CN104540093A - Directional constant-distance type tracking system based on Bluetooth wireless technology - Google Patents
Directional constant-distance type tracking system based on Bluetooth wireless technology Download PDFInfo
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- CN104540093A CN104540093A CN201510031689.9A CN201510031689A CN104540093A CN 104540093 A CN104540093 A CN 104540093A CN 201510031689 A CN201510031689 A CN 201510031689A CN 104540093 A CN104540093 A CN 104540093A
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- bluetooth
- bluetooth receptions
- self
- wireless technology
- tracking
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides a directional constant-distance type tracking system based on a Bluetooth wireless technology. The directional constant-distance type tracking system comprises a self-propelled vehicle, as well as the following devices arranged on the self-propelled vehicle: a Bluetooth receiving module A, a Bluetooth receiving module B and a Bluetooth receiving module C for receiving Bluetooth broadcasting signals; a controller which is used for obtaining the positions of single sources of the Bluetooth broadcasting signals according to the three groups of Bluetooth broadcasting signals received by the Bluetooth receiving module A, the Bluetooth receiving module B and the Bluetooth receiving module C; a guide controller for controlling the movement direction of the self-propelled vehicle according to a control command; and a driving controller for controlling the self-propelled vehicle to move according to the control command. The directional constant-distance type tracking system provided by the invention can automatically move and transport box bodies without manual drawing, and people can obtain different easy experience during wandering and sightseeing. Furthermore, the directional constant-distance type tracking system provided by the invention can not consume the physical strength of a user and also can release the double hands of people. The directional constant-distance type tracking system provided by the invention is particularly suitable for airports, railway stations and other occasions.
Description
Technical field
The present invention relates to system for tracking, particularly, the orientation related to based on blue tooth wireless technology is permanent in type system for tracking.
Background technology
Many occasions in travelling outdoors need the casings such as mobile draw-bar box, because box weight is larger, people are often tired because pulling towing casing when catching the train or catch up with aircraft, in addition, when there being other things, as answered the call, just needing first to stop casing placed and just can answer, causing waste of time.
Therefore, be necessary to design a kind of directed permanent distance type system for tracking, to be convenient for people to transport cases.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of orientation based on blue tooth wireless technology permanent in type system for tracking.
Comprise self-driving vehicle according to a kind of orientation based on blue tooth wireless technology provided by the invention is permanent apart from type system for tracking, also comprise be arranged on self-driving vehicle as lower device:
For receiving Bluetooth receptions modules A, Bluetooth receptions module B, the Bluetooth receptions module C of Bluetooth broadcast signal;
For the controller of the source location of three groups of Bluetooth broadcast signal acquisition Bluetooth broadcast signals received according to Bluetooth receptions modules A, Bluetooth receptions module B, Bluetooth receptions module C;
For controlling the guide controller of self-driving vehicle moving direction according to control command;
For controlling the driving governor of self-driving vehicle movement according to control command;
Wherein, described control command is generated according to described source location by controller.
Preferably, also comprise as lower device:
For launching the hand-hold type Bluetooth signal generating means of described Bluetooth broadcast signal to self-driving vehicle.
Preferably, described source location comprises signal source azimuth information;
Described controller is used for signal source azimuth information according to Bluetooth broadcast signal acquisition.
Preferably, described controller is used for generating described control command according to described signal source azimuth information, and wherein, described control command comprises steering angle.
Preferably, described source location comprises signal source range information;
Described controller is used for signal source range information according to Bluetooth broadcast signal acquisition.
Preferably, described controller is used for generating described control command according to described signal source range information, and wherein, described control command comprises displacement.
Preferably, self-driving vehicle comprises vehicle frame, and described Bluetooth receptions modules A, Bluetooth receptions module B, Bluetooth receptions module C are arranged in a horizontal top surface of vehicle frame.
Preferably, described Bluetooth receptions modules A, Bluetooth receptions module B, Bluetooth receptions module C are in not on collinear position.
Preferably, the line of centres of described Bluetooth receptions modules A, Bluetooth receptions module B, Bluetooth receptions module C forms an acute triangle.
Compared with prior art, the present invention has following beneficial effect: the present invention does not need manually to pull can automatic mobile transport cases, and people can obtain different light experience when strolling visit.Further, the present invention expends the muscle power of user, and can discharge the both hands of people.The present invention is particularly useful for the occasion such as airport, railway station.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is structural representation of the present invention.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
Permanent in type system for tracking according to the orientation based on blue tooth wireless technology provided by the invention, comprise self-driving vehicle, hand-hold type Bluetooth signal generating means, hand-hold type Bluetooth signal generating means is used for launching Bluetooth broadcast signal to self-driving vehicle, and self-driving vehicle comprises vehicle frame.
