WO2016201952A1

WO2016201952A1 - Ranging system, positioning system and method, and wearable device

Info

Publication number: WO2016201952A1
Application number: PCT/CN2016/000306
Authority: WO
Inventors: 刘广松; 窦新玉
Original assignee: 苏州触达信息技术有限公司
Priority date: 2015-06-18
Filing date: 2016-06-14
Publication date: 2016-12-22
Also published as: CN104898111B; CN104898111A

Abstract

A ranging system, a positioning system and method, and a wearable device. A first device (1) stores a time value. A second device (2) comprising a second ultrasonic sender (22) and a second ultrasonic receiver (21) is provided, the second device (2) storing the time value, wherein a first ultrasonic sender (11) is configured to send a first ultrasonic signal; the second ultrasonic receiver (21) is configured to receive the first ultrasonic signal; the second ultrasonic sender (22) is configured to send, after the second ultrasonic receiver (21) receives the first ultrasonic signal, a second ultrasonic signal after a period of time indicated by the time value; a first ultrasonic receiver (12) is configured to receive the second ultrasonic signal; and a calculation unit (13) is configured to calculate a distance between the first device (1) and the second device (2) based on a first moment which is recorded by the first device (1) and at which the first ultrasonic sender (11) sends the first ultrasonic signal, a second moment which is recorded by the first device (1) and at which the first ultrasonic receiver (12) receives the second ultrasonic signal, and the time value.

Description

Ranging system, positioning system and method, and wearable device

Technical field

The present invention relates to the field of computers, and in particular, to a ranging system, a positioning system and method, and a wearable device.

Background of the invention

When you go out to play, walk, or shop with your child, you can't pay attention and your child disappears into your vision. This is probably one of the most fearful things for any parent. Shopping malls, playgrounds, and home entrances have become high-risk areas for children to lose. The frequency of children’s loss is very high, and the whole society has to face up to this serious problem. Therefore, products to prevent children from being lost have emerged.

Intelligent terminal applications have become very common and can emit and receive ultrasound. The ranging technology of ultrasonic waves sent and received by smart terminal applications in small areas has also matured. The basic principle of general ultrasonic positioning is to transmit or receive ultrasonic waves through several fixed-position points, and the receiving device receives or transmits ultrasonic waves. When the ultrasonic generator and the ultrasonic receiver have a synchronous clock, the time for the ultrasonic round trip is detected. Based on the time taken by the round trip and the distance of the ultrasonic wave, the distance traveled by the ultrasonic wave is calculated, thereby obtaining the distance between the positioned device and several fixed position points. Through the principle of triangular measurement, three-dimensional positioning can be realized, and the position of the device to be positioned in the three-dimensional space can be obtained.

A key point of positioning using this method is that the ultrasonic generator and the ultrasonic receiver require a synchronous clock, but in reality there is no absolutely accurate synchronous clock. For example, the nominal value is also 1MHz. There is always a difference between the clock at the transmitting end and the receiving end. If the receiving end does not perform clock synchronization but uses its own local clock, the received data will always appear after a long enough time. Predictive repetition or loss, resulting in a reception error.

Summary of the invention

Embodiments of the present invention provide a ranging system, a positioning system and method, and a wearable device. The technical solution of the embodiment of the present invention is as follows:

An ultrasonic ranging system includes: a first device including a first ultrasonic transmitter, a first ultrasonic receiver, and a computing unit, the first device retaining a time value; and includes a second ultrasonic transmitter and a second ultrasonic receiving The second device of the device, wherein the second device stores the time value; wherein: a first ultrasonic transmitter is configured to transmit the first ultrasonic signal; and a second ultrasonic receiver is configured to receive the first ultrasonic signal; a second ultrasonic transmitter, configured to: after the second ultrasonic receiver receives the first ultrasonic signal, send a second ultrasonic signal at a time when the time value is received; the first ultrasonic receiver is configured to receive the second ultrasonic wave a signal; a calculation unit, configured to receive the second ultrasonic wave by the first ultrasonic receiver recorded at the first device, based on the first time that the first ultrasonic transmitter transmits the first ultrasonic signal recorded by the first device A second time of the signal, and the time value calculates a distance between the first device and the second device.

An ultrasonic ranging method includes: transmitting, by a first device that stores a time value, a first ultrasonic signal, and recording a transmission time at which the first device transmits the first ultrasonic signal; and receiving, by the first device, the second device a second ultrasonic signal, and recording a receiving moment at which the first device receives the second ultrasonic signal, wherein the second device transmits the second ultrasonic signal after the time value is received after receiving the first ultrasonic signal; The transmission time, the reception time, and the time value calculate a distance between the first device and the second device.

An ultrasonic positioning system comprising at least three fixed devices, a positioned device and a computing device; each of the at least three fixed devices for respectively transmitting respective positioning ultrasonic signals; the positioned device for receiving After each of the positioning ultrasonic signals transmitted by the respective fixed devices, respectively transmitting a respective reply ultrasonic signal to each fixed device by a predetermined time value; each of the at least three fixed devices is further used based on each Locally recorded moments for transmitting respective positioning ultrasonic signals, respectively calculating respective distances from the positioned devices at respective times of receiving the respective recovered ultrasonic signals and the predetermined time values; Computing device for describing respective coordinates of at least three fixed devices, based on respective coordinates of the at least three fixed devices and respective distances between each of the at least three fixed devices and the positioned device, Calculating the coordinates of the positioned device.

An ultrasonic positioning system comprising at least three fixed devices and a positioned device, wherein the positioned device stores respective coordinates of the at least three fixed devices; the positioned device is configured to respectively respectively to the at least three fixed devices Each of the at least three fixed devices is configured to be respectively separated by a predetermined time value after receiving the respective positioning ultrasonic signals transmitted by the positioned device The location device sends the respective reply ultrasonic signals; the positioned device is further configured to locally record the time of transmitting the respective positioning ultrasonic signals to each of the at least three fixed devices based on the local record, Receiving a time at which each of the at least three fixed devices respectively transmits a reply ultrasonic signal and the predetermined time value, respectively calculating a distance between the positioned device and each of the at least three fixed devices; and Based on respective coordinates of the at least three fixed devices and the positioned device and the at least three fixed The distance between each of the apparatus, the coordinates of the positioning device calculated.

An ultrasonic positioning system includes a first fixed device, a second fixed device, a positioned device, and a master device; the master device has a fixed position, and the master device stores the first fixed device and the second fixed device, and a coordinate of the master device; the first fixed device is configured to send a first positioning ultrasonic signal; the second fixed device is configured to send a second positioning ultrasonic signal; and the positioning device is configured to receive the first After positioning the ultrasonic signal, transmitting a first reply ultrasonic signal at intervals of a predetermined time value, and after receiving the second positioning ultrasonic signal, transmitting a second reply ultrasonic signal at intervals of the predetermined time value; the main device is configured to receive Calculating a first distance between the first fixed device and the positioned device by the first time difference between the first positioning ultrasonic signal and the received first reply ultrasonic signal, based on receiving the second positioning ultrasonic signal and receiving the second reply ultrasonic wave a second time difference of the signal, calculating a second distance between the second fixed device and the positioned device, and based on the first distance, the second distance, a third distance between the primary device and the positioned device, and Calculating coordinates of the first fixed device, the second fixed device, and the primary device, and calculating coordinates of the positioned device.

A positioning system based on ultrasonic positioning, comprising a first wearable device and an intelligent terminal; the first wearable device comprises a first ultrasonic transmitter; the intelligent terminal comprises a first ultrasonic receiver and an alarm unit; a transmitter for transmitting a first ultrasonic signal including a first wearable device identifier; a first ultrasonic receiver for receiving the first ultrasonic signal, and determining, based on the ultrasonic positioning of the first ultrasonic signal, a distance of the wearable device, and when the distance exceeds a preset threshold, sending an alarm command to the alarm unit; and an alarm unit for issuing an alarm signal according to the alarm command.

A wearable device based on ultrasonic positioning, comprising: a first ultrasonic transmitter: for transmitting a first ultrasonic signal including a wearable device identifier; thereby receiving the first ultrasonic signal by a first ultrasonic receiver of the smart terminal, And determining, by the first ultrasonic receiver of the smart terminal, a distance from the wearable device based on the ultrasonic positioning of the first ultrasonic signal, and when the distance exceeds a preset threshold, by the smart terminal An ultrasonic receiver sends an alarm command to the alarm unit of the intelligent terminal, wherein the alarm unit issues an alarm signal according to the alarm command.

