CN101421638A - Wireless position sensing in three dimensions using ultrasound - Google Patents
Wireless position sensing in three dimensions using ultrasound Download PDFInfo
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Abstract
The present invention provides a method of position sensing between a wireless mobile component carrying a mobile ultrasonic transducer and a fixed component carrying a plurality of fixed ultrasonic transducers in a predetermined spaced-apart relationship, the method comprising turning off all the transducers to establish a period of silence, activating one or more of the fixed transducers to transmit an ultrasonic signal, starting a plurality of timers corresponding to the respective plurality of fixed transducers generally simultaneously with transmitting the signal, receiving the signal at the mobile transducer, transmitting a signal from the mobile transducer responsive to the received signal, receiving the signal transmitted by the mobile transducer at each fixed transducer and stopping the respective timer generally at the time of reception of an edge of the received signal found within the first twenty received edges and preferably within the first ten received edges and more preferably at the first received rising edge, calculating the distance between the mobile transducer and each fixed transducer based on a predetermined constant representative of the speed of sound and the time taken for transit of the signal to each fixed transducer as measured by the respective timers, and performing trigonometric calculations using the calculated distances in order to determine the 3-dimensional position of the mobile component relative to the fixed component.
Description
Technical field
The present invention relates to utilize ultrasound wave to carry out position probing (sensing of position) in three-dimensional, more specifically, relate to the moving-member with respect to fixed part is detected, this moving-member is not connected with fixed part by electric wire or cable etc.
Background technology
A lot of trials have been arranged utilizing ultrasound wave that context of detection is carried out in the position.Usually, carry out ultrasonic emitting, and receive ultrasonic waves transmitted at three or more other parts from parts.Described three or more other parts spatial relationship is each other fixed, and is transferred to flight time of described three or more recipient by measurement, can measuring distance.By utilizing three or more recipient, the range measurements that the different time of arrival and the thing followed are different allows to carry out trigonometric calculations, to determine the three-dimensional relationship between moving-member and the fixed part.So far, understood the theory of ultrasound wave position probing well, and this theory is stood careful deliberation.
Yet, in the practice that realizes this theory target, several major obstacles have appearred.At first, must accurately know the time of emission beginning, with the flight time of measuring-signal.In wireless embodiment, this must carry out under the situation of not disturbing this signal itself.The second, the device of the type is in being commonly used in buildings.Like this, the signal of emission can be subjected to the reflection of interior wall and furniture surface, so the recipient must distinguish original signal and reflected signal, accurately to determine the flight time.The 3rd, the absolute flight time especially, with the temperature and the pressure of air, and changes with the characteristic of air.The 4th, the expectation ultrasonic emitting can not cause in the frequency range that can hear disturbs emission.Certainly, also need under the constraint of common cost and reliable operation, address these problems.
Below described plan to be used in the present invention in computing machine and control desk recreation market especially responsive to the constraint of cost and reliability.Thereby, below describedly the invention provides a kind of simple especially, healthy and strong and still high-efficiency method and device, this method and apparatus is used for using under the situation of the wired connection between fixed part and the moving-member need not, and utilizes ultrasound wave to determine the position in three-dimensional.
US 5142506 has comprised the detailed description to the problem of top brief discussion.Device as described herein comprises wired moving-member, and seek to overcome the complex combination of the resonance characteristics of utilizing transducer (transducer) and complicated circuit and this problem of arrival of determining to transmit, intersect to find zero after second receiving cycle on predetermined amplitude.
US 5175695 discloses a kind of position detecting device, wherein utilizes complex envelope detection (envelope detection) and threshold circuit to determine the arrival that transmits.Activate known mobile unit by transponder pulse group ultrasound wave.Utilize air temperature sensor (sensor) to calibrate.This device has provided complicated and expensive method for solving the problem of stating above.
EP 0312481 solves the problem that activates moving-member by using infrared emission.With respect to the ultrasonic embodiment among the US5175695, this has increased complexity certainly, and requires fixed part and moving-member to be positioned at visual line of sight.