Wherein, self-driving vehicle comprises as lower device:
For receiving Bluetooth receptions modules A, Bluetooth receptions module B, the Bluetooth receptions module C of Bluetooth broadcast signal; Described Bluetooth receptions modules A, Bluetooth receptions module B, Bluetooth receptions module C are arranged in a horizontal top surface of vehicle frame;
For the controller of the source location of three groups of Bluetooth broadcast signal acquisition Bluetooth broadcast signals received according to Bluetooth receptions modules A, Bluetooth receptions module B, Bluetooth receptions module C;
For controlling the guide controller of self-driving vehicle moving direction according to control command;
For controlling the driving governor of self-driving vehicle movement according to control command;
Wherein, described control command is generated according to described source location by controller; Preferably, described Bluetooth receptions modules A, Bluetooth receptions module B, Bluetooth receptions module C are in not on collinear position, and such as, the line of centres of described Bluetooth receptions modules A, Bluetooth receptions module B, Bluetooth receptions module C forms an acute triangle.
Particularly, described source location comprises signal source azimuth information; Described controller is used for signal source azimuth information according to Bluetooth broadcast signal acquisition, and generates described control command according to described signal source azimuth information, and wherein, described control command comprises steering angle.
Wherein, controller according in described Bluetooth receptions modules A, these three groups of Bluetooth receptions modules of Bluetooth receptions module B, Bluetooth receptions module C between two the strength difference of received Bluetooth broadcast signal calculate described signal source azimuth information.Principle is: after Bluetooth broadcast signal sends from signal source (i.e. hand-hold type Bluetooth signal generating means), its signal strength signal intensity can weaken along with the increase of propagation distance, therefore, the Bluetooth broadcast signal strength signal intensity corresponding to distance L between Bluetooth receptions module and signal source can be obtained in advance, thus, controller is according to Bluetooth receptions modules A, Bluetooth receptions module B, the intensity of the Bluetooth broadcast signal received by Bluetooth receptions module C, table look-up respectively and obtain Bluetooth receptions modules A, Bluetooth receptions module B, the distance L1 of Bluetooth receptions module C respectively and between signal source, L2 and L3, and then utilize three-point fix mode to obtain the azimuth information of signal source, then controller generates control command according to azimuth information, and guide controller controls the vehicle wheel revolving gear turn signal source side position of self-driving vehicle.
More specifically, described source location comprises signal source range information; Described controller is used for signal source range information according to Bluetooth broadcast signal acquisition, and generates described control command according to described signal source range information, and wherein, described control command comprises displacement.Wherein, controller is according in described Bluetooth receptions modules A, Bluetooth receptions module B, Bluetooth receptions module C arbitrary group or appoint the power of received Bluetooth signal in many group Bluetooth receptions modules to calculate the far and near distance of dolly.Principle is: after Bluetooth broadcast signal sends from signal source (i.e. hand-hold type Bluetooth signal generating means), its signal strength signal intensity can weaken along with the increase of propagation distance, therefore, the Bluetooth broadcast signal strength signal intensity corresponding to distance L between Bluetooth receptions module and signal source can be obtained in advance, thus corresponding distance L can be found according to Bluetooth broadcast signal strength signal intensity.Such as, the Bluetooth broadcast signal strength signal intensity that controller can receive according to described Bluetooth receptions modules A, Bluetooth receptions module B or Bluetooth receptions module C obtains distance L, again such as, the Bluetooth broadcast signal strength signal intensity that controller can also receive respectively according to described Bluetooth receptions modules A, Bluetooth receptions module B and person's Bluetooth receptions module C obtains three distance L, then to these three distance L averaged, and using the mean value that obtains as the distance (i.e. signal source range information) between self-driving vehicle and signal source; Then, controller obtains displacement according to the distance between self-driving vehicle and signal source, and the wheel that driving governor controls self-driving vehicle moves described displacement.Further particularly, signal source range information described in controller Real-time Obtaining, the described displacement distance equaled between self-driving vehicle and signal source deducts the following distance of setting, thus make self-driving vehicle can and signal source between distance keep constant.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (10)
1. comprise self-driving vehicle based on the orientation of blue tooth wireless technology is permanent apart from a type system for tracking, it is characterized in that, also comprise be arranged on self-driving vehicle as lower device:
For receiving Bluetooth receptions modules A, Bluetooth receptions module B, the Bluetooth receptions module C of Bluetooth broadcast signal;
For the controller of the source location of three groups of Bluetooth broadcast signal acquisition Bluetooth broadcast signals received according to Bluetooth receptions modules A, Bluetooth receptions module B, Bluetooth receptions module C;
For controlling the guide controller of self-driving vehicle moving direction according to control command;
For controlling the driving governor of self-driving vehicle movement according to control command;
Wherein, described control command is generated according to described source location by controller.
2. the orientation based on blue tooth wireless technology according to claim 1 is permanent in type system for tracking, it is characterized in that, also comprises as lower device:
For launching the hand-hold type Bluetooth signal generating means of described Bluetooth broadcast signal to self-driving vehicle.
