

4th ultrasonic transceiver module group, including multiple ultrasonic transceiver modules are arranged opposite with the second sidewall The 4th side wall on.

In above-mentioned sonication chamber interior locating device, optionally, the multiple of the third ultrasonic transceiver module group surpass Sound wave transceiver module is arranged with the first predetermined space, and the first ultrasonic transceiver module group and the third ultrasonic wave are received Sending out each ultrasonic transceiver module in module group, face is arranged one by one；Multiple ultrasonic waves of the 4th ultrasonic transceiver module group Transceiver module is arranged with the second predetermined space, and the second ultrasonic transceiver module group and the 4th ultrasonic transceiver module group In each ultrasonic transceiver module one by one face be arranged.

In above-mentioned sonication chamber interior locating device, optionally, in the first ultrasonic transceiver module group and third Between two module groups of ultrasonic transceiver module group and the second ultrasonic transceiver module group and the 4th ultrasonic transceiver module There are the relative position of barrier between two module groups of group, the effective ultrasound is arranged in face one by one in two module groups Wave transceiver module；In the relative position that barrier is not present, the effective ultrasonic wave is only set in one group of module wherein and is received Send out module.

In above-mentioned sonication chamber interior locating device, optionally, the first ultrasonic transceiver module group and described The ultrasonic wave direction of the launch of two ultrasonic transceiver module groups is mutually perpendicular to.

The sonication chamber interior locating device of the utility model can be realized indoor precise positioning, and use easy, installation Simply.

Detailed description of the invention

It, below will be to attached drawing needed in the embodiment in order to illustrate more clearly of the technical solution of the utility model It is briefly described, it should be understood that the following drawings illustrates only some embodiments of the utility model, therefore is not construed as Restriction to scope of protection of the utility model.In various figures, part is similarly comprised using similar number.

Fig. 1 shows the schematic diagram of the sonication chamber interior locating device structure according to the utility model embodiment.

Fig. 2 shows be mounted on indoor structural representation according to the sonication chamber interior locating device of the utility model embodiment Figure.

Fig. 3 shows the positioning schematic diagram of the sonication chamber interior locating device according to the utility model embodiment.

Specific embodiment

Below in conjunction with attached drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out clear Chu is fully described by, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole realities Apply example.

The component of the utility model embodiment being usually described and illustrated herein in the accompanying drawings can be matched with a variety of different It sets to arrange and design.Therefore, the detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to below The range of claimed invention is limited, but is merely representative of the selected embodiment of the utility model.It is practical based on this Novel embodiment, those skilled in the art's every other implementation obtained without making creative work Example, fall within the protection scope of the utility model.

It hereinafter, can the term " includes " used in the various embodiments of the utility model, " having " and its homologous Word is meant only to indicate special characteristic, number, step, operation, the combination of element, component or aforementioned item, and is understood not to The combined presence or increasing of one or more other features, number, step, operation, element, component or aforementioned item is excluded first A possibility that adding the combination of one or more features, number, step, operation, element, component or aforementioned item.

In the various embodiments of the utility model, statement " A or/and B " includes any combination of the text listed file names with Or all combinations, it may include A, may include B or may include A and B both.

In the description of the present invention, it should be understood that term " longitudinal direction ", " transverse direction ", "upper", "lower", " preceding ", The orientation or positional relationship of the instructions such as " rear ", "left", "right", "vertical", " transverse direction ", "top", "bottom", "inner", "outside" be based on Orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than instruction or dark Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair The limitation of the utility model.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and should not be understood as referring to Show or imply relative importance.

In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example Point is contained at least one embodiment or example of the utility model.In the present specification, to the schematic table of above-mentioned term Stating may not refer to the same embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be It can be combined in any suitable manner in any one or more embodiment or examples.