So far, in the art, the prior art scheme that neither one solves the problem of utilizing ultrasonic Wireless 3 D position probing provide a kind of solve many difficulties that must overcome, comprehensively and simple proposal.
Summary of the invention
According to an aspect of the present invention, a kind of method of carrying out position probing between wireless moving-member and fixed part is provided, wherein this wireless moving-member carries mobile ultrasonic transducer, this fixed part carries a plurality of fixedly ultrasonic transducers with predetermined spaced-apart arrangement, and this method comprises: turn-off all described transducers to bring mourning in silence of a period of time; The one or more transducers that activate in the described fixing of energy converter are launched ultrasonic signal; Substantially with this signal of emission in, start a plurality of timers correspond respectively to described a plurality of fixing of energy converter; Move transducer at this and receive this signal; In response to the signal of this reception, move transducer from this and transmit; Receive the signal that this moves the transducer emission at each fixing of energy converter place, and substantially when receiving the edges of signals of this reception of in preceding 20 edges that receive, finding, preferably, when receiving the edges of signals of this reception of in preceding 10 edges that receive, finding, more preferably, during the edges of signals of this reception of finding in the rising edge that receives the earliest, stop each timer; This signal according to the expression predetermined constant of the velocity of sound and each timer measuring is transferred to the used time of each fixing of energy converter, calculates this and moves distance between transducer and each fixing of energy converter; The distance that utilization calculates is carried out trigonometric calculations, to determine the three-dimensional position of this moving-member with respect to this fixed part.
The present invention is by activating this moving-member from this fixed part emission ultrasonic signal.Because described transducer both can also can use under receiving mode at emission mode, thereby the present invention do not need other parts, thereby simple especially.In case this moving-member is launched, this signal is just received by each transducer at this fixed part place so, and carries out simple edge and detect.Described detection preferably detects rising edge edge the earliest, but also may be to detect the edge of selecting in preceding 10 or 20 cycles.Do not need to carry out envelope detected, and before emission, guarantee that all transducers all turn-off,, thereby avoided reflection so that reflection fades away.
In another embodiment, this fixed part and moving-member comprise radio frequency transducer and can utilize radio to communicate.Like this, on the other hand, the invention provides a kind of method of between wireless moving-member and fixed part, carrying out position probing, this wireless moving-member carries the mobile ultrasonic transducer and first radio frequency transducer, a plurality of fixedly ultrasonic transducers that this fixed part carries second radio frequency transducer and has predetermined spaced-apart arrangement, this method comprises: from this second radio frequency transducer radiated radio frequency trigger pip; In this trigger pip of emission, start a plurality of timers that correspond respectively to described a plurality of fixing of energy converter substantially; Move transducer at this and receive this trigger pip; This trigger pip in response to receiving moves transducer from this and transmits; Fixedly receive this signal that this moves the ultrasonic transducer emission in the ultrasonic transducer place at each, and substantially when receiving the edges of signals of this reception of in preceding 20 edges that receive, finding, preferably, when receiving the edges of signals of this reception of in preceding 10 edges that receive, finding, more preferably, during the edges of signals of this reception of finding in the rising edge that receives the earliest, stop each timer; Be transferred to the used time of each fixing of energy converter according to the predetermined constant of the expression velocity of sound and the signal of each timer measuring, calculate the distance that this moves transducer and each fixing of energy converter; And utilize the distance that calculates to carry out trigonometric calculations, to determine the three-dimensional position of this moving-member with respect to this fixed part.
In a preferred embodiment, the ultrasonic signal that receives at this fixed part place is limited, for example be limited, with the detection of further simplification to the edges of signals of this reception by C class (Class C) amplifier or the threshold adjustable comparer that utilizes relative higher gain.This needing have been avoided the additional signal of the complexity that proposes in the prior art to handle or complicated analog signal processing.