The embodiment of the invention proposes a ranging technology scheme for synchronizing clocks, and proposes a plurality of ultrasonic precise positioning methods and a plurality of positioning systems based on the ranging method.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solution of the present invention or the prior art, the following will be directed to the present invention. BRIEF DESCRIPTION OF THE DRAWINGS The drawings used in the description of the prior art are briefly described. It is obvious that the drawings in the following description are only some embodiments of the present invention, and no one skilled in the art Other drawings can also be obtained from these drawings on the premise of sex.

1 is a schematic structural view of an ultrasonic ranging system according to an embodiment of the present invention;

2 is a flow chart of an ultrasonic ranging method according to an embodiment of the present invention;

3 is a schematic diagram of ultrasonic positioning according to an embodiment of the present invention;

4 is a first exemplary structural diagram of ultrasonic positioning according to an embodiment of the present invention;

Figure 5 is a schematic diagram of the positioning signal received by the fixed device 1 of Figure 4;

6 is a second exemplary structural diagram of ultrasonic positioning according to an embodiment of the present invention;

7 is a schematic diagram of the positioning signal received by the positioning device of the fixed device 1 in FIG. 6;

8 is a third exemplary structural diagram of ultrasonic positioning according to an embodiment of the present invention;

Figure 9 is a schematic diagram for calculating the calculation of L10 in Figure 8;

Figure 10 is a timing diagram of the various time parameters of Figure 8;

Figure 11 is a structural view of a positioning system based on ultrasonic positioning according to the present invention;

Figure 12 is a structural diagram of a positioning system in a time synchronization manner according to the present invention;

13 is a flow chart of a positioning method in a time synchronization manner according to the present invention;

Figure 14 is a structural diagram of a positioning system in a time-insensitive manner according to the present invention;

15 is a flow chart of a positioning method in a time-insensitive manner according to the present invention;

Figure 16 is a block diagram of a positioning system having an assisted positioning function in accordance with the present invention.

Mode for carrying out the invention

The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

Due to the strong directivity of the ultrasonic wave, the energy consumption is slow, and the distance traveled in the medium is long. Therefore, the ultrasonic wave is often used for distance measurement, such as a range finder and a level measuring instrument, which can be realized by ultrasonic waves. The use of ultrasonic testing is often quick, convenient, simple to calculate, easy to achieve real-time control, and can meet industrial and practical requirements in terms of measurement accuracy.

In general, in one embodiment, an embodiment of the present invention provides a method for ranging from a synchronous clock, and a plurality of ultrasonic precise positioning methods and a plurality of positioning systems based on the ranging method are proposed. The accuracy of the system can reach the acoustic wave propagation distance corresponding to half a sampling period, and the circuit design is simpler. Moreover, the present invention also proposes a wearable device design that prevents loss of caregivers based on synchronous clock ranging, asynchronous clock ranging, and ultrasonic positioning. The caretaker can be a child, an elderly person, a patient, a prisoner, etc. who need to be cared for. In the technical solution of the present invention, the smart terminal can transmit and receive ultrasonic waves by using the self-contained components, and the wearable device can also generate and receive ultrasonic waves. Intelligent terminals generate and receive ultrasonic waves using their own components, and wearable devices can also generate and receive ultrasonic waves. The intelligent terminal detects the distance of the wearable device through ultrasonic ranging. When the measured distance is greater than the set value, the intelligent terminal performs various alarm modes such as sound and device vibration to remind the multimedia device carrier of the child's activity range to prevent the child from being prevented. The purpose of losing.

1 is a schematic structural view of an ultrasonic ranging system according to an embodiment of the present invention. As shown in Figure 1, the ranging system includes:

The first device 1 comprising a first ultrasonic transmitter 11, a first ultrasonic receiver 12 and a computing unit 13, the first device 1 holding a preset time value ΔT (for example, the time value can be saved in the calculation unit 13 ΔT);

a second device 2 comprising a second ultrasonic receiver 21 and a second ultrasonic transmitter 22, the second device 2 storing the preset time value ΔT; wherein:

a first ultrasonic transmitter 11 for transmitting a first ultrasonic signal; a second ultrasonic receiver 21 for receiving the first ultrasonic signal; and a second ultrasonic transmitter 22 for a second ultrasonic signal is transmitted from the time when the ultrasonic wave receiver 21 receives the first ultrasonic signal, and then passes the time value ΔT; the first ultrasonic receiver 12 is configured to receive the second ultrasonic signal; and the calculating unit 13 is configured to At a first moment recorded by the first device 1 at which the first ultrasonic transmitter 11 transmits the first ultrasonic signal, at a second moment recorded by the first device 1 at which the first ultrasonic receiver 12 receives the second ultrasonic signal, and The time value ΔT calculates the distance between the first device 1 and the second device 2.

The first ultrasonic signal may carry the identification information of the first device 1, and the second ultrasonic signal may carry the identification information of the second device 2, so that the first ultrasonic signal and the second ultrasonic signal may be distinguished.

Specifically, the first device 1 and the second device 2 respectively hold the same time value ΔT. The first device 1 records the time T1 at which the first ultrasonic wave generator 11 transmits the first ultrasonic signal based on the local clock. The first ultrasonic signal is received by the second ultrasonic receiver 21 of the second device 2 through the time T. Then, the second ultrasonic transmitter 22 of the second device 2 transmits the second ultrasonic signal after the lapse of the time ΔT from the time when the second ultrasonic receiver 21 receives the first ultrasonic signal. Between the first device 1 and the second device 2, the path through which the ultrasonic waves propagate in the air is the same, so that the second ultrasonic signal is received by the first ultrasonic receiver 12 of the first device 1 through the time T. The first device 1 records the time T2 at which the first ultrasonic receiver 12 receives the second ultrasonic signal based on the local clock. Then, T+ΔT+T=(T2-T1);

Therefore, the time T at which the ultrasonic wave propagates in the air between the first device and the second device is: T = (T2 - T1 - ΔT) / 2; therefore, the distance between the first device 1 and the second device 2 L is: L = C * T, where C is the speed at which the ultrasonic wave propagates in the air and is constant. ΔT is a preset value, which can range from 1 millisecond to 50 seconds.

For example, the first device 1 sends the ranging ultrasonic wave M, and the time difference from the issuance of the ranging ultrasonic wave M to the ultrasonic wave N recovered by the second device 2 is 0.25 s, that is, T2-T1 is 0.25 s, and the second device 2 is known. The preset time ΔT of the ranging ultrasonic M is 0.05 s, and the ranging is super The time for the single-pass propagation between the first device 1 and the second device 2 is 0.1 s, and the speed at which the ultrasonic wave propagates in the air is 350 m/s, the first device 1 and the second device can be calculated. The distance between 2 is 350*0.1=35 meters.

In an embodiment, the first device 1 is further configured to send the distance between the first device 1 and the second device 2 calculated by the computing unit 13 to the second device 2. For example, the first device 1 can transmit an ultrasonic signal containing the distance to the second ultrasonic receiver 21 of the second device 2 via the first ultrasonic transmitter 11. The second device 2 can know the distance between the second device 2 and the first device 1 by analyzing the ultrasonic signal.

In an embodiment, the first device 1 further includes an alarm unit 14; the calculation unit 13 is further configured to: when the distance between the first device 1 and the second device 2 exceeds a preset threshold, to the alarm unit 14 sends an alarm command; an alarm unit 14 is configured to issue an alarm signal according to the alarm command. For example, the alarm signal can be a light alarm, an audible alarm, a vibration alarm, and the like.

In one embodiment, the first device 2 further comprises an alarm unit 23. The alarm unit 23 is configured to issue an alarm signal when the distance between the first device 1 and the second device 2 exceeds a preset threshold. For example, the alarm signal can be a light alarm, an audible alarm, a vibration alarm, and the like.

It can be seen that the present invention can realize the ranging between the first device 1 and the second device 2 without transmitting the synchronization time between the first device 1 and the second device 2. Therefore, the embodiment of the present invention implements the ultrasonic wave of the synchronous clock. Ranging.

Based on the above analysis, the present invention also proposes an ultrasonic ranging method. 2 is a flow chart of an ultrasonic ranging method according to an embodiment of the present invention. As shown in Figure 2, the method includes:

Step 201: Send a first ultrasonic signal to the first device that saves the time value, and record a sending moment when the first device sends the first ultrasonic signal.

