WO2005121830A1 - Procede et systeme de reconnaissance de position d'objets mobiles au moyen d'ondes ultrasoniques - Google Patents

Procede et systeme de reconnaissance de position d'objets mobiles au moyen d'ondes ultrasoniques Download PDF

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Publication number
WO2005121830A1
WO2005121830A1 PCT/KR2005/001742 KR2005001742W WO2005121830A1 WO 2005121830 A1 WO2005121830 A1 WO 2005121830A1 KR 2005001742 W KR2005001742 W KR 2005001742W WO 2005121830 A1 WO2005121830 A1 WO 2005121830A1
Authority
WO
WIPO (PCT)
Prior art keywords
ultrasonic
unit region
moving object
position recognition
transmitters
Prior art date
Application number
PCT/KR2005/001742
Other languages
English (en)
Inventor
Dong Hwal Lee
Original Assignee
An Heui Tay
Dong Hwal Lee
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020040101566A external-priority patent/KR20060062652A/ko
Application filed by An Heui Tay, Dong Hwal Lee filed Critical An Heui Tay
Publication of WO2005121830A1 publication Critical patent/WO2005121830A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/30—Determining absolute distances from a plurality of spaced points of known location

Definitions

  • the present invention relates to a moving object position recognition method and system using ultrasonic waves, and more particularly, a method and system for calculating the coordinates of a moving object such as a robot in an area where the moving object is used using ultrasonic waves to recognize the position of the moving object.
  • the ultrasonic transmitters Al, A2, A3 and A4 of the unit region A generate ultrasonic signals having a time delay corresponding to 0 millisecond (the unit of time division is not limited in the embodiment of the present invention) and the ultrasonic transmitters Bl, B2, B3, B4 of the unit region B sequentially generate ultrasonic signals having a time delay corresponding to Dt. That is, the moving object position recognition system using ultrasonic waves according to the first embodiment of the present invention transmits data (representing unit regions of the one-dimensional position recognition area in this embodiment) required for recognizing the position of the moving object using the ultrasonic signals transmitted from the ultrasonic transmitters.
  • the ultrasonic transmitters in the position recognition area respectively generate ultrasonic signals as reference signals at the same time (0T, 2T, ... .) when the ultrasonic transmitters of the first unit region generate ultrasonic signals, and then the ultrasonic transmitters generate ultrasonic signals for transmitting data at points of time (IT, 3T, ... . such that the moving object to recognize the points of time of transmitting the data.
  • the ultrasonic transmitters according to the first embodiment of the present invention are used in a manner that at least one ultrasonic transmitter repeatedly generates an ultrasonic signal having a time delay corresponding to the information about the corresponding unit region to transmit the information about the unit region.
  • the ultrasonic transmitters B 1, B2, B3 and B4 of the unit region B in FIG. 1 respectively generate ultrasonic signals and then generate ultrasonic signals after the lapse of 0.001 second from the first generation of the ultrasonic signals.
  • the synchronization signal can use time information and the ultrasonic signals can be replaced by sonic signals.
  • the moving object includes an ultrasonic receiver having a plurality of sensors (not shown) such that it has directivity in multiple directions to recognize the directions of received signals and receive additional data to recognize a region where the moving object is located.
  • the first unit region XYZ has a sequential number "0" in the directions X, Y and Z.
  • the respective unit regions have unit region values based on the directions X, Y and Z such that identification data is given to the unit regions irrespective of positions of the position recognition area where the unit regions are located.
  • the position recognition area includes three-dimensional unit regions in this embodiment, one-dimensional unit regions respectively have sequential numbers in the case where the position recognition area is composed of only the one-dimensional unit regions.
  • the ultrasonic signals are generated twice such that the moving object recognizes a region where it is located. In this case, a long period of time is required for transmitting data when the number of unit regions is increased. Furthermore, interference of ultrasonic signals can occur.
  • the position recognition area is a two-dimensional or three-dimensional, region
  • ultrasonic signals are generated a predetermined number of times corresponding to the two-dimension or three-dimension. Thus, all the unit regions can be recognized even in the case of two-dimensional and three-dimensional regions.
