JP2009204347A - Ultrasonic position recognition system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To highly accurately receive code information from its transmission source with more excellent noise immunity by receiving an ultrasonic wave, and recognize the direction of the transmission source of the ultrasonic wave by a simple structure. <P>SOLUTION: This ultrasonic position recognition system 1 is provided with: a transmitter 2 for transmitting an ultrasonic wave added with predetermined code information, by using the predetermined code information as a diffusion sign by a modulation unit 21 for performing spectrum diffusion processing of the ultrasonic wave to be transmitted; and a receiver 3 for receiving the ultrasonic wave transmitted from the transmitter 2, extracting the code information from the ultrasonic wave by a demodulation unit 31, and recognizing the transmitter 2. The receiver 3 includes a plurality of receiving elements 32 arranged being mutually separated, and determines the direction of the transmitter 2 having transmitted the ultrasonic wave based on differences in time among receptions of the ultrasonic wave by the individual receiving elements. Interference with a plurality of transmitters is prevented, the code information added to the ultrasonic wave is recognized without misrecognition, and discrimination between transmitters is performed certainly. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an ultrasonic position recognition system capable of recognizing the position of an ultrasonic receiver or transmitter and receiving code information from a transmitting side.

  Conventionally, ultrasonic waves are transmitted and the position of the ultrasonic transmitter is recognized on the receiver side, and conversely, ultrasonic waves are received and the position of the receiver is recognized on the receiver side. Yes. For example, for a transmitting device that oscillates a distressed ultrasonic signal mounted on a ship or the like and that carries its own ID code, it is arranged at a predetermined distance interval to identify the ID code and oscillate the distressed ultrasonic signal of the ID code. A receiving device having a plurality of azimuth determining units each for determining the direction of the transmitting device, and an information processing unit for measuring the position of the transmitting device by the principle of triangulation based on the direction and the predetermined distance interval There has been known a position recognition system for finding a distress that measures the position of (see, for example, Patent Document 1).

  When infrared rays are used instead of ultrasonic waves, as shown in FIG. 19, it is possible to easily transmit the code information 92a from the infrared transmitter 92 side to the infrared receiver 93 side. It is difficult to know whether the signal is transmitted from a simple infrared light receiving element, and it is necessary to recognize the position by an imaging element such as a CCD or complicated arithmetic processing, which is expensive. In this respect, ultrasonic waves have an advantage that they can be configured inexpensively in terms of circuit because they have a lower frequency and a slower propagation speed than light such as infrared rays.

  When ultrasonic waves are used, the transmitted ultrasonic waves are spread in spectrum in order to ensure noise resistance and transmit code information without error. For example, an ultrasonic source is provided in the electric driver for confirming the screw tightening position performed by the electric driver by the operator, and the ultrasonic source is provided with a plurality of ultrasonic receivers that are connected to the ultrasonic source by electric wiring and arranged in space. There is a system. When the spread spectrum modulated ultrasonic wave is transmitted together with the switch-on signal after positioning the electric driver, the ultrasonic source and each reception are determined by the ultrasonic transmission time transmitted via the wiring and the ultrasonic reception time by each receiver. A plurality of distances to the device are determined, and the screw tightening position is confirmed (for example, see Patent Document 2).

This system is an example of realizing position measurement locally using spread spectrum-modulated ultrasonic waves, and can be understood as an analogy configuration of GPS (Global Positioning System) that uses spread spectrum radio waves. In the example of the electric driver described above, erroneous detection of ultrasonic waves can be avoided even if a similar operation is performed nearby by another electric driver.
Japanese Patent Laid-Open No. 08-146118 JP 2002-267740 A

  However, in the position recognition system as shown in Patent Document 1 described above, the direction of the transmitting device is obtained by directing the receiving unit of the receiving device in the direction in which the distressed ultrasonic signal carrying the ID code is strongest. However, a structure for angle scanning is necessary, and there is a problem that it is complicated and cannot be miniaturized. Moreover, even in the system as shown in Patent Document 2 described above, each receiver alone cannot determine the direction of the ultrasonic source, and cannot be applied to a system in which the receiver moves. is there.

  The present invention solves the above-described problem, and can receive ultrasonic waves and receive code information from a transmission source with high noise resistance with high accuracy and at least ultrasonic waves with a simple configuration. An object of the present invention is to provide an ultrasonic position recognition system capable of recognizing the direction of the transmission source.

  In order to achieve the above object, an invention according to claim 1 is directed to an ultrasonic position recognition system that receives ultrasonic waves and recognizes at least the direction of the ultrasonic wave transmission source, using predetermined code information as a spreading code. A transmitter that transmits an ultrasonic wave that has been subjected to spread spectrum processing; and a receiver that receives the ultrasonic wave from the transmitter and extracts the code information from the ultrasonic wave and recognizes the transmitter. The transmitter has a plurality of receiving elements arranged apart from each other, and determines the direction of the transmitter that has transmitted the ultrasonic wave based on the time difference at which each receiving element receives the ultrasonic wave.