Step 202: Receive, by the first device, a second ultrasonic signal sent by the second device, and record a receiving moment at which the first device receives the second ultrasonic signal, where the second device receives the first After the ultrasonic signal, the second ultrasonic signal is transmitted at a time when the time value is passed.

Step 203: Calculate a distance between the first device and the second device based on the sending time, the receiving time, and the time value.

In one embodiment, the method further includes: transmitting the calculated distance between the first device and the second device to a second device; and/or, when the first device and the first device When the distance between the two devices exceeds the preset threshold, an alarm signal is issued.

The embodiment of the invention also proposes an ultrasonic positioning method for the synchronous clock, and the basic principle is a three-point positioning method. Three (or more) stationary devices that are fixed in position and each have at least one ultrasonic generator and at least one ultrasonic receiver. The positioned device is preferably a mobile device having at least one ultrasonic generator and at least one ultrasonic receiver. Both fixed and mobile devices have unique IDs. The fixed device sends an ultrasonic signal with its own ID, and the positioning device enters the positioning area, receives the ultrasonic signal from the fixed device, and transmits the ultrasonic signal with the fixed device ID back after a certain time, according to the above-mentioned clock-free synchronization. The ultrasonic ranging method can obtain the distance between the mobile device and the fixed device, and the distance between the mobile device and the other two fixed devices can be measured.

3 is a schematic view of ultrasonic positioning according to an embodiment of the present invention. As shown in FIG. 3, in the three-dimensional coordinate system, the fixed device 1, the fixed device 2, and the fixed device 3 all have fixed coordinates. For the convenience of calculation, it can be assumed that the fixed device 3 is located at the origin of the three-dimensional coordinate system. Generally, the coordinates of the fixed device 1, the fixed device 2, and the fixed device 3 are known, respectively: fixed device 1: (x1, y1, z1), fixed device 2: (x2, y2, z2), fixed device 3: (x3, y3, z3). The distance L1 of the mobile device to the fixed device 1, the distance L2 from the mobile device to the fixed device 2, and the distance L3 from the mobile device to the fixed device 3 can be obtained based on the above-described distance-free method of the synchronous clock. Therefore, the coordinates (x, y, z) of the mobile device can be calculated based on the three-point positioning algorithm. The three-point positioning algorithm is very mature, three equations, three unknowns, and the following equations 1 can solve the coordinates of the mobile device (x, y, z):

Therefore, the coordinates of the mobile device (x, y, z) can be calculated to achieve the positioning of the mobile device.

The ultrasonic positioning system of the present invention relates to a multimedia device comprising the following components: in a three-dimensional space, three or more multimedia devices are fixed in position, and one is positioned as a multimedia device. Each multimedia device is equipped with an ultrasonic generator and an ultrasonic receiver, each of which is equipped with one or more processors or controllers for data analysis and processing. The acoustic wave generator is used to generate sound waves, and the sound wave receiver is used to receive sound waves.

Positioning mode 1: The fixed device 1 sends a positioning signal specific to the device to be positioned. After receiving the signal, the positioning device sends the signal back to the fixed device 1 after a predetermined processing time. The fixed device 1 calculates the time difference. (minus the processing time) the distance L1 between the fixed device 1 and the positioned device can be obtained. Similarly, the respective distances L2, L3 between the positioned device and the fixed device 2 and the fixed device 3 can be obtained. The distance relationship between the fixed device 1, the fixed device 2 and the fixed device 3 is known, and the position of the positioned device relative to the three fixed devices can be accurately located. Each fixed device sends a signal to the mobile device with the same processing time. The pre-agreed processing time can be pre-stored by the located device. Optionally, the locating device may not store the processing time in advance, and the signal sent by the fixed device to the locating device may include a command signal and a positioning signal, where the processing signal includes the processing time, and the locating device may parse the command signal. Get processing time.

Positioning mode 2: Similar to the positioning mode 1, the difference is that the positioning device (such as a mobile device) sends an acoustic signal, and the fixed device 1, the fixed device 2, and the fixed device 3 receive the acoustic signal, and the fixed device is in a pre-agreed Send the signal back to the mobile device after processing time The signal sent back by the fixed device includes a command signal and a positioning signal, and the command signal includes the ID of the fixed device and the processing time of the fixed device. The mobile device calculates the distance information with each fixed device, and according to the distance information, the precise position of the mobile device in the room can be calculated.

Positioning mode 3: The fixed device k is the master device, and the master device monitors the positioning process between the fixed device 1 and the device to be located (the mobile device), and the master device calculates the time difference between the positioning signal of the fixed device 1 and the corresponding reply signal. The possible position of the positioned device is calculated using the known distance between the fixed device k and the fixed device 1. This method only requires a pair of positioning signals to get the position of the device being positioned.

The above three methods will be described below. 4 is a first exemplary structural diagram of ultrasonic positioning according to an embodiment of the present invention, which corresponds to the positioning mode 1.

In FIG. 4, three fixed devices (fixed device 1, fixed device 2, and fixed device 3 in FIG. 4) and a located device (in FIG. 4, a smart terminal) and a computing device are included, and the computing device stores The respective coordinates of the fixed device 1, the fixed device 2, and the fixed device 3.

The fixed device 1 transmits a positioning ultrasonic signal including the identification of the fixed device 1, and records the transmission time T11 based on the local clock of the fixed device 1. The fixed device 2 transmits a positioning ultrasonic signal including the identification of the fixed device 2, and records the transmission time T21 based on the local clock of the fixed device 2. The fixed device 3 transmits a positioning ultrasonic signal including the identification of the fixed device 3, and records the transmission time T31 based on the local clock of the fixed device 3.

The positioned device (ie, the smart terminal) stores a predetermined time value ΔT. After receiving the respective positioning ultrasonic signals sent by the respective fixed devices, the positioning device sends respective recovery ultrasonic signals to each fixed device by a predetermined time value (ΔT), wherein the positioning device returns a reply ultrasonic signal to the fixed device. Each contains the identity of the respective fixed device. For example, the reply ultrasonic signal returned by the positioning device to the fixed device 1 includes the identifier of the fixed device 1; the reply ultrasonic signal returned by the positioning device to the fixed device 2 includes the fixed The identifier of the device 2; the reply ultrasonic signal returned by the positioning device to the fixed device 3 contains the identifier of the fixed device 3.

The fixed device 1 receives the reply ultrasonic signal including the identification of the fixed device 1, and records the reception time T12 based on the local clock of the fixed device 1. The fixed device 2 receives the reply ultrasonic signal including the identification of the fixed device 2, and records the reception time T22 based on the local clock of the fixed device 2. The fixed device 3 receives the reply ultrasonic signal including the identification of the fixed device 3, and records the reception time T32 based on the local clock of the fixed device 3. Then, the fixed device calculates the respective distances from the devices to be positioned, respectively, based on the respective locally recorded moments at which the respective positioning ultrasonic signals are transmitted, at respective times of receiving the respective recovered ultrasonic signals and the predetermined time values.

Wherein, the distance between the located device and the fixed device 1 calculated by the fixed device 1 is L1, L1=C*T1, and T1=(T12-T11-ΔT)/2;

The distance between the positioned device and the fixed device 2 calculated by the fixed device 2 is L2, L2=C*T2, where T2=(T22-T21-ΔT)/2;

The distance between the positioned device and the fixed device 3 calculated by the fixed device 3 is L3, L3 = C*T3, where T3 = (T32 - T31 - ΔT)/2.

Then, the fixed device 1 transmits the calculated L1 to the computing device via a communication connection with the computing device; the fixed device 2 transmits the calculated L2 to the computing device via a communication connection with the computing device; the fixed device 3 The calculated L3 is sent to the computing device via a communication connection with the computing device.

The computing device calculates the coordinates of the located device based on (formula group 1) based on the respective coordinates of the fixed device 1, the fixed device 1 and the fixed device 3, and L1, L2 and L3.

In the above description, the location device stores a predetermined time value ΔT, and after receiving the respective positioning ultrasonic signals transmitted by the respective fixed devices, the positioning device transmits the respective predetermined time values (ΔT) to each fixed device. Respond to the ultrasonic signal.