  • FIG. 6 is a flow chart showing a method of transmitting data using ultrasonic signals having time delays in a moving object position recognition method and system using ultrasonic waves according to a preferred embodiment of the present invention
  • FIG. 7 is a flow chart for explaining an example of a method of transmitting a large quantity of data including specific numbers of ultrasonic transmitters and user- defined data.
  • a moving object position recognition method using ultrasonic waves comprising the steps of: arranging the first unit region through the last unit region such that they respectively have sequential numbers to construct a position recognition area, each of the unit regions including the first ultrasonic transmitter through the last ultrasonic transmitter for generating ultrasonic signals, the first ultrasonic transmitter through the last ultrasonic transmitter being arranged, respectively having sequential numbers; generating a synchronization signal in the position recognition area; and permitting the first ultrasonic transmitter through the last ultrasonic transmitter of each unit region to sequentially generate ultrasonic signals in synchronization with the synchronization signal, wherein the ultrasonic transmitters of the first unit region through the last unit region respectively generate ultrasonic signals having time delays respectively determined for the respective unit regions such that data required for recognizing the position of a moving object is transmitted using the ultrasonic signals transmitted from the ultrasonic transmitters.
  • the ultrasonic transmitters respectively generate ultrasonic signals as reference signals at the same time when the ultrasonic transmitters of the first unit region generate ultrasonic signals, and then the ultrasonic transmitters generate ultrasonic signals for transmitting the data, thereby allowing the moving object to recognize the point of time of transmitting the data.
  • the data transmitted using the ultrasonic signals sequentially transmitted by the ultrasonic transmitters of the first unit region through the last unit region, having predetermined time delays is segmented into a predetermined number of bits.
  • the data transmitted using the ultrasonic signals sequentially transmitted by the ultrasonic transmitters of the first unit region through the last unit region, having predetermined time delays includes specific numbers of the respective ultrasonic transmitters.
  • the data can include at least one of user-defined data including unit region numbers, nearby distance identification numbers, operation regulations and coordinates.
  • a moving object position recognition system using ultrasonic waves comprising: a synchronization signal generator for generating a synchronization signal; ultrasonic transmitters respectively given specific numbers and user-defined data, the ultrasonic transmitters generating ultrasonic signals in synchronization with the synchronization signal generated by the synchronization signal generator, the user-defined data being given to the ultrasonic transmitters when the ultrasonic transmitters are installed; a moving object receiving the synchronization signal and the ultrasonic signals such that its position is recognized; and a controller for controlling the synchronization signal generator, the ultrasonic transmitters and the moving object, wherein the ultrasonic transmitters transmit the ultrasonic signals having predetermined time delays to transmit the specific numbers and the user-defined data, and the moving object receives the ultrasonic signals generated by the ultrasonic transmitters having the predetermined time delays and converts the ultrasonic signals into data to recognize information of the ultrasonic transmitters.
  • the user can input regulations about an operating method such as periods of the ultrasonic transmitters, the number of times of generating signals, the order of generating signals. Individual characteristics such as the nearby distance identification numbers and global coordinates should be inputted by the user and common regulations can be transmitted from a synchronization signal generator.
  • the above-mentioned method of transmitting data required for recognizing the position of a moving object using ultrasonic signals provide various advantages. Specifically, while the conventional techniques control the moving object using ultrasonic waves in a single region, the present invention allows the moving object to recognize the coordinates of ultrasonic transmitters even when the position recognition area is composed of a three-dimensional region to enable effective position recognition. Thus, the position recognition area of the moving object can be constructed in various forms. Furthermore, the moving object position recognition method and system using ultrasonic waves according to the present invention transmit data using ultrasonic signals that are natural frequencies of the moving object and the ultrasonic transmitters.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