  According to a second aspect of the present invention, in the ultrasonic position recognition system according to the first aspect, the transmitter converts a time at which the ultrasonic wave is transmitted into code information, adds the code information to the ultrasonic wave, and transmits the code information. The receiver restores the time when the ultrasonic wave is transmitted based on the code information extracted from the received ultrasonic wave, and the ultrasonic wave is generated based on the transmission time of the ultrasonic wave and the time when the ultrasonic wave is received. The distance to the transmitter that has transmitted is acquired.

  A third aspect of the present invention is the ultrasonic position recognition system according to the first or second aspect, wherein a plurality of the transmitters are provided, and the code information includes information for identifying the plurality of transmitters from each other. The receiver has a display unit for identifying each transmitter based on the identification information and displaying information associated with the identified transmitter and the determined direction of the transmitter. It is what you are doing.

  According to a fourth aspect of the present invention, in the ultrasonic position recognition system according to any one of the first to third aspects, the receiver is associated with the code information added to the received ultrasonic wave or the code information. And a processing unit that changes information to be displayed on the display unit according to the change in the direction of the transmitter that has transmitted the ultrasonic wave. .

  According to a fifth aspect of the present invention, in the ultrasonic position recognition system according to the first aspect, the receiver is based on code information added to the received ultrasonic wave and information on the direction of the transmitter that has transmitted the ultrasonic wave. And a control device that outputs a signal for controlling lighting and extinction of the lighting device and / or brightness or hue.

  According to the first aspect of the present invention, since the code information is selectively used as a spread code and the spectrum is spread and the ultrasonic wave is transmitted, the code information from the transmission source can be received with high accuracy with better noise resistance. . Therefore, even when there are multiple transmitters, interference can be prevented, the code information added to the transmitted ultrasound can be recognized without misidentification, and each transmitter is sure to identify which ultrasound is transmitted. Can be determined.

  In addition, since the direction of the transmitter is determined based on the time difference between the ultrasonic waves received by the plurality of receiving elements, the receiver can be configured simply. Furthermore, even when there are multiple transmitters, by recognizing the code information added to the ultrasonic waves, it is possible to distinguish from which transmitter each ultrasonic wave is transmitted and to easily identify the direction of the transmitter it can. In particular, when recognizing the direction selected from multiple ultrasonic waves (transmitters), the code information is acquired by performing spread spectrum processing (demodulation) of each ultrasonic wave, and then the target ultrasonic wave direction is measured again. Instead, it is possible to measure the direction of the ultrasonic wave (transmitter) at the same time as the spread spectrum processing (demodulation) using the code information of the target ultrasonic wave. Recognition processing can be speeded up.

  According to the invention of claim 2, since the transmission time can be transmitted from the transmitter to the receiver in a self-contained manner using ultrasonic waves as a medium, a wiring circuit for transferring the transmission time is provided, or another distance measuring device is provided. Distance measurement can be performed without providing it.

  According to the invention of claim 3, the transmitter is identified based on the received ultrasonic code information and the information related to the transmitter and the direction of the transmitter are displayed. When approaching the target transmitter while moving with the receiver, it can easily move along that direction. In this case, as a display method, in addition to the visual appeal, a display appealing to hearing by voice or a display based on an electric signal for an autonomous mobile body can be used.

  According to the invention of claim 4, for example, when a person or a moving body approaches the target transmitter while moving together with the receiver, if the transmitter moves, the display on the display unit changes. Therefore, it is possible to easily follow the target transmitter and move. Further, by changing the direction of the receiver, the target transmitter can be changed to another transmitter. In this case, it is possible to perform operations equivalent to these by simply moving the position of the transmitter itself, without inputting coordinate information, moving the cursor position, or performing input using buttons, etc. It can be carried out.

  According to the invention of claim 5, for example, by attaching a transmitter to each person or item in the vicinity of the lighting, the transmitter moves according to the movement of the person or item, and the movement of the transmitter is received. Since the device recognizes it, it is possible to automatically turn on / off / dim the light.

  Hereinafter, an ultrasonic position recognition system according to an embodiment of the present invention will be described with reference to the drawings.

(First embodiment)
FIG. 1 shows a configuration of an ultrasonic position recognition system according to the first embodiment of the present invention, FIG. 2 shows a configuration of a transmitter in the system, and FIG. 3 shows a receiver for direction recognition in the system. The configuration is shown.

  As shown in FIG. 1, the ultrasonic position recognition system 1 includes a transmitter 2 that transmits ultrasonic waves, and a receiver 3 that can receive the ultrasonic waves and recognize at least the direction of the ultrasonic transmission source. Yes. A plurality of transmitters 2 and receivers 3 can be provided. In addition, any of these can be fixed in a space or moved.

  The transmitter 2 includes a modulation unit 21 that performs spread spectrum processing on ultrasonic waves to be transmitted, and adds code information using predetermined code information (that is, encoded information) by the modulation unit 21 as a spread code, Transmits ultrasonic waves with code information added. The code information is input from the information input unit 2a.