Alternatively, the located device may not store the processing time in advance. The three positioning ultrasonic signals transmitted by the three fixed devices may contain the same or different processing times. The positioned device can obtain the corresponding processing time by parsing the command signal. For example, the positioning ultrasonic signal transmitted by the fixed device 1 includes the identification of the fixed device 1 and the processing time ΔT1, and the fixed device 1 records the transmission time T11 based on the local clock of the fixed device 1; the positioning ultrasonic signal transmitted by the fixed device 2 includes the fixed device 2 Identification and processing time ΔT2, the fixed device 2 records the transmission time T21 based on the local clock of the fixed device 2; the positioning ultrasonic signal transmitted by the fixed device 3 includes the identification of the fixed device 3 and the processing time ΔT3, and the fixed device 3 is based on the fixed device 3 The local clock records the transmission time T31, where ΔT1, ΔT2, and ΔT3 are different. After receiving the respective positioning ultrasonic signals transmitted by the respective fixed devices, the positioned devices respectively send respective recovery ultrasonic signals to each of the fixed devices at respective processing times. Specifically, after the positioning device receives the positioning ultrasonic signal sent by the fixed device 1, the interval processing time ΔT1 sends a reply ultrasonic signal including the identifier of the fixed device 1 to the fixed device 1; and the positioned device receives the positioning sent by the fixed device 2 After the ultrasonic signal, the interval processing time ΔT2 sends a reply ultrasonic signal including the identifier of the fixed device 2 to the fixed device 2; after receiving the positioning ultrasonic signal sent by the fixed device 3, the positioning device sends the fixed processing time 3 to the fixed device 3 and includes the fixed The reply ultrasonic signal identified by device 3.

The fixed device 1 receives the reply ultrasonic signal including the identification of the fixed device 1, and records the reception time T12 based on the local clock of the fixed device 1. The fixed device 2 receives the reply ultrasonic signal including the identification of the fixed device 2, and records the reception time T22 based on the local clock of the fixed device 2. The fixed device 3 receives the reply ultrasonic signal including the identification of the fixed device 3, and records the reception time T32 based on the local clock of the fixed device 3. Then, each fixed device calculates the respective distances from the located devices at the time of respectively receiving the respective recovered ultrasonic signals and the predetermined time values respectively at the time of transmitting the respective positioning ultrasonic signals recorded in the respective locals. . At this time, the fixed device 1 calculates the positioned device and fixes The distance between the devices 1 is L1, L1=C*T1, and T1=(T12-T11-ΔT1)/2; the distance between the positioned device and the return device 2 calculated by the fixed device 2 is L2, L2 =C*T2, where T2=(T22-T21-ΔT2)/2; the distance between the positioned device and the fixed device 3 calculated by the fixed device 3 is L3, L3=C*T3, where T3=(T32- T31-ΔT3)/2. Then, the fixed device 1 transmits the calculated L1 to the computing device via a communication connection with the computing device; the fixed device 2 transmits the calculated L2 to the computing device via a communication connection with the computing device; the fixed device 3 The calculated L3 is sent to the computing device via a communication connection with the computing device. The computing device calculates the coordinates of the located device based on (formula group 1) based on the respective coordinates of the fixed device 1, the fixed device 1 and the fixed device 3, and L1, L2 and L3.

Figure 5 is a schematic diagram of the transmitting device 1 of Figure 4 transmitting and receiving ultrasonic signals. As shown in FIG. 5, after the ultrasonic signal transmitted by the fixed device passes the T1 time, it is received by the positioning device, and after the ΔT time, the ultrasonic signal is sent by the positioning device, and then received by the fixed device after the T1 time. After the received device receives the entire acoustic signal and processes it and then transmits it, there is no overlap between the received and transmitted sound waves.

FIG. 6 is a second exemplary structural diagram of ultrasonic positioning according to an embodiment of the present invention, which corresponds to the positioning mode 2. Figure 6 includes at least three fixed devices and positioned devices that hold respective coordinates of at least three fixed devices.

The located device sends a respective positioning ultrasonic signal to each of the at least three fixed devices; each of the at least three fixed devices is configured to respectively receive the respective positioning ultrasonic signals sent by the positioning device, respectively Separating a predetermined time value (ΔT) to send the respective reply ultrasonic signals to the positioned device; the positioned device is further configured to, based on the locally recorded, the time at which the respective positioning ultrasonic signals are transmitted to each of the at least three fixed devices, a locally recorded time at which each of the at least three fixed devices receives a reply ultrasonic signal and the predetermined time value respectively calculate the positioned device and the at least three solids The distance between each of the devices is determined; and the coordinates of the located device are calculated based on the respective coordinates of the at least three fixed devices and the distance between the positioned device and each of the at least three fixed devices.

The difference from the positioning mode 1 is that after the positioning device enters the room, the command signal and the positioning signal are sent, and after the fixed device 1, the fixed device 2, and the fixed device 3 receive the signal, after a predetermined time value (ΔT), After being sent out, after the received signal is received by the positioning device, the distance between the fixed device and the fixed device is calculated, thereby obtaining the precise position of the positioned device in the room.

In FIG. 6, the positioned device transmits respective positioning ultrasonic signals to the fixed device 1, the fixed device 2, and the fixed device 3, respectively. Preferably, the positioning ultrasonic signal contains a predetermined time value (ΔT) and an identification of the stationary device as the destination receiving device. Moreover, the locating device records the timing of transmitting the respective positioning ultrasonic signals to the fixed device 1, the fixed device 2, and the fixed device 3, respectively, based on the local clock. For example, the time at which the positioning device sends the positioning ultrasonic signal to the fixed device 1 based on the local clock record is T11, and the positioning ultrasonic signal sent by the positioning device to the fixed device 1 includes the identification information of the fixed device 1; the positioned device records based on the local clock. The time at which the positioning ultrasonic signal is transmitted to the fixed device 1 is T21, and the positioning ultrasonic signal transmitted by the positioning device to the fixed device 2 includes the identification information of the fixed device 2; the positioned device transmits the positioning ultrasonic signal to the fixed device 1 based on the local clock record. The time is T31, and the positioning ultrasonic signal transmitted by the positioning device to the fixed device 3 includes the identification information of the fixed device 3.

After receiving the positioning ultrasonic signal (ie, the positioning ultrasonic signal including the identification information of the fixed device 1) sent by the positioning device, the fixed device 1 parses the predetermined time value (ΔT) therefrom and selects the predetermined time value ( After ΔT), a reply ultrasonic signal is transmitted to the positioned device, and the reply ultrasonic signal includes identification information of the positioning device 1. The locating device records the time at which the acknowledgment ultrasonic signal transmitted by the fixed device 1 is received based on the local clock, which is T12. The fixed device 2 receives the positioning ultrasound sent to itself by the positioning device After the wave signal (ie, the positioning ultrasonic signal including the identification information of the fixed device 2), the predetermined time value (ΔT) is parsed therefrom, and a predetermined ultrasonic wave signal is sent to the positioned device at a predetermined time value (ΔT), the reply ultrasonic signal The identification information of the positioning device 2 is included. The locating device records the time at which the acknowledgment ultrasonic signal transmitted by the fixed device 2 is received based on the local clock, which is T22. After receiving the positioning ultrasonic signal (ie, the positioning ultrasonic signal including the identification information of the fixed device 3) transmitted by the positioning device, the fixed device 3 parses the predetermined time value (ΔT) therefrom and intervals the predetermined time value (ΔT). Sending a reply ultrasonic signal to the located device, the reply ultrasonic signal containing the identification information of the positioning device 3. The locating device records the time at which the acknowledgment ultrasonic signal transmitted by the fixed device 3 is received based on the local clock, which is T32.

The located device calculates the distance between the positioned device and each of the at least three fixed devices, wherein:

The distance between the positioned device and the fixed device 1 is L1, L1=C*T1, and T1=(T12-T11-ΔT)/2; the distance between the positioned device and the fixed device 2 is L2, L2=C *T2, where T2 = (T22 - T21 - ΔT) / 2; the distance between the positioned device and the fixed device 3 is L3, L3 = C * T3, where T3 = (T32 - T31 - ΔT)/2.

Moreover, the positioned device calculates the coordinates of the positioned device based on (Formula Group 1) based on the respective coordinates of the fixed device 1, the fixed device 1 and the fixed device 3, and L1, L2 and L3.

FIG. 7 is a schematic diagram of the positioning signal received by the positioning device of FIG. 6 from the fixed device 1.

Fig. 8 is a third exemplary structural diagram of ultrasonic positioning according to an embodiment of the present invention.