In the description of the present invention, unless otherwise specified and limited, it should be noted that term " installation ", " phase Even ", " connection " shall be understood in a broad sense, for example, it may be mechanical connection, the connection being also possible to inside two elements can be It is connected directly, can also indirectly connected through an intermediary, for the ordinary skill in the art, it can be according to specific Situation understands the concrete meaning of above-mentioned term.Unless otherwise defined, otherwise all terms used herein (including technical term With scientific term) with identical as the various normally understood meanings of embodiment one skilled in the art of the utility model Meaning.The term (term such as limited in the dictionary generally used) is to be interpreted as having and lead in the relevant technologies The identical meaning of situational meaning in domain and it will be interpreted as having Utopian meaning or meaning too formal, unless It is clearly defined in the various embodiments of the utility model.

Fig. 1 shows the schematic diagram of the sonication chamber interior locating device structure according to the utility model embodiment.

Sonication chamber interior locating device 100 includes the first ultrasonic transceiver module group 10, including multiple ultrasonic transmission/reception moulds Block 11, in a first direction with the setting of the first predetermined space；Second ultrasonic transceiver module group 20, including multiple ultrasonic transmission/receptions Module 11, for being arranged in the second direction different from the first direction with the second predetermined space；Control module 50, connection Each ultrasonic transceiver module 11 in the first ultrasonic transceiver module group and the second ultrasonic transceiver module group 20, The distance between signal strength and the ultrasonic transceiver module for being received according to each ultrasonic transceiver module into Row indoor positioning.

In Fig. 1, multiple ultrasonic waves of the first ultrasonic transceiver module group 10 and the second ultrasonic transceiver module group 20 are received Hair module 11 is configured respectively with the first predetermined space and the second predetermined space.However in same transceiver module group, Ge Gemo Interval between block is also possible to different, and the third and fourth ultrasonic transceiver module group below related to is same.

It include supersonic generator and ultrasonic receiver in ultrasonic transceiver module 11.

Supersonic generator can be divided into two major classes: one kind is with electrically generating ultrasonic wave, and one kind is with machinery side Formula generates ultrasonic wave.It electrically include piezo-electric type, magnetostriction type and power type etc.；Mechanical system has jar (unit of capacitance) system flute, the liquid whistle With air-flow siren etc..The frequency of ultrasonic waves caused by them, power and acoustic wave character are different.In the utility model preferably Using piezoelectric-type ultrasonic wave producer.

Piezoelectric-type ultrasonic wave producer is actually using the resonance of piezo-electric crystal come work.Supersonic generator is usual There are two piezoelectric chip and a sounding boards for tool.When its piezoelectric chip applying pulse signal as the two poles of the earth, frequency is equal to pressure When the natural mode shape of electric chip, piezoelectric chip will resonate, and drive resonance panel vibration, just generate ultrasonic wave.Instead It, when sounding board receives ultrasonic wave, compressing piezoelectric chip is vibrated if non-applied voltage between two electrodes, will be mechanical Electric signal can be converted to, at this moment it just becomes ultrasonic receiver.

Ultrasonic transceiver module 11 can be set in fixing belt 12.Each ultrasonic transceiver module 11 can be respectively through described Data line 13 in fixing belt 12 is connect with control module 50.In addition, each ultrasonic transceiver module 11 and control module 50 it Between mode can also carry out data transmission by wireless communication.

Preferably, each ultrasonic transceiver module 11 is removably disposed in the fixing belt 10.Fixing belt 10 It can according to need and be fixed on indoor side wall by binder, mechanical means etc..

Preferably, be provided on each ultrasonic transceiver module 11 switch with open or close ultrasonic wave transmission and It receives.

Each ultrasonic transceiver module group is preferably provided on indoor side wall, can monitor the entire interior space in this way.When So, in some special circumstances, it can also be not arranged on side wall, and such as can be set with sidewall spacers certain distance Set the furniture surface in close proximity to side wall.

Fig. 2 shows be mounted on indoor structural representation according to the sonication chamber interior locating device of the utility model embodiment Figure.

Figure sonication chamber interior locating device 100 includes the first ultrasonic transceiver module group 10, the second ultrasonic wave receipts in Fig. 2 Send out module group 20, third ultrasonic transceiver module group 30 and the 4th ultrasonic transceiver module group 40.Four groups of ultrasonic transceiver modules Control module 50 (being not shown in Fig. 2) is connected to by data line.