It will be understood to those of skill in the art that this system can use under reverse mode, under this pattern, described a plurality of ultrasonic transducers are arranged on this moving-member, and this single ultrasonic transducer is arranged on this fixed part.Yet in general, the restriction of the weight and the energy content of battery can require described a plurality of transducer to be arranged on this fixed part.But, should be appreciated that under two kinds of configurations, the present invention will play good effect, and in whole the application's context, all imagined this two kinds of optional situations.
According to another aspect of the present invention, a kind of method of utilizing wireless moving-member and fixed part to carry out position probing is provided, wherein this wireless moving-member carries ultrasonic transducer, this fixed part carries a plurality of ultrasonic transducers with predetermined spaced-apart arrangement, this method comprises: by utilize unique coding of selecting from predetermined code set the ultrasonic signal of this fixed part emission is modulated, come from a plurality of similar moving-members, to select described moving-member, and arrange this moving-member to respond a subclass of the coding in the described code set, preferably, only respond one of coding in the described code set.
Of the present invention this handled a kind of enhancing on the one hand, promptly allows a plurality of moving-members to use with same fixed part.When on the signal that identification signal is modulated to described one or more fixing of energy converter emission, one that can only be provided with in the described moving-member responds.By a plurality of mobile transducers of poll in order, can determine the position of a plurality of such mobile transducers with respect to the single fixed part of this system.EP 0152905 has carried out some similar trials under medical environment.Yet, it should be noted that this system comprises the umbilical cord rope that is connected to the personnel that carry transducer, therefore, this system is not a wireless system.
Aspect another method, provide a kind of calibration to have the method for the ultrasonic position detecting device of fixed part, wherein this fixed part carries a plurality of ultrasonic transducers that have in the predetermined spaced-apart arrangement, and this method comprises: activate first transducer and second transducer in the described fixing of energy converter; Launch ultrasonic signal from this first transducer to this second transducer; Measure this ultrasonic signal and be transferred to the used time of this second transducer, derive the first calibration measurement result according to distance between the known described transducer and measured time from this first transducer.
In the embodiment of this enhancing, utilize the spatial relationship between the described a plurality of transducers on the fixed part to carry out self calibration.Art methods takes to utilize the expensive temperature and the form of barometric pressure sensor usually.Although some prior art schemes comprise the self calibration feature, these features tend to comprise the calibration between moving-member (being placed on the support of known position) and the fixed part.Have been found that several measurement results of the several transducers on the fixed part are asked on average and can improve precision significantly.
In yet another embodiment, a kind of ultrasonic position detecting device with fixed part and wireless moving-member is provided, wherein this fixed part carries a plurality of ultrasonic transducers that are in predetermined spaced-apart arrangement, this wireless moving-member carries mobile ultrasonic transducer, this fixed part comprises a plurality of C class A amplifier As that are connected with the output separately of described fixing of energy converter, and is set to by a plurality of timers of the output triggering separately of described C class A amplifier A.
In another aspect of this invention, a kind of moving-member is provided, this moving-member comprises at least two members, and each member utilizes attachment device all can be connected on the another one member, and this moving-member comprises the communicator that is used for to fixed cell transmission information.Preferably, this attachment device is magnetic coupling, hook and loop fasteners, mechanical fastener, or clasp.This communicator can be mobile ultrasonic transducer or radio frequency transducer.Preferably, this fixed part is suitable for determining according to the information that this communicator sends the position of each moving-member.
Described member also can comprise pick-up unit, and this pick-up unit is suitable for determining whether this member is connected with another member and when two or more members connected, feasible had only a member to launch ultrasonic and/or radio frequency signals.
In a preferred embodiment, bear dominant role for one in the described member, bear the radio frequency communication with this fixed cell alone, other one or more members utilize radio frequency and/or ultrasound-transmissive to carry out this locality with this main member and communicate by letter.Owing to have only a member to communicate by letter with this fixed part with enough power emission and received signal, and the distance of this fixed part and this main member is usually greater than the distance between the described member, thereby this will save power.This main member can comprise data buffer, and this data buffer is used for may storing this information at it before another member or this fixed part transmission information.