As shown in FIG. 8, there are at least three fixed devices and at least one positioned device in the three-dimensional space. Among the three fixed devices, one of them is a master device, and the other two are a fixed device 1 and a fixed device 2. The fixed device 1 and the fixed device 2 respectively transmit and receive ultrasonic signals without calculating the distance from the device being positioned. The master device separately monitors the positioning process between the fixed device 1 and the fixed device 2 and the device to be located, and separately calculates the fixed device 1 and is positioned. The distance between the devices and the distance between the fixed device 2 and the device being positioned. The location of the master device is fixed. The master device stores the coordinates of the fixed device 1, the fixed device 2, and the master device.

The fixed device 1 is configured to send a first positioning ultrasonic signal; the fixed device 2 is configured to send a second positioning ultrasonic signal; and the positioning device is configured to send the first reply after a predetermined time value after receiving the first positioning ultrasonic signal The ultrasonic signal transmits a second return ultrasonic signal at intervals of the predetermined time value after receiving the second positioning ultrasonic signal; and the main device is configured to perform a first time difference based on receiving the first positioning ultrasonic signal and receiving the first return ultrasonic signal Calculating a first distance between the fixed device 1 and the positioned device, and calculating a second between the fixed device 2 and the positioned device based on the second time difference between receiving the second positioning ultrasonic signal and receiving the second reply ultrasonic signal The coordinates of the located device are calculated based on the first distance, the second distance, the third distance between the master device and the device being positioned, the coordinates of the fixed device 1, the coordinates of the fixed device 2, and the coordinates of the master device. The parameters in Figure 8 are defined as follows: L0 is the distance between the device being located and the master device, and T0 is the time required for the ultrasonic signal to travel from the device to the master device. L0 is proportional to T0; L1 is the device to be located and The distance between the fixed devices 1, T1 is the time required for the ultrasonic signal to travel from the positioned device to the fixed device 1, L1 is proportional to T1; L2 is the distance between the positioned device and the fixed device 2, and T2 is the ultrasonic signal The time required to travel from the location device to the fixed device 2, L2 is proportional to T2; L10 is the distance between the master device and the fixed device 1, and T10 is the time required for the ultrasonic signal to travel from the master device to the stationary device 1 L10 is proportional to T10; L20 is the distance between the main device and the fixed device 2, and T20 is the time required for the ultrasonic signal to travel from the host device to the fixed device 2, L20 is proportional to T20; L12 is fixed device 1 and fixed The distance between the devices 2, T12 is the time required for the ultrasonic signal to travel from the fixed device 1 to the fixed device 2, L12 is proportional to T12; wherein L10, L20, L12, T10, T20, T12 are known, the master device With the device being located The distance between the two can be obtained by the above-mentioned clock-free synchronization method, that is, L0 and T0 are known, and L1, L2, T1, and T2 are unknown.

The device to be positioned, the master device, and the fixed device 1 are separated as shown in FIG. Fig. 9 is a diagram showing the calculation of L10 in Fig. 8. Based on Fig. 9, the fixed device 1 emits an ultrasonic signal, which can be received by both the positioning device and the main device, and has two timelines:

The first timeline: the fixed device 1 sends an ultrasonic signal, which is received by the positioning device after the time T1, and is sent by the positioning device after the ultrasonic signal is sent through the ΔT time, and the ultrasonic signal is received by the fixed device 1 after the time T1.

The second timeline: the fixed device 1 sends an ultrasonic signal, which is received by the main device after the T10 time. When the ultrasonic signal is sent by the positioning device, it is received by the main device after the T0 time, and the main device receives the ultrasonic signal twice. The time interval is recorded as T.

10 is a timing relationship diagram of each time parameter in FIG. 8; from FIG. 10, T1+ΔT=T10+T-T0 can be obtained; and T1=T10+T-T0-ΔT can be obtained; C is a sound wave in the air. The transmission speed is constant. Therefore, L10 can be calculated. Similarly, L20 can be obtained. Thus, the distance between each device and the coordinates of the three master devices can be known, and the specific coordinates of the device to be located can be known.

Assume that ΔT = 0.01 s; L10 = 17 m; L0 = 14 m; T = 0.08 s;

There may be an equation: T0 = L0 / C; T10 = L10 / C; T1 = T10 + T - T0 - ΔT; L1 = T1 * C; finally L = 28m.

Similarly, the distance L2 between the positioned device and the fixed device 2 can be calculated. Calculate the coordinates of the device to be positioned according to the three-point positioning principle. The coordinates of the three fixed devices are known as: (x0, y0, z0): the coordinates of the master device in the map; (x1, y1, z1): the fixed device 1 is The coordinates in the map; (x2, y2, z2): the coordinates of the fixed device 2 in the map;

Then you need to calculate the coordinates (x, y, z) of the positioned device in the map.

Assume that: (x0, y0, z0) = (1, 2, 1); (x1, y1, z1) = (1, 4, 1); (x2, y3, z3) = (1, 3, 0); L0=4.89; L1=4.47; L2=5.09;

According to the three-point positioning principle:

It can be derived that the coordinates of the device being located (x, y, z) = (5, 4, 3).

The invention also proposes a positioning method based on a wearable device. The intelligent terminal detects the distance from the caretaker by ultrasonic ranging. When the distance exceeds a preset threshold, the intelligent terminal can perform various alarm modes such as sound and equipment vibration to remind the intelligent terminal carrier about the caretaker. The scope of activities to achieve the purpose of preventing the loss of the caretaker.

Figure 11 is a block diagram of a positioning system based on ultrasonic positioning in accordance with the present invention. As shown in FIG. 11, the system includes a first wearable device and a smart terminal. Wherein: the first wearable device comprises a first ultrasonic transmitter; the intelligent terminal comprises a first ultrasonic receiver and an alarm unit; the first ultrasonic transmitter is configured to transmit a first ultrasonic signal comprising the first wearable device identifier; The ultrasonic receiver is configured to receive the first ultrasonic signal, determine a distance from the wearable device based on the ultrasonic positioning of the first ultrasonic signal, and send an alarm command to the alarm unit when the distance exceeds a preset threshold; Unit for issuing an alarm signal according to an alarm command.

In an embodiment, the alarm unit may specifically issue an alarm by means of an audible alarm, a vibration alarm, a flash alarm, or the like. In one embodiment, the first wearable device further includes a second ultrasonic receiver and a storage unit; and the second ultrasonic receiver is configured to receive the second ultrasonic signal sent by the wearable device other than the first wearable device And parsing, from the second ultrasonic signal, the identifier of the wearable device other than the first wearable device; the storage unit, configured to associate the storage time of the second ultrasonic signal, the dividing An identifier of the other wearable device other than the first wearable device and a position when the second ultrasonic signal is received; a first ultrasonic transmitter configured to receive, when received by the smart terminal, include the first wearable device When other ultrasonic signals of the wearable device are identified, Transmitting, to the smart terminal, a reception time including the second ultrasonic signal, an identifier of the wearable device other than the first wearable device, and a third ultrasonic signal of the position when the second ultrasonic signal is received, thereby being based on the second by the intelligent terminal The reception time of the ultrasonic signal, the identification of the wearable device other than the first wearable device, and the position when the second ultrasonic signal is received determine the historical reference position of the wearable device other than the first wearable device.

Smart terminals can include, but are not limited to, feature phones, smart phones, PDAs, personal computers (PCs), tablets or personal digital assistants (PDAs), and the like. Moreover, the smart terminal is applicable to any smart terminal operating system, and specific operating systems include but are not limited to: Android (Andorid), Palm OS, Symbian (Saipan), Windows mobile, Linux, Android (Android), iPhone. (Apple) OS, Blackberry OS 6.0, Windows Phone series, and more. In the embodiment of the present invention, the smart terminal may specifically adopt the Andorid operating system, and the smart terminal may adopt various versions of Andorid, including but not limited to: Android Beta, clockwork robot (Android 1.0) , Cupcakes (Android 1.5), Donuts (Android 1.6), Muffins (Android 2.0/2.1), Frozen Yogurt (Android 2.2), Gingerbread (Android 2.3), Honeycomb (Android 3.0), Ice Cream Sandwich (Android 4.0 ), Jelly Bean (Android 4.1) and other versions. The specific version of the Android platform is listed in detail above. Those skilled in the art can appreciate that the embodiments of the present invention are not limited to the above listed version, but can also be applied to any other version based on the Android software architecture.

The invention provides two methods for ultrasonic ranging, one is ultrasonic time ranging between a smart terminal and a wearable device; and the other is an ultrasonic ranging method between a smart terminal and a wearable device without time synchronization.