In the example of figure 2, on the first side wall of the first ultrasonic transceiver module group 10 setting indoors；Second ultrasonic wave In the second sidewall of the setting of transceiver module group 20 indoors；Third ultrasonic transceiver module group 30 also includes multiple ultrasonic transmission/receptions Module 11 is arranged on the third side wall opposite with the first side wall；4th ultrasonic transceiver module group 40 includes multiple ultrasonic waves Transceiver module 11 is arranged on the 4th side wall opposite with the second sidewall.

First ultrasonic transceiver module group, 10 to the 4th ultrasonic transceiver module group 40 is arranged with identical predetermined space, And each ultrasonic transceiver module 11 in the first ultrasonic transceiver module group 10 and the third ultrasonic transceiver module group 30 Face is arranged one by one；Each ultrasonic transmission/reception mould in second ultrasonic transceiver module group 20 and the 4th ultrasonic transceiver module group 40 Also face is arranged block 11 one by one.Ultrasonic transceiver module setting interval between each ultrasonic transceiver module group can be different, It is preferred that it is identical, thus, it is possible to simplify location Calculation.

Four groups of ultrasonic transceiver modules may be mounted at the identical height of side wall, or can be not arranged in identical height, As long as being arranged in predetermined altitude range.Such as the altitude range of installation can be set according to the height ranges of user.Such as There are also the pets such as cat, dog in fruit user man, it is also contemplated that each group ultrasonic transceiver module to be positioned close to the position on ground.

Since there are the various furniture such as sofa, bed, dining table, desk for interior, when these furniture, which are placed against the wall, to be set, ultrasonic wave is received Hair module may be blocked completely by these furniture, therefore, it is not necessary to carry out ultrasonic distance measurement in these positions.Therefore, super When sound wave transceiver module 11 is removably disposed in the fixing belt 10, the ultrasound in modules group can be flexibly set The quantity of wave transceiver module 11 and setting position.

In addition it is also possible to corresponding switch be arranged for each ultrasonic transceiver module 11, to open or close ultrasound Wave sends and receives.In the case, if ultrasonic transceiver module 11 is blocked completely by these furniture, by corresponding ultrasonic wave Transceiver module 11 is closed.

In the figure 2 example, four side walls are provided with ultrasonic transceiver module group, however, barrier is less indoors In the case where, ultrasonic transceiver module group only can also be set in adjacent two side walls.For example, only desk is in Fig. 2 Fixed obstacle then can only be arranged the first ultrasonic transceiver module group 10 and the 4th ultrasonic transceiver module group 10, as a result, may be used To reduce the arrangement of ultrasonic transceiver module group, in addition it is also possible to reduce the calculation amount of control module 50.

In addition, in the figure 2 example, between two opposite ultrasonic transceiver module groups, between the two even if there be no Fixed obstacle, is also arranged in a one-to-one correspondence ultrasonic transceiver module 11, but for the lesser interior space, if opposite two Fixed obstacle is not present between ultrasonic wave module group, ultrasound can also be only set in a ultrasonic transceiver module group wherein Wave transceiver module 11.Between the first ultrasonic transceiver module group 10 and two module groups of third ultrasonic transceiver module group 30 And second there are barriers between ultrasonic transceiver module group 20 and two module groups of the 4th ultrasonic transceiver module group 40 Relative position, effective ultrasonic transceiver module 11 is arranged in face one by one in two module groups；In the phase that barrier is not present To position, effective ultrasonic transceiver module 11 only is set in one group of module wherein.So-called effective ultrasonic transceiver module Refer to: when not being directed to the switch of ultrasonic transceiver module, being provided with ultrasonic transceiver module；And it is being provided with for ultrasound When the switch of wave transceiver module, it is not provided only with ultrasonic transceiver module, and switch is opened accordingly.