  The information input unit 2a may be externally attached to the transmitter 2, or may be input from parts or devices other than the transmitter 2, and the information input unit 2a may be built in the transmitter 2. The code information may be generated inside 2. The code information may be any information encoded so as to be convenient for signal processing, and may be a numeric string of “0” and “1”, a number or a character string, or a binary number or decimal number. Instead, octal numbers or hexadecimal numbers can be used. The information amount of the code information is not particularly limited, but for example, 1 bit to 1024 bits is appropriate.

  As shown in FIG. 2, the modulation unit 21 that performs spread spectrum processing includes a code processing unit 2b that uses code information from the information input unit 2a as a spread code for spread spectrum processing, a signal generation unit 2c that generates a carrier wave, And a synthesizing unit 2d that generates an electric signal subjected to spread spectrum processing using the carrier wave from the signal generating unit 2c and the spread code from the code processing unit 2b. The electrical signal from the synthesizer 2d drives the transmitting element 22 and transmits spectrum-spread ultrasonic waves to the space.

  The receiver 3 includes a demodulator 31 that extracts a spread code from the spectrum-spread ultrasonic wave, receives the ultrasonic wave from the transmitter 2, extracts the code information from the ultrasonic wave by the demodulator 31, and transmits the code information. In addition to recognizing the device 2, the direction of the transmitter 2 (ultrasound transmission source) is recognized by the deflection angle (direction θ) from the front direction of the receiver 3. The receiver 3 has a plurality of receiving elements 32 arranged on the front surface of the receiver 3 so as to be separated from each other, and a transmitter that transmits ultrasonic waves based on a time difference at which each receiving element 32 receives ultrasonic waves. The direction θ of 2 is determined.

  The demodulator 31 is configured by reversing the signal processing flow in the modulator 21 shown in FIG.

  The acquired code information and direction information can be displayed by the information output unit 3a or output to another device. The information output unit 3 a may be built in the receiver 3 in addition to being externally attached to the receiver 3.

  The receiving element 32 can detect the flying direction of the ultrasonic wave W by providing at least two of them. As shown in FIG. 3, the receiving elements 32 are arranged with a distance δ facing the receiving surface in the same direction, and when the difference in the reception time of the ultrasonic waves by each receiving element 32 is a time difference τ, The direction θ is obtained as θ (arcsin (τ × v / δ)), and v is the speed of sound, as a distance (a deflection angle) from the front direction of the receiving element 32 (receiving surface). The distance δ is usually a distance equal to or smaller than the wavelength of the ultrasonic wave in order to detect the same wavefront of the ultrasonic wave.

  In order to calculate the direction θ, the receiver 3 includes a signal processing unit (not shown) that processes an ultrasonic reception signal from each receiving element 32. By this signal processing unit, the above-described time difference τ is obtained, and the direction θ is obtained.

  The receiving element 32 is not limited to two and may include a larger number of receiving elements 32, and the direction θ is determined by these two. When two or more receiving elements 32 are provided, the array sensor may be configured not only in a single row but also in two vertical and horizontal directions. In the case of arranging in two vertical and horizontal directions, the direction of the transmitter 2 can be obtained with respect to the two directions. For example, when the receiving element 32 is arranged vertically and horizontally, the vertical angle and the horizontal angle can be obtained. The receiving surface of the receiving element 32 is usually circular or square. However, the receiving surface is not limited to this and may be an arbitrarily shaped receiving surface.

  The ultrasonic receiving element 32 can be suitably used in which a membrane part having a diaphragm structure is formed on an SOI (Silicon on Insulator) substrate or the like, and a ferroelectric PZT film having upper and lower electrodes is formed on the membrane part. The silicon of the SOI substrate is formed into a diaphragm shape by forming recesses by anisotropic etching. When ultrasonic pressure is applied to the membrane portion, a voltage is generated by the piezoelectric effect of PZT, and the voltage is taken out as an electrical signal through electrodes provided on the upper and lower portions of PZT.

  The receiving element 32 having such a configuration can be miniaturized and integrated, and is preferably used to configure an ultrasonic array sensor. When an ultrasonic array sensor is used, a received signal from each receiving element 32 can be processed and electronically angle scanned (angle scanned). The signal processing unit for obtaining the time difference τ described above includes a delay circuit and a comparison circuit, and detects a specific time difference and thus the direction of the ultrasonic wave by changing the delay time (ie, electronic angle scanning). can do.

  According to the ultrasonic position recognition system 1 of the present embodiment, since the code information is selectively used as a spread code and the spectrum is spread and the ultrasonic wave is transmitted, the receiver 3 receives the code information from the transmission source (transmitter 2). It can be received accurately with better noise immunity. Therefore, even when there are a plurality of transmitters 2, interference can be prevented, and the code information added to the transmitted ultrasonic waves can be recognized without misidentification, and from which transmitter 2 each ultrasonic wave is transmitted. Can be reliably determined.