Figure 12 is a block diagram of a positioning system in a time synchronized manner in accordance with the present invention. As shown in FIG. 12, the system includes a first wearable device and a smart terminal. The first wearable device includes a first ultrasonic transmitter; the intelligent terminal includes a first ultrasonic receiver and an alarm unit; the first ultrasound a wave transmitter for transmitting a first ultrasonic signal including a first wearable device identifier; a first ultrasonic receiver for receiving the first ultrasonic signal, and determining a distance from the wearable device based on the ultrasonic positioning of the first ultrasonic signal And sending an alarm command to the alarm unit when the distance exceeds a preset threshold; the first wearable device and the smart terminal respectively comprise a time synchronization unit; the time synchronization unit of the intelligent terminal is configured to the first wearable device The time synchronization unit sends a time synchronization signal; the time synchronization unit of the first wearable device is configured to maintain time synchronization with the smart terminal based on the time synchronization signal; the first ultrasonic signal transmitted by the first ultrasonic transmitter further includes the first ultrasonic signal a transmission time point T1; a first ultrasonic receiver for recording a reception time point T2 of the first ultrasonic signal, parsing a transmission time point T1 from the first ultrasonic signal, and calculating a distance L from the wearable device, wherein: L = (T2-T1) × V; V is the propagation speed of the ultrasonic wave in the air. An alarm unit for issuing an alarm signal according to an alarm command. Specifically, the smart terminal can maintain time synchronization with the first wearable device by using an electromagnetic transmission manner such as an ultrasonic method, a wifi method, or a Bluetooth method.

In one embodiment, the first wearable device further includes a second ultrasonic receiver and a storage unit (not shown in FIG. 12). a second ultrasonic receiver, configured to receive a second ultrasonic signal sent by the wearable device other than the first wearable device, and parse the second ultrasonic signal from the second wearable device The identifier of the other wearable device; the storage unit, configured to associate the storage time of the second ultrasonic signal, the identifier of the wearable device other than the first wearable device, and the receiving the second ultrasonic signal a first ultrasonic transmitter, configured to: when receiving an ultrasonic signal sent by the smart terminal that includes the identifier of the wearable device other than the first wearable device, send the a receiving time of the ultrasonic signal, an identification of the wearable device other than the first wearable device, and a third ultrasonic signal of the position when the second ultrasonic signal is received, thereby being based on the second ultrasonic signal by the intelligent terminal Receiving time, identification of other wearable devices other than the first wearable device, and receiving The position at the time of the ultrasonic signal determines the historical reference position of the wearable device other than the first wearable device.

When the accuracy of the ranging is not high, the time synchronization method can be used for ultrasonic positioning. FIG. 13 is a flow chart of a positioning method in a time synchronization manner according to the present invention, in which the first wearable device is embodied as a wristband having an ultrasonic transmission function. The wristband is provided with its own identifier; the smart terminal stores the identifier of the wristband to be monitored.

As shown in FIG. 13, the method includes:

Step 301 - Step 303: The wristband periodically transmits an ultrasonic wave with its own identification, and the intelligent terminal receives the ultrasonic wave.

Step 304: The smart terminal determines whether the identifier carried in the received ultrasonic wave matches the identifier of the wristband to be monitored. If yes, step 305 and subsequent steps are performed; if not, return to step 303. Preferably, when the intelligent terminal determines whether the identifier carried in the received ultrasonic wave does not match the identifier of the wristband to be monitored, or fails to receive the ultrasonic signal including the identifier of the wristband to be monitored, an alarm is further issued.

Step 305: The intelligent terminal calculates a distance L between the wristband and the wristband, where L=(T2-T1)×V; V is the propagation speed of the ultrasonic wave in the air; T2 is the time point when the intelligent terminal receives the ultrasonic wave; T1 is the hand The time point at which the ring emits ultrasonic waves; T1 can be carried in the ultrasonic waves sent periodically by the wristband.

Step 306: The smart terminal determines whether the L is smaller than the preset first threshold S1. When L is less than S1, the process returns to step 301 and subsequent steps. When L is not less than S1, step 307 and subsequent steps are performed. .

Step 307: The smart terminal determines whether L is smaller than a preset second threshold S2, S2 is greater than S1; wherein when L is less than S2, step 309 is performed and the process is exited; when L is not less than S2, step 308 is performed. Exit this process.

Step 308: The smart terminal performs a serious alarm, such as making a sound, flashing a reminder, and vibrating Reminder.

Step 309: The smart terminal performs an early warning alarm, such as a sound and a flash reminder.

Figure 14 is a block diagram of a positioning system that is not time synchronized in accordance with the present invention. As shown in FIG. 14, the system includes a first wearable device and a smart terminal. The first wearable device includes a first ultrasonic transmitter; the intelligent terminal includes a first ultrasonic receiver and an alarm unit; the first ultrasonic transmitter is configured to transmit a first ultrasonic signal including the first wearable device identifier; the first ultrasonic receiving And receiving the first ultrasonic signal, determining a distance from the wearable device based on the ultrasonic positioning of the first ultrasonic signal, and sending an alarm command to the alarm unit when the distance exceeds a preset threshold; the smart terminal further The second ultrasonic transmitter is further included; the first wearable device further includes a second ultrasonic receiver; wherein the first ultrasonic signal including the wearable device identifier sent by the first ultrasonic transmitter is the second ultrasonic receiver from the second Receiving by the ultrasonic transmitter; the first ultrasonic receiver is configured to save the preset processing time ΔT and the time point T1 at which the second ultrasonic transmitter sends the first ultrasonic signal, and record the receiving time point T2 of the first ultrasonic signal And calculating a distance L from the wearable device, wherein: L = ((T2-T1 - ΔT) / 2) × V; V is an ultrasonic wave The speed of propagation in the air.

In the non-time synchronization mode, the smart terminal first opens the installed application software, selects the ID of the first wearable device that needs to be ranging, and when there are multiple IDs, the polling ranging can also be performed. The first wearable device turns on the ultrasound function. The intelligent terminal periodically sends an ultrasonic signal, and the signal carries an ID that needs to be measured. The first wearable device analyzes the ultrasonic signal, and if the ultrasonic signal has its own ID, the ultrasonic signal is sent again; If the received ultrasonic signal does not have its own ID, it will not react. The smart terminal receives the ultrasonic signal sent by the first wearable device, calculates the distance from the smart terminal to the first wearable device, and when the distance exceeds a certain range, sends an alarm signal corresponding to the distance, such as different sound signals and vibration signals. and many more.

Specifically, the intelligent terminal first transmits an ultrasonic signal and records the time T1, and the intelligent terminal records The processing time ΔT that needs to be performed when the first wearable device receives the ultrasonic signal is recorded. After receiving the ultrasonic signal, the first wearable device performs the processing time ΔT and transmits the ultrasonic signal to the smart terminal, and the smart terminal records the time T2 when receiving the positioning signal returned by the wearable device.

In one embodiment, the first wearable device further includes a storage unit; the second ultrasonic receiver is further configured to receive a second ultrasonic signal sent by the wearable device other than the first wearable device, and from the second An identifier of the wearable device other than the first wearable device is parsed in the ultrasonic signal; a storage unit configured to associate the storage time of the second ultrasonic signal, the first wearable device The identifier of the other wearable device and the position when the second ultrasonic signal is received; the first ultrasonic transmitter is configured to receive the wearable device including the first wearable device issued by the smart terminal When the ultrasonic signal is identified, the receiving time including the second ultrasonic signal, the identifier of the wearable device other than the first wearable device, and the position when receiving the second ultrasonic signal are transmitted to the smart terminal a third ultrasonic signal, whereby the smart terminal is based on the receiving time of the second ultrasonic signal, the first wearable device Identifying other external wearable device and a second position when the received ultrasonic signals to determine the position of the reference history, among other wearable device other than the first device wearable.

Figure 15 is a flow chart of a positioning method in a time-insensitive manner in accordance with the present invention. In this method, the first wearable device is embodied as a wristband having an ultrasonic transmission function. The wristband is provided with its own identifier; the smart terminal stores the identifier of the wristband to be monitored.

As shown in Figure 15, the method includes:

Step 501 - Step 503: The intelligent terminal periodically transmits the ultrasonic wave with its own identification, and the wristband receives the ultrasonic wave.

Step 504: The wristband determines whether the identifier carried in the received ultrasonic wave matches the identifier of the self, and if yes, performs step 505 and subsequent steps; if not, returns the license. Go to step 503.

Steps 505-506: The wristband further transmits the received ultrasonic wave, and the intelligent terminal receives the ultrasonic wave.