It, can be according to the circumstance of occlusion of furniture, by dismounting ultrasonic transceiver module when layout changes indoors as a result, 11 or the corresponding module of switch, so that it may easily, neatly carry out the arrangement of positioning device.

Shown in figure 2 is the room of a rectangle, that is to say, that first direction and second direction be it is vertical, this When, the ultrasonic wave direction of the launch of each ultrasonic transceiver module group is orthogonal.It is between four walls in room and non-rectangle When, when for example, non-rectangle parallelogram, intersect between first direction and second direction, the direction of the launch of ultrasonic wave and side When wall is vertical, the ultrasonic wave direction of the launch of adjacent ultrasonic wave transceiver module group be it is not orthogonal, position it is relative complex.Cause This, can adjust the mounting means of adjacent ultrasonic wave transceiver module group, so that the ultrasonic wave direction of the launch of two module groups is mutual Vertical, so as to simplify location Calculation.

Ultrasonic wave is elastic mechanical vibration wave, and the direction that it is propagated compared with audible sound is stronger, and it is narrow can be gathered into orientation Harness.The sound wave issued from sound source is directionally propagated to a direction (other directions are very weak), referred to as beam.Ultrasonic wave by Wavelength in it is shorter, when it passes through aperture (greater than the hole of wavelength), can show a branch of ray of concentration to certain orientation Advance.Again due to ultrasonic high directivity, so orientable acquisition information.There is a barrier on the same direction propagated when ultrasonic wave Diameter be greater than wavelength when, " sound shadow " will be generated after barrier.These pass through aperture as barrier like light, institute There is beam characteristic similar with light wave with ultrasonic wave.

The quality of the beam of ultrasonic wave, is generally measured with the size of the angle of divergence and (is traditionally indicated with half angle of divergence θ). By taking planar rondure piston acoustic source as an example, size is decided by the diameter (D) of sound source and the wavelength (λ) of sound wave.Make sounding body Launching directionality has preferable ultrasonic wave, it is necessary to keep the angle θ small as far as possible, the diameter D of emitter (sound source) must very big or transmitting Frequency f also very high must can just obtain, otherwise will run counter to desire.Since the wavelength of ultrasonic wave is shorter than the wavelength of audible sound, So it just has preferable beam characteristic than audible sound, the higher ultrasonic wave of frequency, wavelength is shorter, this to pass to certain orientation The characteristic broadcast is just more significant.Therefore, it is good super that the supersonic generator designed according to above-mentioned principle can obtain directive property Acoustic wave beam.

Ultrasonic wave is when various media are propagated, and with the increase of propagation distance, ultrasound intensity can weaken gradually, and energy is gradually Consumption, the characteristic that this energy is fallen by Absorption of Medium, referred to as sound absorption.Absorption coefficient a and frequency of sound wave it is square directly proportional, When frequency increases by 10 times, then absorption coefficient just increases 100 times.I.e. frequency is higher, and absorption is bigger, thus the distance of Acoustic Wave Propagation is cured It is small.Low-frequency sound wave can propagate great distances in air, and high frequency sound wave cracking decaying in air.Ultrasonic wave is high The sound wave of frequency is just bigger by the energy of Absorption of Medium with the increase of frequency in same Propagation.Such as frequency It is 10⁵The ultrasonic wave of Hz in air absorbed energy than frequency be 10⁴The sound wave of Hz is 100 times big.It therefore, can be according to room The size in interior space properly selects the frequency of ultrasonic wave.

Therefore indoor ranging localization is carried out using ultrasonic wave in the utility model.The principle of common ultrasonic distance measurement is benefit It is it is known that measurement sound wave encounters barrier reflected time, root after transmitting with the aerial spread speed of ultrasonic wave Actual range of the launch point to barrier, i.e., so-called time difference telemetry are calculated according to transmitting and received time difference.