  In addition, since the direction of the transmitter 2 is determined based on the time difference τ of ultrasonic waves received by the plurality of receiving elements 32, the receiver 3 can have a simple configuration. Furthermore, even when there are a plurality of transmitters 2, by recognizing the code information added to the ultrasonic waves, it is possible to determine which transmitter 2 each transmits the ultrasonic wave and to change the direction of the transmitter 2 Easy to identify. In this case, after performing the spread spectrum processing (demodulation) of each ultrasonic wave to acquire code information, the spread spectrum is obtained by using the code information of the target transmitter 2 instead of obtaining the target ultrasonic wave direction again. In addition to processing (demodulation), the direction of the transmitter 2 can be obtained, which simplifies the system configuration and speeds up the direction recognition processing.

(Second Embodiment)
FIG. 4 shows the configuration of an ultrasonic position recognition system according to the second embodiment. This embodiment explicitly shows an example in which the ultrasonic position recognition system 1 in the first embodiment described above is configured by two transmitters 2 and one receiver 3. Thus, even when there are a plurality of transmitters 2, by changing the code information added by each transmitter 2, the ultrasonic waves received by the receiver 3 can be transmitted from any transmitter 2. Can be determined. Accordingly, even if there are a plurality of transmitters 2, it is possible to identify and recognize the direction of each transmitter.

(Third embodiment)
FIG. 5 shows the configuration of an ultrasonic position recognition system according to the third embodiment. In the present embodiment, the modulator 21 and the demodulator 31 incorporated in each of the transmitter 2 and the receiver 3 in the first and second embodiments described above are externally configured.

  That is, the modulation unit 21 and the demodulation unit 31 as the spread spectrum processing unit do not need to be integrated with the transmitter 2 and the receiver 3, respectively. Moreover, it is also possible to adopt a configuration in which the components and devices are independent from each other and connected to the transmitter 2 and the receiver 3. Further, the transmitter 2 and the receiver 3 may share the spread spectrum processing unit.

(Fourth embodiment)
FIG. 6 shows the configuration of an ultrasonic position recognition system according to the fourth embodiment. This embodiment pays particular attention to the mutual distance in the mutual position recognition of the transmitter 2 and the receiver 3. In the ultrasonic position recognition system 1 of the present embodiment, the transmitter 2 has a conversion unit 23 that converts information a at the time of transmitting an ultrasonic wave (t1) into code information, and when transmitting the ultrasonic wave, The conversion unit 23 is used to encode the ultrasonic wave transmission time t1 into code information.

  The information input unit 2a outputs code information such as time information a converted into code information and code information such as an ID code for transmitter recognition to the modulation unit 21. The transmitter 2 transmits an ultrasonic wave subjected to spread spectrum processing using code information including the time information a as a spread code.

  The receiver 3 receives the ultrasonic wave by the receiving element 32, thereby obtaining the code information b, the information c of the reception time t2, and the information d of the transmitter direction, and outputs the information to the information output unit 3a. The receiver 3 includes a restoration unit 35 that restores the information a at the time t1 at which the ultrasonic wave is transmitted from the code information b, and acquires the information e at the ultrasonic transmission time t1 by using the restoration unit 35. The receiver 3 outputs a distance D to the transmitter 2 that transmits the ultrasonic wave based on the information e of the ultrasonic wave transmission time t1 and the information c of the reception time t2 when the ultrasonic wave is received. A calculation unit 36 is provided. The distance D is obtained by D = (t2−t1) × v, and v is the speed of sound.

  In addition, the receiver 3 includes a display unit 4 that displays position information acquired by reception of ultrasonic waves. The direction information d of the receiver and the distance D output from the distance calculation unit 36 are displayed on the display unit 4. Display information of.

  As shown in FIG. 6, the conversion unit 23 and the restoration unit 35 may be configured by parts or devices independent of the main body of the transmitter 2 or the receiver 3, or may be configured on the main body of the transmitter 2 or the receiver 3. It may be built in and integrated. The distance calculation unit 36 may be composed of parts or devices independent from the main body of the receiver 3, or may be provided inside the receiver 3.

  According to the ultrasonic position recognition system 1 of the present embodiment, since the transmission time t1 can be transmitted from the transmitter 2 to the receiver 3 in a self-contained manner using ultrasonic waves as a medium, a wiring circuit for transferring the transmission time t1 is provided. Distance measurement can be performed without providing or providing another distance measuring device.

(Fifth embodiment)
FIG. 7 shows the configuration of an ultrasonic position recognition system according to the fifth embodiment. The present embodiment relates to a system having a plurality of transmitters 2 such as the ultrasonic position recognition system 1 in the above-described second embodiment, and relates to a configuration for identifying each transmitter 2 on the receiver 3 side.

  In the ultrasonic position recognition system 1 according to the present embodiment, a plurality of transmitters 2 are provided, and the code information includes information for identifying the transmitters 2 from each other. The ultrasonic waves from 2 are received and each transmitter 2 is identified, and the direction of each transmitter 2 is obtained to recognize the position.