One or more members of this moving-member or this moving-member can comprise rotation sensor, for example one or more accelerometers and/or gyroscopic/compass sensor.Pushing of button can utilize radio frequency or ultrasound-transmissive to be propagated back to this fixed part on accelerometer data or other rotation data and/or this moving-member.
Description of drawings
Below with reference to accompanying drawings, as an example, embodiments of the invention are described.In the accompanying drawing:
Fig. 1 is the schematic block diagram according to moving-member of the present invention;
Fig. 2 is the schematic block diagram according to fixed part of the present invention;
Fig. 3 is the process flow diagram that the step of taking during the position measurement is shown;
Fig. 4 is the schematic block diagram of moving-member according to a second embodiment of the present invention.
Embodiment
Referring to Fig. 1, moving-member 2 has battery supply 4, transducer controller 6 and detuner 8.
Referring to Fig. 2, fixed part 11 has a plurality of transducers 12, and these transducers 12 are identical with the structure of transducer 10 usually.Usually, will use 4 transducers 12.These 4 transducers 12 provide 4 possible triangulation schemes, can average or other processing these schemes, to improve precision.If require lower accuracy, can only use 3 transducers (single triangulation scheme is provided), the present invention includes this option.Also can use more than 4 transducers,, but will pay higher manufacturing cost with the precision of further raising.
Transducer 12 plans among embodiment are also used under receiving mode both at emission mode, and this will describe in detail below.Under receiving mode, unit 14 receives input, and it is passed to high-gain amplifier 16 in the C generic operation, and high-gain amplifier 16 is used for the input waveform is carried out amplitude limit, to produce general square waveform.Then, this generality square waveform is delivered to marginal detector 18.Transducer and chronograph control unit 20 are used for controlling emission mode, receiving mode and the idle pulley of transducer 12, also are used for activating and turn-offing a plurality of timers 22.At last, service range counter 24 is used for the final calculating of position probing.
The concrete operations of these parts are described together with Fig. 3 now.
In starting point, all transducer free time.When initialization, enter the self calibration stage, one of transducer 12 is transmitted, receive this signal at other two transducers 12.These transducers 12 with their spatial relationship for fixing and be installed on the structure for known mode.By utilizing transducer and chronograph control unit 20 and timer 22 measuring-signals to arrive the used time of other 2 transducers 12, can determine to represent the estimation of the velocity of sound at contiguous fixed cell 11 places.The influence that in this permission calculating afterwards temperature and pressure is changed is through calibrating and excluding.
One is transmitted in the use that two places receive this mode 2 different results is provided.Finally, on average these 2 results obtain final calibration numeral, to be used for calibration afterwards.Further optimally, another transducer 12 or even all 3 transducers 12 can be used for the transmitted in sequence signal, all the other 2 transducer received signals.This will provide nearly 6 measurement results, on average these measurement results.
In case the initial calibration stage finishes, and just can begin measuring phases.Usually this will be used to user's calibration, in user's calibration, the initial point of further measurement will be set, thereby take into account the comparatively comfortable position placement fixed part of holding moving-member with respect to the user.
Referring to Fig. 3, in step 50, fixing of energy converter 12 begins to launch short burst ultrasound wave (shortburst of ultrasound).Usually, this will be the ultrasound wave in 8 cycles, and usually by amplitude modulation to comprise that many bits (being generally 8 bits) binary digit is as identity coding.Meanwhile, transducer and chronograph control unit 20 make timer 22 start (step 52).
Moving-member 2 receives the signal of emission, and utilizes detuner 8 decoding identity codings (step 54).Use identity coding to allow a plurality of moving-members to use with the same fixed parts.Like this, moving-member 2 determines whether this identity coding indicates this moving-member to launch.Can also use identity coding to indicate some pattern, for example under these patterns, can use moving-member to activate sound in vibration equipment, the mobile unit and/or the lighting effects in the moving-member.
Let as assume that the identity coding of having launched is the correct identity coding (this is familiar with in step 56) to active moving-member.If moving-member 2 enlivens, launch unmodulated burst of ultrasound (step 58) so.This burst of ultrasound is generally the pulse train in 8 cycles.