Step 507: The smart terminal determines whether the identifier carried in the received ultrasonic wave matches the identifier of the wristband to be monitored, and if yes, performs step 508 and subsequent steps; if not, returns to step 501.

Step 508: The intelligent terminal calculates a distance L between the wristband and the wristband, where L=((T2-T1-ΔT)/2)×V; V is the propagation speed of the ultrasonic wave in the air; ΔT is the preset processing time; T2 The time point at which the intelligent terminal receives the ultrasonic signal; T1 is the time point at which the intelligent terminal sends the ultrasonic signal.

Step 509: The smart terminal determines whether the L is smaller than the preset first threshold S1. When L is less than S1, the process returns to step 501 and subsequent steps. When L is not less than S1, step 510 and subsequent steps are performed. .

Step 510: The smart terminal determines whether the L is smaller than the preset second threshold S2, and S2 is greater than S1. When L is less than S2, step 512 is executed and the process is exited; when L is not less than S2, step 511 is performed. Exit this process.

Step 511: The smart terminal performs a serious alarm, such as a sound, a flash reminder, and a vibration reminder.

Step 512: The smart terminal performs an early warning alarm, such as a sound and a flash reminder.

When the first wearable device is away from the smart terminal, there will be no ultrasonic interaction between the first wearable device and the smart terminal. At this time, in general, the smart terminal will lose the monitoring of the first wearable device. To further solve this technical problem, the present invention also proposes a positioning system with an assisted positioning function.

Figure 16 is a block diagram of a positioning system having an assisted positioning function in accordance with the present invention. As can be seen from Figure 16, the system includes a first wearable device, a second wearable device, and a smart terminal. among them: The distance between the first wearable device and the smart terminal is not within the scope of the ultrasonic interaction; the distance between the first wearable device and the second wearable device is within the range of the ultrasonic interaction; the second wearable device and the smart terminal The distance between them is within the range of ultrasonic interaction. The smart terminal desires to monitor the first wearable device. Since the distance between the first wearable device and the smart terminal is not within the range of the ultrasonic interaction, the smart terminal determines that the first wearable device has been lost when the smart terminal cannot receive the ultrasonic signal sent by the first wearable device. At this time, the smart terminal sends an ultrasonic signal including the identifier of the first wearable device for querying the first wearable device. Since the distance between the first wearable device and the second wearable device is within the ultrasonic interaction range, the second wearable device can receive the ultrasonic signal transmitted by the first wearable device. The second wearable device parses the identifier of the first wearable device from the ultrasonic signal sent by the first wearable device, and associates the time when the ultrasonic signal sent by the first wearable device is received, the identifier of the first wearable device And a location of the second wearable device when receiving the ultrasonic signal transmitted by the first wearable device. After receiving the ultrasonic signal sent by the smart terminal and including the first wearable device identifier, the second wearable device retrieves the time when the ultrasonic signal sent by the first wearable device is received, the identifier of the first wearable device, and the receiving The location of the second wearable device when the ultrasonic signal is transmitted to the first wearable device, and the retrieved information (the time when the ultrasonic signal transmitted by the first wearable device is received, the identifier of the first wearable device, and the reception) The bit of the second wearable device is transmitted to the smart terminal when the ultrasonic signal transmitted by the first wearable device is transmitted. Therefore, the smart terminal can indirectly understand the approximate location of the first wearable device based on the information provided by the second wearable device.

In FIG. 16, between the first wearable device and the smart terminal, assisted positioning is performed using the second wearable device. In fact, between the first wearable device and the smart terminal, there may be a plurality of wearable devices that assist in positioning, which is not limited by the present invention.

A person of ordinary skill in the art may understand that all or part of the steps of implementing the foregoing embodiments may be completed by hardware, or may be instructed by a program to complete related hardware. The program may be stored in a computer readable storage medium, which may be a read only memory, a magnetic disk or an optical disk or the like. Moreover, all or part of the steps of the foregoing embodiments of the present invention may also be implemented by a network system including a network node, which can fully utilize the advantages of the hardware environment at both ends of the client and the server to properly allocate tasks to the client and the server. The end is implemented to reduce the communication overhead of the system. The client can be a thin client (Thin Client), which can be a basic application-free computer terminal in the client-server network system, and the thin client can communicate with the server through some common communication protocols. And then access the LAN. Each of the embodiments of the present invention can be implemented by a data processing program executed by a data processing device such as a computer. Obviously, the data processing program constitutes the present invention. Further, a data processing program usually stored in a storage medium is executed by directly reading a program out of a storage medium or by installing or copying the program to a storage device (such as a hard disk and or a memory) of the data processing device. Therefore, such a storage medium also constitutes the present invention. The storage medium can use any type of recording method, such as paper storage medium (such as paper tape, etc.), magnetic storage medium (such as floppy disk, hard disk, flash memory, etc.), optical storage medium (such as CD-ROM, etc.), magneto-optical storage medium ( Such as MO, etc.). The present invention therefore also discloses a storage medium in which is stored a data processing program for performing any of the above embodiments of the present invention.

The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalents, improvements, etc., which are within the spirit and scope of the present invention, should be included in the protection of the present invention. Within the scope.

Claims

An ultrasonic ranging system, comprising:

a first device including a first ultrasonic transmitter, a first ultrasonic receiver, and a computing unit, the first device retaining a time value;

a second device comprising a second ultrasonic transmitter and a second ultrasonic receiver, the second device retaining the time value; wherein:

a first ultrasonic transmitter for transmitting the first ultrasonic signal;

a second ultrasonic receiver, configured to receive the first ultrasonic signal;

a second ultrasonic transmitter, configured to send a second ultrasonic signal after the time value is received after the second ultrasonic receiver receives the first ultrasonic signal;

a first ultrasonic receiver for receiving the second ultrasonic signal;

a calculating unit, configured to receive the second ultrasonic signal by the first ultrasonic receiver recorded by the first device at a first moment of the first ultrasonic transmitter transmitting the first ultrasonic signal recorded by the first device The second time, and the time value, calculates a distance between the first device and the second device.
The ultrasonic ranging system according to claim 1, wherein

The first device is further configured to send, by the computing unit, a distance between the first device and the second device to the second device.
The ultrasonic ranging system according to claim 1, wherein the first device further comprises an alarm unit;

The calculating unit is further configured to: when the distance between the first device and the second device exceeds a preset threshold, send an alarm command to the alarm unit;

An alarm unit is configured to issue an alarm signal according to the alarm command.
An ultrasonic ranging method, comprising:

Transmitting the first ultrasonic signal to the first device storing the time value, and recording the first device Sending a transmission time of the first ultrasonic signal;

Receiving, by the first device, a second ultrasonic signal sent by the second device, and recording a receiving moment of the first device receiving the second ultrasonic signal, wherein the second device receives the first ultrasonic signal, and the time value is passed Transmitting the second ultrasonic signal at a time;

Calculating a distance between the first device and the second device based on the sending time, the receiving time, and the time value.
The ranging method according to claim 4, further comprising:

Transmitting the calculated distance between the first device and the second device to the second device; and/or

An alarm signal is issued when the distance between the first device and the second device exceeds a preset threshold.
An ultrasonic positioning system, comprising: at least three fixed devices, a positioned device, and a computing device;

Each of the at least three fixed devices is configured to separately transmit respective positioning ultrasonic signals;

The locating device is configured to: after receiving the respective positioning ultrasonic signals sent by the respective fixed devices, respectively send a respective reply ultrasonic signals to each fixed device by a predetermined time value;

Each of the at least three fixed devices is further configured to, based on respective locally recorded times at which respective positioning ultrasonic signals are transmitted, at respective moments of receiving the respective recovered ultrasonic signals and the predetermined time The values are calculated separately from the respective distances between the devices being located;

a computing device storing respective coordinates of the at least three fixed devices for based on respective coordinates of the at least three fixed devices and between each of the at least three fixed devices and the positioned device The coordinates of the positioned device are calculated for the respective distances.
The ultrasonic positioning system according to claim 6, wherein said computing device is disposed in any one of said at least three fixed devices, or said computing device is disposed outside said at least three fixed devices And having a communication connection with the at least three fixed devices; and/or,

The location device is a smart terminal.
An ultrasonic positioning system, comprising: at least three fixed devices and a positioned device, wherein the positioned device stores respective coordinates of the at least three fixed devices;

The located device is configured to respectively send respective positioning ultrasonic signals to each of the at least three fixed devices;