  In order to process signals from a plurality of transmitters, the receiver 3 is selected by a plurality of demodulation units 31 corresponding to each transmitter and a selection unit 33 that selects one demodulation unit 31 according to code information. The information processing unit 34 for obtaining the direction θ of the transmitter 2 and the operation unit 3b for outputting information for selecting a desired transmitter to the selection unit 33 are provided. The operation unit 3b is operated by the operator when the operator carries the receiver 3. Each demodulator 31 can realize high-speed operation by performing parallel processing operations on each other.

  According to the ultrasonic position recognition system 1 of the present embodiment, the transmitter 2 can be selected based on the received ultrasonic code information and the direction of the transmitter 2 can be recognized. Therefore, for example, when a person or a moving body moves along with the receiver 3 and approaches the target transmitter 2, it can be easily approached by moving along that direction.

(Sixth embodiment)
FIG. 8 shows the configuration of an ultrasonic position recognition system according to the sixth embodiment. The present embodiment shows a configuration in which the demodulating units 31 are combined into one in the fifth embodiment described above. That is, the code information for selection from the operation unit 3 b is directly input to the demodulation unit 31. The demodulator 31 uses the selected code information as a demodulation code, and obtains a specific demodulated signal selected from the spectrum-spread ultrasonic signal.

  According to the ultrasonic position recognition system 1 of the present embodiment, the number of demodulation units 31 used for the spread spectrum process in the receiver 3 can be reduced, so that the apparatus configuration can be simplified. In addition, processing can be executed at a higher speed than when a plurality of demodulation units 31 are operated in series.

(Seventh embodiment)
FIG. 9 shows a configuration of an ultrasonic position recognition system according to the seventh embodiment, FIG. 10 shows another example of a direction display unit in the system, and FIG. 11 transmits a memory for code related data in the system. 12 (a) and 12 (b) show examples in which a memory for code related data in the system is provided on the receiver side.

  The ultrasonic position recognition system 1 according to the present embodiment includes a plurality of transmitters 2, and the code information includes information for identifying the transmitters 2 from each other. 2 has a display 4 for displaying information associated with 2 and the determined direction of the transmitter 2. When receiving the ultrasonic wave, the receiver 3 extracts code information from the ultrasonic wave, identifies and recognizes the transmitter 2 based on the code information, and obtains the result obtained from the received ultrasonic wave, that is, Information associated with the transmitter 2 is displayed on the display unit 4.

  The display unit 4 includes an angle display unit 41 that displays the direction of the transmitter 2 and a related information display unit 42 that displays information associated with the transmitter 2. The direction of the transmitter 2 is displayed on the angle display unit 41 by an arrow or character information. On the related information display unit 42, code information and information associated with the code information are displayed as character information, a photograph, a figure, and the like.

  As an example of use of this ultrasonic position recognition system 1, there is a guidance guidance system, for example. In this case, there may be a situation in which the venue is sequentially guided and guided while explaining to the visitors an explanation related to works and products exhibited in museums and exhibition halls. In the case of FIG. 9, a transmitter 2 having unique code information is arranged for each of the articles m1, m2, and m3 arranged at the venue. The visitor can move with the receiver 3 and refer to the display unit 4, thereby observing the information displayed on the display unit 4 in association with articles related to the information.

  The related information display unit 42 can be configured by an image display device that displays photographs and characters. However, the related information display unit 42 can have a function such as a voice guide as another display function, and can be used for electronic image display (monitor display). Instead, it is possible to use an apparatus that mechanically replaces and displays a sheet in which information has been previously entered.

  The transmitter 2 does not necessarily have to be installed for each article, and may be installed for each of a plurality of articles or for each type. The article is not limited to goods, but may be a person, an animal, a plant, or the like. Furthermore, the use location of the ultrasonic position recognition system 1 may be a room unit of a house or a building, a section unit of a floor, or the like. The receiver 3 and the display unit 4 are not limited to one and may be plural.

  The angle display unit 41 may be configured by a dedicated instrument as shown in FIG. 10 instead of being displayed on the monitor screen. When such an angle display unit 41 moves together with a visitor, it is easy to use by displaying the transmission source of the currently received ultrasonic wave regardless of the attitude of the angle display unit 41 in the space. It will be good. Therefore, the angle display unit 41 may be provided with a geomagnetic sensor or a horizontal sensor so as to grasp the attitude of the angle display unit 41 with respect to the space of the venue and correct the angle display. In addition, an intensity monitor that outputs an output signal, for example, an audio signal or an optical signal, corresponding to the reception intensity of the ultrasonic wave currently focused on may be provided, and the visitor may search for the direction of the ultrasonic wave.

  Further, as information transmitted from the transmitter 2, in addition to the code information for identifying the transmitter 2, data related to the code information may be transmitted. Therefore, as shown in FIG. 11, the transmitter 2 includes a memory M2, and data relating to the code information may be recorded in the memory M2.