Fixing of energy converter is because it receives this pulse train (step 60) with the different degrees of approach of moving-member at different time.When each fixing of energy converter received signal, transducer and chronograph control unit 20 turn-offed corresponding timer (step 62).In case all fixing of energy converter have all received the signal emission (step 64) from moving-member, stop moving-member by launching stop signals to transducer 10, and distance calculator 24 utilizes the value of storing in the timer 22 of each transducer contrast to calculate the measurement result of the relative position of each parts as distance from transducer 12.Utilize trigonometric calculations well known in the art to determine position probing.
Can during himself is launched, search the signal of transducer 12 emissions by making moving-member, stop the emission (step 66) of moving-member.
Preferably, transducer and chronograph control unit 20 use marginal detector 18 detected first edges to trigger the timer 22 that stops special transducer 12 correspondences.This is a kind of simple especially method, and promotes this method by carrying out amplitude limit (utilizing C class A amplifier A 16) to the received signal.Because the signal of reflection will arrive with the longer time usually, thereby supposes that also first signal that receives is direct line of sight signal.Select first edge just can avoid to be used for removing the complicated calculations of multipath reflection so, simply.By the circulation of 100 repetitions of per second Fig. 3 at least, provide the impression that continuous motion detects.If used a plurality of moving-members, so continuously these moving-members of poll (certainly, unless a known specific moving-member has low requirement to response, in this case, can be this moving-member of poll more continually).Can also simplify moving-member, so that it does not search stop signal.It can launch 8 cycles simply, automatically stops then.
Although need some silence periods that reflection is faded away, will be noted that, when under about 100 hertz, repeating 40 kilo hertzs of ultrasound waves in 8 cycles, have sufficient time to serve about 100 moving-members.In practice, this numeral more may be between 1 to 10.In addition, select the identity coding of 8 bits to allow 256 combinations, as mentioned above, when the part on activation and the deactivation moving-member, these combinations can be formed 256 different moving-members, perhaps also can be used to the moving-member of addressing lesser amt.
What provided above like this, is to utilize hyperacoustic three-dimensional position to detect simple especially, an effective solution of problem under the wireless environment.
The precision that the position is determined is mainly determined by the resolution of timer 22, and the resolution of timer 22 is determined by clock frequency.At present, the clock frequency of finding 6.5 megahertzes is proper.Use higher clock frequency can improve resolution, but cost be need be bigger counter.
In another embodiment of the present invention, moving-member 70 is made up of as shown in Figure 42 or a plurality of member 72.Each member 72 all comprises and is suitable for sending the communicator 73 of information and being used for receiving user interface from user instruction to fixed part.
For example, communicator 73 can be and is suitable for utilizing electric wire to send the information emission device that receives by user interface to fixed part.Alternately, each member all can be similar to the illustrated moving-member of reference Fig. 1, and have battery supply 4, transducer controller 6 and detuner 8.Like this, communicator 73 can be ultrasonic transducer and/or radio frequency transducer.In addition, a member in the member 72 can be main member, directly communicates by letter with fixed part 11.If specified main member, other member is communicated by letter with fixed part by main member usually so, thereby main member has the character of the local hub of all members 72 when moving.
Preferably, member 72 utilizes attachment device 74 to connect removably.Attachment device allows member 72 easily to connect forming a moving-member, or separately to form the moving-member of 2 separation.For example, attachment device can be one or more magnets or hook and the loop fasteners such as Velcro (RTM).Alternately, can be equipped with the complementary portion of clasp for each member 72, the complementary portion of these clasps tightens together so that each member is fixed together.Can use any other suitable attachment device.
Because each member 72 all has been equipped with battery supply 4, transducer controller 6 and detuner 8, thus each member can both be independently to the fixed part (not shown) that transmits.Therefore, as described in reference Fig. 3, fixed part can utilize the identity of coding in the signal to determine the position of each member 72.
Preferably, member 72 is equipped with a sensor (not shown), and when this member is affixed on another member this sensor.This makes these members that append to together can only need signal of emission.