However, in the present invention, due to using multiple ultrasonic transceiver modules indoors, in order to reduce each module Between interference, carry out ranging localization using the reflected signal strength of ultrasonic wave.Space is usually smaller indoors, for movement Object, the error generated using time difference ranging is larger, and ultrasonic wave and its aerial signal intensity attenuation of back wave It is relatively fast, thus with the signal strength that is reflected ultrasonic wave received by the ultrasonic transceiver module of mobile object face with The signal strength difference reflected ultrasonic wave received by the ultrasonic transceiver module of its adjacent position is larger, therefore, Ke Yitong Cross signal strength difference exclude non-face mobile object ultrasonic transceiver module detection data.

In the figure 2 example, ultrasonic transceiver module band is sticked in room wall, after posting for the first time, each ultrasonic wave module Ranging data is transmitted to control module, is uploaded once again after the predetermined time, if data are the same twice for front and back, defaults counterpart Body is the not easily shifted articles such as furniture, thus, it is possible to obtain the integral layout figure in room.It, can when determining indoor arrangement for the first time To position the position of furniture using time telemetry, at this point, can use each in ultrasonic wave module group for exclusive PCR A module is one by one transmitted and received, and thereby, it is possible to accurately obtain indoor arrangement figure.It is closed in addition to that can be opened with physics It closes outside ultrasonic wave module, can also be operated by the transmitting-receiving that control module controls modules in ultrasonic wave module group.In addition, indoor Integral layout figure can also be obtained by way of manual measurement, then input positioning device.

After obtaining indoor integral layout figure, can use the ultrasonic wave of acquisition signal strength and each ultrasonic wave mould Interval calculation between block goes out the specific location of mobile object indoors.Fig. 3 shows the interior space of rectangle, in X-axis and Y-axis Side wall on be equidistantly disposed with ultrasonic transceiver module, it is assumed that the distance between modules be L.Assuming that black three in Fig. 3 The resident of angle icon representation is moved to B (X2, Y2) from the position that A (X2, Y2) is put.When resident is in location A, due to ultrasonic wave Directive property it is very strong, in X-direction, ultrasonic wave that only ultrasonic transceiver module X2 launches reaches location A, and back wave It is received by ultrasonic transceiver module X2.In addition, in the X-axis direction, may have a small amount of back wave by neighbouring ultrasonic transmission/reception mould Block X1 and X3 are received, but since most back wave is back to the position of X2, and in X-axis, X2 at a distance from A most Short, the reflection wave attenuation received is minimum.Therefore, X2 receives that signal is most strong, and thus control module 50 can determine resident in X Distance of the axis direction apart from origin O is 2L.Similarly, in the Y-axis direction, the signal that Y2 is received is most strong, it is possible thereby to determine Resident is 2L in distance of the Y direction apart from origin O, it is possible thereby to which obtaining the positioning coordinate of resident indoors is (2L, 2L).

Similarly, when resident is moved to B point, letter that control module can be received according to each ultrasonic transceiver module 11 Distance number between intensity and the ultrasonic transceiver module determines that in the positioning coordinate of B be (4L, 2L).Exist indoors as a result, When mobile object, the mobile elaborate position of object can be obtained by vertical-horizontal both direction data, realize positioning and track note Record.

In order to illustrate upper simplicity, in the example of fig. 3, the spacing between modules is identical, certain modules Between spacing can also be different, at this time, it is only necessary to record the spacing between modules, control module 50 can use the mould of record Spacing between block carries out above-mentioned similar calculating.It is preferred that the spacing phase in each ultrasonic transceiver module group between modules Together, the spacing more preferably in all ultrasonic transceiver module groups between modules is all identical so that it is convenient to arrange, and calculates It is more simple.

In addition, in the example of fig. 3, the metope of X-axis and Y-axis is vertical, however, the metope of X-axis and Y-axis may not be it is vertical Straight, such as can be at an acute angle between them, such as the inclination of Y-axis X-axis.At this point, it is preferred that by the ultrasonic transmission/reception mould on Y-axis metope The direction of the launch of block is set as vertical with the direction of the launch of the ultrasonic transceiver module on X-axis metope, certainly, ultrasonic wave receiving plane Correspondingly perpendicular to the direction of the launch.Between each ultrasonic transceiver module on Y-axis metope is in the ultrasonic wave direction of the launch of X-axis Every that can be obtained by measurement, or can be obtained according to the angle calculation between X-axis and Y-axis.Certainly, above description is also applied for The case where ultrasonic transceiver module group is set on more than two metope.