  Further, the data related to the code information is stored in the memory M3 provided in the display unit 4 as shown in FIG. 12A or the memory M3 provided in the receiver 3 main body as shown in FIG. It may be recorded for each information, and data may be read and displayed for each code information. Further, instead of recording data in such memories M2, M3, etc., the receiver 3 may be provided with a wireless communication device and separately acquired from the database base or the like by wireless communication.

  According to the ultrasonic position recognition system 1 of the present embodiment, the transmitter 2 is identified based on the received ultrasonic code information, and the information associated with the transmitter 2 and the direction of the transmitter 2 are displayed. For example, when a person or a moving body approaches the target transmitter 2 while moving with the receiver 3, it can move along that direction or use information associated with a specific transmitter 2. it can.

  In this case, as the display method of the direction and related information, in addition to the visual appeal, a display appealing to hearing by voice or the like can be used. In addition, when the receiver 3 is fixed to an autonomous mobile body or the like and a person moves with the autonomous mobile body, the direction is displayed (instructed) by an electrical signal that can be recognized by the autonomous mobile body. In this case, the autonomous mobile body moves according to the angle display.

(Eighth embodiment)
FIG. 13 shows the configuration of an ultrasonic position recognition system according to the eighth embodiment. In the ultrasonic position recognition system 1 of the present embodiment, the receiver 3 displays the code information added to the received ultrasonic wave or information related to the code information, and the transmitter that transmits the ultrasonic wave. When the direction of 2 changes, it has the process part 5 which changes the information for displaying on the display part 4 according to the change.

  In the ultrasonic position recognition system 1, for example, the transmitter 2 moves together with an object moving in the space, and the display unit 4 and the processing unit 5 connected to the receiver 3 and the receiver 3 main body are fixed in the space. It is assumed that In addition, a situation in which the receiver 3, the display unit 4, and the processing unit 5 move with a person or a moving body is also assumed. When the object associated with the transmitter 2 moves, displays h1 and h2 such as photographs and pictures associated with the object move on the display unit 4.

  According to the ultrasonic position recognition system 1 of the present embodiment, for example, when the transmitter 2 moves when a person or a moving body approaches the target transmitter 2 while moving with the receiver 3, the display on the display unit is displayed. Since it changes, it can move easily following the target transmitter 2 by moving according to the change of the display. Further, by changing the direction of the receiver 3, the target transmitter 2 can be changed to another transmitter 2.

  Conversely, the display on the display unit 4 can be changed by moving the position of the transmitter 2 itself. In this case, it is possible to perform operations equivalent to these only by moving the transmitter 2 without performing operations such as input of coordinate information, operation of moving the cursor position, input using buttons, etc., which have been necessary conventionally. 4 can be performed.

(Ninth embodiment)
FIG. 14 shows the configuration of an ultrasonic position recognition system according to the ninth embodiment. In the ultrasonic position recognition system 1 according to the present embodiment, the receiver 3 uses the code information added to the received ultrasonic wave and the information on the direction of the transmitter 2 that transmits the ultrasonic wave, such as the lighting devices L1 to L4. It has a control device 6 that outputs signals for controlling lighting, extinction, brightness, and hue.

  When this ultrasonic position recognition system 1 is applied, a tracking illumination system can be constructed. For example, when a person or an object moves together with the transmitter 2, when the transmitter 2 transmits an ultrasonic wave, the receiver 3 detects the direction and distance of the ultrasonic source and recognizes the position of the transmitter 2. And since the control apparatus 6 controls an illuminating device, the moving person and an object are tracked and the illumination according to the movement is performed. In this case, for example, when a person moves with the transmitter 2, information such as whether the person is a man or a woman, an adult or a child, and information selected according to the purpose of the person can be used. Such information can be input to the transmitter 2 using an information input unit 2a (not shown). Therefore, a selection button can be provided in the information input unit 2a. Moreover, the transmitter 2 should just transmit an ultrasonic wave constantly, transmit intermittently, or may be transmitted by operation from the person and thing which move together.

  The transmitter 2, the receiver 3, the control device 6, etc. are not limited to one each, and there may be a plurality. The receiver 3, the control device 6, the lighting devices L1 to L4, and the like may be independent components and devices, or may be a device in which these are integrated. In this example, the receiver 3 and the lighting device are shown arranged on the ceiling. However, the receiver 3 and the lighting device are not necessarily limited to the ceiling, and may be arranged on a wall, a floor, a metal fitting suspended from the ceiling, or the like. In addition, the ultrasonic position recognition system 1 can be applied to the inside of a building such as a house or a building, the inside of a vehicle, a ship, or an aircraft, and can also be applied to an outdoor facility such as a road lighting.

  According to the ultrasonic position recognition system 1 of the present embodiment, for example, by attaching a transmitter to each person or item in the vicinity of the illumination, the transmitter 2 moves according to the movement of the person or item. Since the receiver 3 recognizes the movement of the transmitter 2, lighting can be turned on / off / dimmed automatically.