In yet another embodiment, utilize radio frequency (rf) communication to realize communication between fixed part and the moving-member.Like this, in Fig. 3, step of transmitting (step 50) comprises the communication to the rf of moving-member, and receiving step (step 54) comprises that rf receives.
As shown in fig. 1, fixed part 11 comprises optional rf transducer 80, and moving-member comprises optional rf transducer 82.
Moving-member also can comprise one or more accelerometers and/or gyroscopic/compass sensor.This permission can detect and measure the acceleration information and the rotation of moving-member, and utilizes the wireless transmission such as rf or ultrasound-transmissive that it is sent back fixed part.
Strengthen as another, it is average to use the acceleration of moving-member to adjust the error of position probing.Usually, for the influence of minimum error, ask position average of the detection of moving-member by several readings.This makes error reach a certain average and level and smooth position readings is provided.Yet, ask on average and also to force to have added time-delay, when moving-member is rapid when mobile, this time-delay is perceptible.By utilizing accelerometer data, when moving-member during in the above acceleration of a predetermined thresholding or one group of thresholding (this can corresponding to the various variations that are used for asking average sample) in quantity, reduce the quantity of the sample be used for asking average, and when the acceleration of moving-member hour, increase the quantity of the sample of asking average once more, can overcome this problem like this.Because when rapid movement took place, the precision of position probing was subjective more inessential, on the contrary, when motion was slow, the time-delay increase of position readings was then more inessential, so can play good effect like this.
Claims (32)
1, a kind of method of between wireless moving-member and fixed part, carrying out position probing, wherein this wireless moving-member carries the mobile ultrasonic transducer and first radio frequency transducer, a plurality of fixedly ultrasonic transducers that this fixed part carries second radio frequency transducer and has predetermined spaced-apart arrangement, this method comprises:
(a) send the radio frequency trigger pip from this second radio frequency transducer;
(b) substantially in this trigger pip of emission, start a plurality of timers correspond respectively to described a plurality of fixing of energy converter;
(c) receive this trigger pip at this first radio frequency transducer place;
(d), move ultrasonic transducer from this and transmit in response to the trigger pip that is received;
(e) fixedly receive the signal that moves the ultrasonic transducer emission by this in the ultrasonic transducer place at each, and substantially when receiving the edges of signals of this reception of in preceding 20 edges that receive, finding, preferably, when receiving the edges of signals of this reception of in preceding 10 edges that receive, finding, more preferably, when receiving the edges of signals of this reception of finding in the rising edge that receives the earliest, stop each timer;
(f) this signal according to the expression predetermined constant of the velocity of sound and each timer measuring is transferred to the used time of each fixing of energy converter, calculates this and moves the fixedly distance between the ultrasonic transducer of ultrasonic transducer and each; With
(g) utilize the distance that calculates to carry out trigonometric calculations, to determine the three-dimensional position of this moving-member with respect to this fixed part.
2, method according to claim 1 comprises that the signal that described fixedly ultrasonic transducer is received carries out amplitude limit, to produce square waveform substantially.
3, method according to claim 2, wherein, signal to this second radio frequency transducer emission is modulated, to embed unique coding of from predetermined code set, selecting, and wherein this first radio frequency transducer only responds the signal of the reception that comprises a predictive encoding in this predetermined code set, thus, a plurality of moving-members can use with a fixed part.
4, a kind of method of utilizing wireless moving-member and fixed part to carry out position probing, wherein this wireless moving-member carries ultrasonic transducer, this fixed part carries a plurality of ultrasonic transducers with predetermined spaced-apart arrangement, this method comprises: by utilize unique coding of selecting from predetermined code set the signal of this fixed part emission is modulated, come from a plurality of similar moving-members, to select described moving-member, and arrange this moving-member to respond a subclass of the coding in the described code set, preferably, only respond one of coding in the described code set.
5, method according to claim 4, wherein this is modulated to amplitude modulation.