3. the orientation based on blue tooth wireless technology according to claim 1 is permanent in type system for tracking, and it is characterized in that, described source location comprises signal source azimuth information;
Described controller is used for signal source azimuth information according to Bluetooth broadcast signal acquisition.
4. the orientation based on blue tooth wireless technology according to claim 3 is permanent is characterized in that apart from type system for tracking, and described controller is used for generating described control command according to described signal source azimuth information, and wherein, described control command comprises steering angle.
5. the orientation based on blue tooth wireless technology according to claim 1 is permanent in type system for tracking, and it is characterized in that, described source location comprises signal source range information;
Described controller is used for signal source range information according to Bluetooth broadcast signal acquisition.
6. the orientation based on blue tooth wireless technology according to claim 5 is permanent is characterized in that apart from type system for tracking, and described controller is used for generating described control command according to described signal source range information, and wherein, described control command comprises displacement.
7. the orientation based on blue tooth wireless technology according to claim 1 is permanent in type system for tracking, and it is characterized in that, self-driving vehicle comprises vehicle frame, and described Bluetooth receptions modules A, Bluetooth receptions module B, Bluetooth receptions module C are arranged in a horizontal top surface of vehicle frame.
8. the orientation based on blue tooth wireless technology according to claim 7 is permanent is characterized in that apart from type system for tracking, and described Bluetooth receptions modules A, Bluetooth receptions module B, Bluetooth receptions module C are in not on collinear position.
9. the orientation based on blue tooth wireless technology according to claim 8 is permanent in type system for tracking, and it is characterized in that, the line of centres of described Bluetooth receptions modules A, Bluetooth receptions module B, Bluetooth receptions module C forms an acute triangle.
10. the orientation based on blue tooth wireless technology according to claim 6 is permanent in type system for tracking, it is characterized in that, using the signal source distance described in signal source range information as the distance D1 between self-driving vehicle and signal source, described displacement equals distance D1 and deducts distance D2, wherein, described distance D2 is the following distance preset.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510031689.9A CN104540093A (en) | 2015-01-21 | 2015-01-21 | Directional constant-distance type tracking system based on Bluetooth wireless technology |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510031689.9A CN104540093A (en) | 2015-01-21 | 2015-01-21 | Directional constant-distance type tracking system based on Bluetooth wireless technology |
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| CN104540093A true CN104540093A (en) | 2015-04-22 |
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| CN201510031689.9A Pending CN104540093A (en) | 2015-01-21 | 2015-01-21 | Directional constant-distance type tracking system based on Bluetooth wireless technology |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106094818A (en) * | 2016-06-16 | 2016-11-09 | 国家电网公司 | A kind of with the electric power tool certainly following function |
| CN106358144A (en) * | 2016-09-20 | 2017-01-25 | 泉州市范特西智能科技有限公司 | Bluetooth-based intelligent automatic following method, Bluetooth-based automatic following system and suitcase |
| CN110260165A (en) * | 2019-06-27 | 2019-09-20 | 北京讯腾智慧科技股份有限公司 | Burning line gas leakage detection system and method |
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| WO2007143756A2 (en) * | 2006-06-09 | 2007-12-13 | Carnegie Mellon University | System and method for autonomously convoying vehicles |
| CN101493516A (en) * | 2007-12-04 | 2009-07-29 | 捷讯研究有限公司 | Mobile tracking |
| CN102902270A (en) * | 2012-10-09 | 2013-01-30 | 沈阳创达技术交易市场有限公司 | Automatic tracking transport vehicle |
| CN103809174A (en) * | 2014-03-13 | 2014-05-21 | 丁一 | Automatic following method |
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2015
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2007143756A2 (en) * | 2006-06-09 | 2007-12-13 | Carnegie Mellon University | System and method for autonomously convoying vehicles |
| CN101493516A (en) * | 2007-12-04 | 2009-07-29 | 捷讯研究有限公司 | Mobile tracking |
| CN102902270A (en) * | 2012-10-09 | 2013-01-30 | 沈阳创达技术交易市场有限公司 | Automatic tracking transport vehicle |
| CN103809174A (en) * | 2014-03-13 | 2014-05-21 | 丁一 | Automatic following method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106094818A (en) * | 2016-06-16 | 2016-11-09 | 国家电网公司 | A kind of with the electric power tool certainly following function |
| CN106358144A (en) * | 2016-09-20 | 2017-01-25 | 泉州市范特西智能科技有限公司 | Bluetooth-based intelligent automatic following method, Bluetooth-based automatic following system and suitcase |
| CN110260165A (en) * | 2019-06-27 | 2019-09-20 | 北京讯腾智慧科技股份有限公司 | Burning line gas leakage detection system and method |
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Application publication date: 20150422 |
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