  The ultrasonic position recognition system 1 is not limited to the tracking illumination system that performs the above-described illumination control, and is generally preferably used in a situation in which a device (illumination device in the above) is arranged in the moving environment in accordance with movement. Can do. For example, in accordance with the movement, not only control of the lighting device but also control of video and audio output, motor drive control, air conditioner control, and the like can be performed.

(Tenth embodiment)
FIG. 15 shows the configuration of an ultrasonic position recognition system according to the tenth embodiment. In the present embodiment, it is assumed that the receiver 3 moves and the attitude of the receiver 3 changes. The receiver 3 includes a plurality of ultrasonic receiving elements 32 and determines the direction of ultrasonic propagation, that is, the direction θ of the ultrasonic source that is the deflection angle from the front direction of the receiving element 32. The direction θ is an angle determined with respect to the arrangement of the receiving elements 32 arranged apart from each other. However, the direction θ is recognized and used by the receiver 3 or a person or object moving with the receiver 3 under a coordinate system common to the space where the ultrasonic source, that is, the transmitter 2 and the receiver 3 exists. Is. If the receiver 3 moves, it rotates and moves in addition to moving in parallel, and the attitude of the receiving element 32 with respect to the common coordinate system changes. To recognize the direction θ detected by the receiving element 32, It is necessary to consider the posture.

  The receiver 3 in this embodiment includes an attitude sensor 7 that detects the attitude of the receiver 3 main body. If each receiving element 32 is fixed to the front surface of the receiver 3 main body, the attitude sensor 7 can detect the attitude of the arrangement of each receiving element 32. The posture sensor 7 may be at least capable of recognizing the horizontal direction. Since the horizontal direction can be recognized, the direction θ of the transmitter 2 can be easily recognized by detecting the direction θ in the left-right direction when the receiver 3 moves in a horizontal plane. In this case, among the plurality of receiving elements 32, at least two receiving elements 32 need to be spaced apart from each other along a substantially horizontal plane on the front surface of the receiver 3 main body.

  When the information processing unit 34 calculates the direction of the transmitter 2 based on the ultrasonic reception signal from the receiving element 32, information on the posture from the posture sensor 7 is referred to, and information output to the information output unit 3a is , Information on the attitude of the receiver 3 and thus of the receiving element 32 is included. Therefore, the direction of the transmitter 2 is displayed on the display unit 4 so that, for example, the arrangement in the space where the person is currently located can be understood and recognized.

  In addition, the display unit 4 can be configured to be independent from the receiver 3 and change its own attitude independently of the attitude of the receiver 3. In this case, by providing a posture sensor in the display unit 4, the direction of the transmitter 2 is displayed so that the arrangement in the current position can be understood and recognized based on the signal from the posture sensor. Part 4 can be displayed.

  The attitude sensor 7 is configured using a triaxial acceleration sensor, a geomagnetic sensor, or the like. By providing one or more of these, the attitude of the receiver 3 and the display unit 4 can be detected. By such an attitude sensor 7, information that can at least recognize the horizontal direction is obtained, and in addition to the horizontal direction, the three-dimensional coordinate axis direction and the rotation around each coordinate axis can be recognized.

(Eleventh embodiment)
FIG. 16 shows a receiver main body used in the ultrasonic position recognition system according to the eleventh embodiment, and FIG. 17 shows an array of receiving elements by a partial cross section of the receiver. In the present embodiment, the arrangement of the receiving elements 32 in the receiver 3 is shown more specifically. Receiving elements 32 that receive ultrasonic waves from the front, top and bottom front (Y axis direction), and left and right front (X axis direction) are respectively provided at the front part (end in the z axis direction in the figure) of the receiver 3 main body. It is arranged in a letter shape. The receiver 3 includes the attitude sensor 7, the demodulator 31, the information processor 34, and the like as in the above-described embodiments.

  A set of four receiving elements 32 arranged in a cross shape is arranged in a common plane P1, P2, P3, etc. (generally referred to as P) (see FIG. 17), and from the normal direction of the plane P. As the deflection angle, the incoming directions θ1, θ2, θ3 (generally θ) of the ultrasonic wave W from the transmitter 2 (not shown) can be detected.

  In such a receiver 3, the information processing unit 34 processes information for output based on the incoming direction angle θ of the ultrasonic wave obtained from the signal from each receiving element 32 and information on the posture from the posture sensor 7. Then, the direction of the transmitter 2 can be displayed on the display unit 4 (not shown) so that a person or a moving body can understand and recognize it more easily. Even if the attitude of the receiver 3 main body changes, the optimum set of receiving elements 32 can detect the direction of the transmitter 2. Therefore, since the display can be easily recognized, the receiver 3 that is easy to use is obtained, and the ultrasonic position recognition system 1 that is easy to use can be realized.