6, method according to claim 5 wherein 8 cycles of this signal are modulated, and each cycle is represented the individual bit of 8 bit binary number.
7, according to any the method in the claim 4 to 6, comprising: the one or more fixing of energy converter that activate in the described fixing of energy converter are launched ultrasonic signal; Move transducer at this and receive this signal; Move transducer in response to the signal of this reception from this and transmit, and between the emission cycle, listen to described fixing of energy converter and receive cut-off signals so that this mobile transducer stops to launch to move transducer at this.
8, according to any the method in the claim 4 to 7, wherein this moving-member is set in predetermined periods, and for example 8 all after dates stop emission.
9, a kind of calibration has the method for the ultrasonic position detecting device of fixed part, wherein this fixed part carries a plurality of ultrasonic transducers with predetermined spaced-apart arrangement, and this method comprises: activate first transducer and second transducer in the described fixing of energy converter; Launch ultrasonic signal from this first transducer to this second transducer; Measure this ultrasonic signal and be transferred to the used time of this second transducer, derive the first calibration measurement result according to distance between the known described transducer and measured time from this first transducer.
10, method according to claim 9 comprises: activate the 3rd transducer; Measure this ultrasonic signal and be transferred to the used time of the 3rd transducer from this first transducer; Derive the second calibration measurement result according to known distance between first transducer and the 3rd transducer and measured time, and on average this first calibration measurement result and the second calibration measurement result.
11, a kind of method for detecting position comprises: per second 100 times repeats according to any the method for detecting position in the claim 1 to 9 at least.
12, detection position according to claim 11 method comprises: repeating between this method for detecting position substantially at every turn, calibrating according in the claim 9 to 11 any.
13, a kind of ultrasonic position detecting device, have fixed part and wireless moving-member, wherein this fixed part carries a plurality of fixedly ultrasonic transducers with predetermined spaced-apart arrangement, this wireless moving-member carries mobile ultrasonic transducer, this fixed part comprises a plurality of C class A amplifier As in the output separately that is connected to described fixing of energy converter, and is set to by a plurality of timers of the output triggering separately of described C class A amplifier A.
14, ultrasonic position detecting device according to claim 13 is wherein selected described Amplifier Gain, guarantees the normal operating point place separately at described fixing of energy converter, and this output is saturated.
15, according to the ultrasonic position detecting device of claim 13 or 14, further comprise modulator, this modulator is set to modulate the signal of described fixedly ultrasonic transducer emission, to embed unique coding of selecting from predetermined code set in this signal.
16, ultrasonic position detecting device according to claim 15, wherein this is modulated to amplitude modulation.
17, ultrasonic position detecting device according to claim 13, wherein this moving-member comprises at least 2 members, each member all carries mobile ultrasonic transducer, and can utilize attachment device to be connected on the another one member.
18, ultrasonic position detecting device according to claim 17, wherein this attachment device is magnet, hook and loop fasteners or clasp.
19, according to the ultrasonic position detecting device of claim 17 or 18, wherein said member comprises pick-up unit, and this pick-up unit is suitable for determining that whether this member is connected with another member and makes when two or more members connection to have only a member to transmit.
20, a kind of moving-member comprises at least two members, and each member all can utilize attachment device to be connected on the another one member, and this moving-member comprises the communicator that is used for to fixed cell transmission information.
21, moving-member according to claim 20, wherein this attachment device is magnet, hook and loop fasteners or clasp.
22, according to claim 20 or 21 described moving-members, wherein this communicator sends information by electric wire or by wireless connections to this fixed cell.
23, moving-member according to claim 22, wherein this communicator is a ultrasonic transducer.
24, moving-member according to claim 22, wherein this communicator is a radio frequency transducer.
25, according to any the moving-member in the claim 20 to 24, wherein this fixed part is suitable for determining the position of each moving-member.
26, according to any the moving-member in the claim 20 to 25, wherein said member comprises pick-up unit, this pick-up unit is suitable for determining that whether this member is connected with another member and makes when two or more members connection to have only a member to transmit.