La présente invention concerne un procédé et un système de reconnaissance de position d'objet mobile au moyen d'ondes ultrasoniques permettant d'émettre des données nécessaires pour reconnaître la position d'un objet mobile au moyen de signaux ultrasoniques. Ce procédé de reconnaissance de position d'objet mobile utilisant des ondes ultrasoniques consistent: à agencer les régions d'unité de la première région d'unité à la dernière région d'unités de sorte que ces régions respectivement possèdent des numéros séquentiels permettant de construire une zone de reconnaissance de position, chacune des régions d'unités comprenant du premier émetteur ultrasonique au dernier émetteur ultrasonique de façon à générer des signaux ultrasoniques, ces émetteurs ultrasoniques étant agencé, respectivement avec des numéros séquentiels, à générer un signal de synchronisation dans la zone de reconnaissance de position et, à permettre que le tous les émetteurs ultrasoniques de chaque région d'unité génèrent séquentiellement des signaux ultrasoniques en synchronisation avec le signal de synchronisation. Les émetteurs ultrasoniques de toutes les régions d'unités génèrent respectivement des signaux ultrasoniques possédant des retards respectivement déterminés pour les régions d'unités respectives de sorte que les données requises pour la reconnaissance de position d'un objet mobile soient émises au moyen de signaux ultrasoniques émis à partir des émetteurs ultrasoniques.
PCT/KR2005/001742 2004-06-12 2005-06-09 Procede et systeme de reconnaissance de position d'objets mobiles au moyen d'ondes ultrasoniques WO2005121830A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2004-0043261 2004-06-12
KR20040043261 2004-06-12
KR1020040101566A KR20060062652A (ko) 2004-12-04 2004-12-04 초음파 위치인식에서의 다차원 영역 확장 방법
KR10-2004-0101566 2004-12-04

Publications (1)

Publication Number Publication Date
WO2005121830A1 true WO2005121830A1 (fr) 2005-12-22

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PCT/KR2005/001742 WO2005121830A1 (fr) 2004-06-12 2005-06-09 Procede et systeme de reconnaissance de position d'objets mobiles au moyen d'ondes ultrasoniques

Country Status (2)

Country Link
KR (1) KR100742285B1 (fr)
WO (1) WO2005121830A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008152170A2 (fr) * 2007-06-11 2008-12-18 Fundacio Privada Universitat I Tecnologia Système de localisation
WO2014028229A1 (fr) * 2012-08-13 2014-02-20 Symbol Technologies, Inc. Système de positionnement ultrasonore utilisant un adressage régional à tonalités ultrasonores

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101705227B1 (ko) * 2015-11-06 2017-02-09 주식회사 우리엘테크 실내측위방법

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0063517A1 (fr) * 1981-04-15 1982-10-27 Thomson-Csf Système de télémétrie passive
WO1999028763A1 (fr) * 1997-12-04 1999-06-10 Olivetti Research Limited Systeme de detection pour determiner les informations de position relatives a des objets
WO2001069281A1 (fr) * 2000-03-17 2001-09-20 Pdp Personal Digital Pen Procedes et dispositifs de determination par ultrasons de la position d'un objet mobile
JP2002296349A (ja) * 2001-04-03 2002-10-09 Fujitsu Ltd 超音波位置評定システム

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3337586B2 (ja) * 1995-02-22 2002-10-21 株式会社間組 移動体の位置検出システム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0063517A1 (fr) * 1981-04-15 1982-10-27 Thomson-Csf Système de télémétrie passive
WO1999028763A1 (fr) * 1997-12-04 1999-06-10 Olivetti Research Limited Systeme de detection pour determiner les informations de position relatives a des objets
WO2001069281A1 (fr) * 2000-03-17 2001-09-20 Pdp Personal Digital Pen Procedes et dispositifs de determination par ultrasons de la position d'un objet mobile
JP2002296349A (ja) * 2001-04-03 2002-10-09 Fujitsu Ltd 超音波位置評定システム

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008152170A2 (fr) * 2007-06-11 2008-12-18 Fundacio Privada Universitat I Tecnologia Système de localisation
WO2008152170A3 (fr) * 2007-06-11 2009-02-12 Uni Ramon Llull Fundacio Priva Système de localisation
WO2014028229A1 (fr) * 2012-08-13 2014-02-20 Symbol Technologies, Inc. Système de positionnement ultrasonore utilisant un adressage régional à tonalités ultrasonores
US9157982B2 (en) 2012-08-13 2015-10-13 Symbol Technologies, Llc Ultrasonic locationing system using regional addressing with ultrasonic tones

Also Published As

Publication number Publication date
KR20060049562A (ko) 2006-05-19
KR100742285B1 (ko) 2007-07-24

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