(Twelfth embodiment)
FIG. 18 shows an array of receiving elements in the receiver of the ultrasonic position recognition system according to the twelfth embodiment. The receiver is configured by arranging a large number of receiving elements 32 on a part of a spherical surface. The receiver having the receiving elements 32 arranged as described above can recognize the flying direction of the ultrasonic wave W by an arbitrary set of two receiving elements 32. In order to recognize such a flying direction, a central processing unit that comprehensively processes signals from these receiving elements 32 is provided. The central processing unit includes a microprocessor, a memory, and peripheral circuits, and performs signal processing digitally. Such a central processing unit may be built in the receiver 3 main body or may have an external configuration.

  The present invention is not limited to the configurations shown in the above embodiments, and various modifications can be made. For example, the configurations of the above-described embodiments can be combined with each other within a consistent range, and such embodiments that can be combined are naturally included in the present invention even if they are not specified. Further, the combinations of the transmitter 2 and the receiver 3 that constitute the ultrasonic position recognition system 1 include combinations such as one-to-one, many-to-one, one-to-many, many-to-many, and the like. All possible combinations such as fixed movement, fixed movement, and moving movement are included.

1 is a configuration diagram of an ultrasonic position recognition system according to a first embodiment of the present invention. The block diagram of the transmitter in a system same as the above. Explanatory drawing of direction recognition by the receiver in a system same as the above. The block diagram of the ultrasonic position recognition system which concerns on 2nd Embodiment. The block diagram of the ultrasonic position recognition system which concerns on 3rd Embodiment. The block diagram of the ultrasonic position recognition system which concerns on 4th Embodiment. The block diagram of the ultrasonic position recognition system which concerns on 5th Embodiment. The block diagram of the ultrasonic position recognition system which concerns on 6th Embodiment. The block diagram of the ultrasonic position recognition system which concerns on 7th Embodiment. The top view which shows the other example of the direction display part in a system same as the above. The figure which shows the example which equips the transmitter side with the memory for code related data in a system same as the above. (A) (b) is a figure which shows the example which equips the receiver side with the memory for code related data in a system same as the above. The block diagram of the ultrasonic position recognition system which concerns on 8th Embodiment. The block diagram of the ultrasonic position recognition system which concerns on 9th Embodiment. The lineblock diagram of the ultrasonic position recognition system concerning a 10th embodiment. The perspective view of the receiver used for the ultrasonic position recognition system which concerns on 11th Embodiment. The fragmentary sectional view which shows the arrangement | sequence of the receiving element in a receiver same as the above. The fragmentary sectional view which shows the arrangement | sequence of the receiving element in the receiver of the ultrasonic position recognition system which concerns on 12th Embodiment. The block diagram of the position recognition system using the conventional infrared rays.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Ultrasonic position recognition system 2 Transmitter 3 Receiver 4 Display part 5 Information change process part 6 Illumination control apparatus 21 Modulation part 23 Conversion part 31 Demodulation part 32 Receiving element 33 Selection part 34 Information processing part 35 Restoration part 36 Distance calculation part 41 angle display unit 42 related information display unit 2a information input unit 2b code processing unit 2c signal generation unit 2d synthesis unit 3a information output unit 3b operation unit D distance W ultrasound θ, θ1, θ2 direction

Claims (5)

In an ultrasonic position recognition system that receives ultrasonic waves and recognizes at least the direction of the ultrasonic wave transmission source,
A transmitter that transmits ultrasonic waves subjected to spread spectrum processing using predetermined code information as a spread code;
A receiver for receiving the ultrasonic wave from the transmitter and extracting the code information from the ultrasonic wave to recognize the transmitter;
The receiver includes a plurality of receiving elements that are spaced apart from each other, and determines the direction of the transmitter that transmits the ultrasonic wave based on a time difference at which each receiving element receives the ultrasonic wave. Ultrasonic position recognition system. The transmitter converts the time of transmitting an ultrasonic wave into code information, adds the code information to the ultrasonic wave, and transmits the code information.
The receiver restores the time when the ultrasonic wave is transmitted based on the code information extracted from the received ultrasonic wave, and transmits the ultrasonic wave based on the transmission time of the ultrasonic wave and the time when the ultrasonic wave is received. The ultrasonic position recognition system according to claim 1, wherein the distance to the transmitter is acquired. A plurality of the transmitters are provided, and the code information includes information for identifying the plurality of transmitters from each other,
The receiver has a display unit for identifying each transmitter based on the identification information and displaying information associated with the identified transmitter and the determined direction of the transmitter. The ultrasonic position recognition system according to claim 1 or 2.   The receiver includes a display unit that displays code information added to the received ultrasonic wave or information related to the code information, and a change in direction of the transmitter that transmits the ultrasonic wave according to the change. The ultrasonic position recognition system according to claim 1, further comprising: a processing unit that changes information to be displayed on the display unit.   The receiver receives a signal for controlling turning on / off of the lighting device and / or brightness or hue based on code information added to the received ultrasonic wave and information on a direction of the transmitter that has transmitted the ultrasonic wave. The ultrasonic position recognition system according to claim 1, further comprising a control device for outputting.

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