27, a kind of method of between wireless moving-member and fixed part, carrying out position probing, wherein this wireless moving-member carries mobile ultrasonic transducer, this fixed part carries a plurality of fixedly ultrasonic transducers with predetermined spaced-apart arrangement, and this method comprises:
(a) turn-off all described transducers to bring mourning in silence of a period of time;
(b) the one or more transducers that activate in the described fixing of energy converter are launched ultrasonic signal;
(c) substantially with this signal of emission in, start a plurality of timers correspond respectively to described a plurality of fixing of energy converter;
(d) move transducer at this and receive this signal;
(e) in response to the signal of this reception, move transducer from this and transmit;
(f) receive the signal that this moves the transducer emission at each fixing of energy converter place, and substantially when receiving the edges of signals of this reception of in preceding 20 edges that receive, finding, preferably, when receiving the edges of signals of this reception of in preceding 10 edges that receive, finding, more preferably, during the edges of signals of this reception of finding in the rising edge that receives the earliest, stop each timer;
(g) this signal according to the expression predetermined constant of the velocity of sound and each timer measuring is transferred to the used time of each fixing of energy converter, calculates this and moves distance between transducer and each fixing of energy converter;
(h) utilize the distance that calculates to carry out trigonometric calculations, to determine the three-dimensional position of this moving-member with respect to this fixed part.
28, method according to claim 27 comprises that the signal that described fixedly ultrasonic transducer is received carries out amplitude limit, to produce square waveform substantially.
29, method according to claim 28, wherein, ultrasonic signal to this fixed part emission is modulated, to embed unique coding of from predetermined code set, selecting, and wherein this mobile ultrasonic transducer only responds the signal of the reception that comprises a predictive encoding in this predetermined code set, thus, a plurality of moving-members can use with a fixed part.
30, a kind of substantially as here with reference to the illustrated method for detecting position of accompanying drawing.
31, a kind of substantially as here with reference to the illustrated calibration steps of accompanying drawing.
32, a kind of substantially as here with reference to accompanying drawing illustrated configured and disposed ultrasonic position detecting device.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB0606130.3 | 2006-03-28 | ||
| GB0606130A GB0606130D0 (en) | 2006-03-28 | 2006-03-28 | Wireless position sensing in three dimensions using ultrasound |
| GB0606711.0 | 2006-04-04 | ||
| GB0609111.0 | 2006-05-09 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101421638A true CN101421638A (en) | 2009-04-29 |
Family
ID=36384282
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2007800118567A Pending CN101421638A (en) | 2006-03-28 | 2007-03-28 | Wireless position sensing in three dimensions using ultrasound |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN101421638A (en) |
| GB (2) | GB0606130D0 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101813977A (en) * | 2010-03-26 | 2010-08-25 | 北京物资学院 | Motion capture method and system based on ultrasonic waves |
| CN105636897A (en) * | 2013-09-04 | 2016-06-01 | 德国施维英有限公司 | Determining the position of a movable measurement point on a machine |
-
2006
- 2006-03-28 GB GB0606130A patent/GB0606130D0/en not_active Ceased
- 2006-04-04 GB GB0606711A patent/GB0606711D0/en not_active Ceased
-
2007
- 2007-03-28 CN CNA2007800118567A patent/CN101421638A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101813977A (en) * | 2010-03-26 | 2010-08-25 | 北京物资学院 | Motion capture method and system based on ultrasonic waves |
| CN101813977B (en) * | 2010-03-26 | 2012-08-22 | 北京物资学院 | Motion capture method and system based on ultrasonic waves |
| CN105636897A (en) * | 2013-09-04 | 2016-06-01 | 德国施维英有限公司 | Determining the position of a movable measurement point on a machine |
| CN105636897B (en) * | 2013-09-04 | 2017-10-27 | 德国施维英有限公司 | Determine the position of movable measurement point on machine |
Also Published As
| Publication number | Publication date |
|---|---|
| GB0606130D0 (en) | 2006-05-03 |
| GB0606711D0 (en) | 2006-05-10 |
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Open date: 20090429 |