Each of the at least three fixed devices is configured to, after receiving the respective positioning ultrasonic signals sent by the positioned device, respectively send a respective reply ultrasonic signal to the positioned device by a predetermined time value;

The located device is further configured to: locally record, receive each of the at least three fixed devices based on a locally recorded time of transmitting a respective positioning ultrasonic signal to each of the at least three fixed devices Calculating a distance between the positioned device and each of the at least three fixed devices, respectively, at a time of each of the transmitted ultrasonic signals and the predetermined time value; and based on respective coordinates of the at least three fixed devices And calculating a coordinate of the located device by a distance between the positioned device and each of the at least three fixed devices.
The ultrasonic positioning system according to claim 8, wherein

The location device is a smart terminal.
An ultrasonic positioning system, comprising: a first fixed device, a second fixed device, a positioned device, and a master device; the location of the master device is fixed, and the master device stores the first fixed device, Two fixed devices and coordinates of the master device;

The first fixed device is configured to send a first positioning ultrasonic signal;

The second fixing device is configured to send a second positioning ultrasonic signal;

The positioning device is configured to: after receiving the first positioning ultrasonic signal, send a first reply ultrasonic signal at intervals of a predetermined time value, and after receiving the second positioning ultrasonic signal, send the second reply ultrasonic signal at intervals by the predetermined time value ;

a master device, configured to calculate a first distance between the first fixed device and the device to be located based on the first time difference between receiving the first positioning ultrasonic signal and receiving the first reply ultrasonic signal, based on receiving the second positioning ultrasonic signal And calculating, by the second time difference of the second reply ultrasonic signal, a second distance between the second fixed device and the positioned device, and based on the first distance, the second distance, the master device and the located device Calculating coordinates of the positioned device by a third distance therebetween and coordinates of the first fixed device, the second fixed device, and the primary device.
The ultrasonic positioning system according to claim 10, wherein

The master device is configured to send a third positioning ultrasonic signal;

a positioning device, configured to send a third reply ultrasonic signal at intervals of the predetermined time value after receiving the third positioning ultrasonic signal;

The master device is configured to calculate, at a first moment of locally recording, transmitting the third positioning ultrasonic signal, a second time recorded locally, receiving the third reply ultrasonic signal, and the predetermined time value The third distance.
An ultrasonic positioning based positioning system, comprising: a first wearable device and an intelligent terminal; the first wearable device comprises a first ultrasonic transmitter; the intelligent terminal comprises a first ultrasonic receiver and an alarm unit ;

a first ultrasonic transmitter, configured to send a first ultrasonic signal including a first wearable device identifier;

a first ultrasonic receiver for receiving the first ultrasonic signal, and determining a distance from the wearable device based on ultrasonic positioning of the first ultrasonic signal, and when the distance When the preset threshold is exceeded, an alarm command is sent to the alarm unit;

An alarm unit is configured to issue an alarm signal according to the alarm command.
The ultrasonic positioning based positioning system according to claim 12, wherein the first wearable device and the smart terminal respectively comprise a time synchronization unit; the time synchronization unit of the intelligent terminal, for time synchronization to the first wearable device The unit sends a time synchronization signal; a time synchronization unit of the first wearable device, configured to maintain time synchronization with the smart terminal based on the time synchronization signal;

The first ultrasonic signal transmitted by the first ultrasonic transmitter further includes a transmission time point T1 of the first ultrasonic signal;

a first ultrasonic receiver for recording a reception time point T2 of the first ultrasonic signal, parsing the transmission time point T1 from the first ultrasonic signal, and calculating a distance L from the wearable device, wherein:

L = (T2-T1) × V; V is the propagation speed of the ultrasonic wave in the air.
The ultrasonic positioning based positioning system according to claim 12, wherein the intelligent terminal further comprises a second ultrasonic transmitter; the first wearable device comprises a second ultrasonic receiver;

The first ultrasonic signal including the wearable device identifier sent by the first ultrasonic transmitter is received by the second ultrasonic receiver from the second ultrasonic transmitter;

a first ultrasonic receiver for storing a preset processing time ΔT and a time point T1 at which the second ultrasonic transmitter emits the first ultrasonic signal, recording a receiving time point T2 of the first ultrasonic signal, and calculating The distance L of the wearable device, where:

L = ((T2-T1-ΔT)/2) × V; V is the propagation speed of the ultrasonic wave in the air.
The ultrasonic positioning based positioning system according to claim 12, wherein the first wearable device further comprises a second ultrasonic receiver and a storage unit;

a second ultrasonic receiver for receiving wearables other than the first wearable device a second ultrasonic signal sent by the device, and parsing an identifier of the wearable device other than the first wearable device from the second ultrasonic signal;

a storage unit, configured to associate a storage time of the second ultrasonic signal, an identifier of the wearable device other than the first wearable device, and a position when the second ultrasonic signal is received;

a first ultrasonic transmitter, configured to: when receiving an ultrasonic signal sent by the smart terminal that includes the identifier of the wearable device other than the first wearable device, send the second ultrasonic signal to the smart terminal Receiving time, an identifier of the wearable device other than the first wearable device, and a third ultrasonic signal of a position at which the second ultrasonic signal is received, thereby receiving by the smart terminal based on the second ultrasonic signal The time, the identification of the wearable device other than the first wearable device, and the location at which the second ultrasonic signal is received determine a historical reference location of the wearable device other than the first wearable device.
A wearable device based on ultrasonic positioning, comprising:

a first ultrasonic transmitter: configured to transmit a first ultrasonic signal including a wearable device identifier; thereby receiving the first ultrasonic signal by a first ultrasonic receiver of the smart terminal, and based on the first ultrasonic receiver of the smart terminal The ultrasonic positioning of the first ultrasonic signal determines a distance from the wearable device, and when the distance exceeds a preset threshold, the first ultrasonic receiver of the intelligent terminal sends an alarm to the alarm unit of the intelligent terminal. A command, wherein the alarm unit issues an alarm signal according to the alarm command.
The ultrasonic positioning-based wearable device according to claim 16, further comprising:

a time synchronization unit, configured to receive a time synchronization signal from the smart terminal, and maintain time synchronization with the smart terminal based on the time synchronization signal;

The first ultrasonic signal transmitted by the first ultrasonic transmitter further includes a first ultrasonic signal a transmission time point T1; a first ultrasonic receiver for recording a reception time point T2 of the first ultrasonic signal, parsing an ultrasonic transmission time point T1 from the first ultrasonic signal, and calculating with the wearable device The distance L, where:

L = (T2-T1) × V; V is the propagation speed of the ultrasonic wave in the air.
The ultrasonic positioning-based wearable device according to claim 16, wherein the wearable device further comprises a second ultrasonic receiver; the intelligent terminal further comprises a second ultrasonic transmitter;

The first ultrasonic signal including the wearable device identifier sent by the first ultrasonic transmitter is received by the second ultrasonic receiver from the second ultrasonic transmitter;

a first ultrasonic receiver for storing a preset processing time ΔT and a time point T1 at which the second ultrasonic transmitter emits the first ultrasonic signal, recording a receiving time point T2 of the first ultrasonic signal, and calculating The distance L of the wearable device, where:

L = ((T2-T1-ΔT)/2) × V; V is the propagation speed of the ultrasonic wave in the air.
The ultrasonic positioning-based wearable device according to claim 16, wherein the wearable device further comprises a second ultrasonic receiver and a storage unit;

a second ultrasonic receiver, configured to receive a second ultrasonic signal sent by the wearable device other than the first wearable device, and parse the second ultrasonic signal from the second wearable device Identification of other wearable devices;

a storage unit, configured to associate a storage time of the second ultrasonic signal, an identifier of the wearable device other than the first wearable device, and a position when receiving the second ultrasonic signal;

a first ultrasonic transmitter, configured to: when receiving an ultrasonic signal sent by the smart terminal that includes the identifier of the wearable device other than the first wearable device, send the second ultrasonic signal to the smart terminal Receiving time, the identifier of the wearable device other than the first wearable device, and the third super position when receiving the second ultrasonic signal Acoustic signal, whereby the smart terminal determines the division based on a reception time of the second ultrasonic signal, an identification of the wearable device other than the first wearable device, and a position when receiving the second ultrasonic signal A historical reference location of other wearable devices other than the first wearable device.
An ultrasonic positioning-based wearable device according to any one of claims 16 to 19, wherein

The wearable device is a bracelet, a necklace, a toe ring, an anklet or a collar.