In addition, even if as described above, it, can also be by corresponding Y-axis metope when at an acute angle between X-axis and the metope of Y-axis On ultrasonic transceiver module the direction of the launch setting it is vertical with Y-axis metope, when being positioned, it is only necessary to according to be arranged parameter Corresponding mathematic(al) manipulation calculating is carried out, specific mathematic(al) manipulation repeats no more herein.

The utility model can use predetermined space and the signal strength or weakness of each ultrasonic transceiver module to determine as a result, The exact position of mobile object indoors, and calculate simple, efficient.

Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to In this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in variation Or replacement, it should be covered within the scope of the utility model.

Claims (10)

1. a kind of sonication chamber interior locating device characterized by comprising

First ultrasonic transceiver module group, including for spaced multiple ultrasonic transceiver modules in a first direction；

Second ultrasonic transceiver module group, including for spaced more in the second direction for being different from the first direction A ultrasonic transceiver module；

Control module connects each super in the first ultrasonic transceiver module group and the second ultrasonic transceiver module group Sound wave transceiver module, signal strength and the ultrasonic transmission/reception mould for being received according to each ultrasonic transceiver module Distance between block carries out indoor positioning.

2. sonication chamber interior locating device according to claim 1, which is characterized in that first ultrasonic transceiver module Multiple ultrasonic transceiver modules in group are arranged with the first predetermined space；It is multiple super in the second ultrasonic transceiver module group Sound wave transceiver module is arranged with the second predetermined space.

3. sonication chamber interior locating device according to claim 1, which is characterized in that the multiple ultrasonic transceiver module Setting is on the fixing belt.

4. sonication chamber interior locating device according to claim 3, which is characterized in that each ultrasonic transceiver module It is removably disposed in the fixing belt.

5. sonication chamber interior locating device according to claim 1, which is characterized in that each ultrasonic transceiver module Switch is provided with to open or close sending and receiving for ultrasonic wave.

6. sonication chamber interior locating device according to claim 1, which is characterized in that first ultrasonic transceiver module On the first side wall of group setting indoors；Adjacent with the first side wall is arranged in the second ultrasonic transceiver module group On two side walls.

7. sonication chamber interior locating device according to claim 6, which is characterized in that further include:

Opposite with the first side wall is arranged in third ultrasonic transceiver module group, including multiple ultrasonic transceiver modules On three side walls；

Opposite with the second sidewall is arranged in 4th ultrasonic transceiver module group, including multiple ultrasonic transceiver modules On four side walls.

8. sonication chamber interior locating device according to claim 7, which is characterized in that the third ultrasonic transceiver module Multiple ultrasonic transceiver modules of group are arranged with the first predetermined space, and the first ultrasonic transceiver module group and described the Face is arranged each ultrasonic transceiver module one by one in three ultrasonic transceiver module groups；The 4th ultrasonic transceiver module group Multiple ultrasonic transceiver modules are arranged with the second predetermined space, and the second ultrasonic transceiver module group and the 4th ultrasonic wave Face is arranged each ultrasonic transceiver module one by one in transceiver module group.

9. sonication chamber interior locating device according to claim 8, which is characterized in that in the first ultrasonic transmission/reception mould Between block group and two module groups of third ultrasonic transceiver module group and the second ultrasonic transceiver module group and the 4th ultrasound There are the relative position of barrier between two module groups of wave transceiver module group, face setting is effective one by one in two module groups The ultrasonic transceiver module；In the relative position that barrier is not present, effective institute only is set in one group of module wherein State ultrasonic transceiver module.

10. sonication chamber interior locating device according to claim 1, which is characterized in that the first ultrasonic transmission/reception mould The ultrasonic wave direction of the launch of block group and the second ultrasonic transceiver module group is mutually perpendicular to.