CN106249201A - A kind of ultrasonic locating active electronic label group device and localization method - Google Patents

A kind of ultrasonic locating active electronic label group device and localization method Download PDF

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Publication number
CN106249201A
CN106249201A CN201610760901.XA CN201610760901A CN106249201A CN 106249201 A CN106249201 A CN 106249201A CN 201610760901 A CN201610760901 A CN 201610760901A CN 106249201 A CN106249201 A CN 106249201A
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module
radio
controller
end points
frequency module
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CN201610760901.XA
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Chinese (zh)
Inventor
赵挺生
周炜
朱水元
刘�文
张勇
谢文祥
唐菁菁
伍小平
罗琪
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Priority to CN201610760901.XA priority Critical patent/CN106249201A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/30—Determining absolute distances from a plurality of spaced points of known location

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

Abstract

The invention discloses a kind of ultrasonic locating active electronic label group device and localization method, device includes site electrical label and end points electronic tag.Site electrical label includes that ultrasonic emitting module, controller A, memorizer A, radio-frequency module A, state indicator module A, ID arrange modules A and power supply A etc..End points electronic tag includes that ultrasound wave receiver module, controller B, memorizer B, radio-frequency module B, state indicator module B, ID arrange module B and power supply B etc..Localization method combines the identification tracking function of electronic tag and the range measurement function of radar.By arranging 3 site electrical labels (website) in space in advance, the interior personnel with end points electronic tag of measurement space or equipment (end points) arrive the distance of each website, computational analysis end points accurate coordinates, and be uploaded to manage terminal, site administrator is assisted to determine Field Force and device location in real time, take measures in advance for dangerous situation, thus reduce accident potential.

Description

A kind of ultrasonic locating active electronic label group device and localization method
Technical field
The invention belongs to electronic tag field, be more particularly to a kind of ultrasonic locating active electronic label group device, with Time further relate to a kind of website and method that end-point distances determines.
Background technology
Personnel positioning is the problem that safety in production field difficulty is big, and practices well is building site or workshop entrance read write line and work Electronic tag (RFID) combined system that people wears with oneself, it is achieved building site or plant personnel quantity and Identity Management thereof, but cannot Realize determining that its particular location in building site or workshop positions also have employing GPS location, but for building site or workshop yardstick (in the range of tens of meter levels), positioning precision is poor, cost is high.Realize building site or manufacturing area personnel positioning, it is necessary to use high accuracy Range measurement.At present, radar or laser distance measurement method being widely used, precision is up to grade.The ultrasonic measurement that the former uses, Realizing any target distance measurement put in space, the latter is laser measurement, it is achieved point-to-point measurement.Owing to personnel are in work It is mobile target as region, therefore, uses radar surveying based on ultrasound wave, be more easy to realize.
Summary of the invention
The purpose of invention is to there are provided a kind of ultrasonic locating active electronic label group device, it is possible to real-time and precise is true Determine website and the identity information of end points and distance, site electrical label and end points electronic tag are set, by the identity of electronic tag Identifying that the range measurement function of tracking function and radar combines, electronic tag determines website and terminal point information, and ultrasound wave is accurate Determine the distance between site electrical label and end points electronic tag.
It is an object of the invention to there are provided a kind of website and method that end-point distances determines, easy to implement the method, operation letter Just, it is possible to determine website and the identity information of end points and distance in real time, provide basis for end points space orientation.
In order to realize above-mentioned purpose, the present invention uses techniques below measure:
A kind of ultrasonic locating active electronic label group device, including site electrical label and end points electronic tag.Website Electronic tag includes that ultrasonic emitting module, controller A, memorizer A, radio-frequency module A, state indicator module A, ID arrange module A and power supply A etc..End points electronic tag includes that ultrasound wave receiver module, controller B, memorizer B, radio-frequency module B, state indicate Module B, ID arrange module B and power supply B etc., are communicated by radio-frequency module A and radio-frequency module B, additionally, super in site electrical label Acoustic emission module is used for launching ultrasound wave, and in end points electronic tag, ultrasound wave receiver module is used for receiving ultrasound wave.
In described site electrical label, controller A sets with ultrasonic emitting module, memorizer A, radio-frequency module A, ID respectively Put modules A to be connected with state indicator module A；Power supply A respectively with controller A, ultrasonic emitting module, memorizer A, radio-frequency module A, state indicator module A, ID arrange modules A and are connected.Controller A can control ultrasonic emitting module and launch ultrasound wave, it is possible to Control memorizer A and store data, it is possible to control radio-frequency module A and management terminal, end points electronic tag and other site electrical marks Sign communication, it is possible to controlled state indicating module A indicates state with acoustooptic form.
Preferably, described radio-frequency module A is for communicating with management terminal, website and end points electronic tag.
Preferably, described ID arranges modules A can manually arrange Site ID information.
Preferably, state indicator module A indicates site electrical labeling task state with acoustooptic form.
In described end points electronic tag, controller A and ultrasound wave receiver module, memorizer B, radio-frequency module B, ID arrange mould Block A is connected with state indicator module B；Power supply B and controller B, ultrasound wave receiver module, memorizer B, radio-frequency module B, state refer to Show that module B is connected.Controller B can control ultrasound wave receiver module and receive ultrasound wave, and ultrasound wave receiver module can will receive The ultrasound signal transmission arrived can control memorizer B to controller B, controller B and store information, it is possible to control radio-frequency module B With site electrical label communication, state can be indicated with acoustooptic form by controlled state indicating module B.
Preferably, described radio-frequency module B is used for and site electrical label communication.
Preferably, described ID arranges module B and can manually arrange endpoint id information.
Preferably, state indicator module B is with acoustooptic form indication end point-like electron labeling task state and safe condition.
A kind of method that website and end-point distances determine, the steps include:
1, site electrical label controller A and end points electronic tag controller B port initialization；
2, site electrical tag ID arranges modules A and arranges Site ID, and end points electronic tag ID arranges module B and arranges end points ID；
3, site electrical label control radio-frequency module A communicates with end points electronic tag radio-frequency module B, structure the website and end points Communication network；
4, site electrical label controller A controls the transmitting spy of ultrasonic emitting module away from ultrasound wave, Synchronization Control radio frequency mould Block A communicates with the radio-frequency module B of end points electronic tag；
5, end points electronic tag radio-frequency module B receives signal of communication, and notification controller B starts timing, and the record moment is t1；
6, ultrasound wave receiver module receives and visits away from ultrasound wave, and controller B receives this signal, and synchronizes to stop timing, record This moment t2；
7, control bin B store time information t1 and record this moment t2, control radio-frequency module B by time information simultaneously T1 transmits to radio-frequency module A with recording this moment t2；
8, site electrical Tag Radio Frequency modules A receiving endpoint time signal, transmits to controller A；
9, site electrical label controller A signal calculated time difference T=t1-t2, and control bin A storage information；
10, controller reaches ultrasonic emitting cycle-index when judging, if it is not, then enter step (4)；The most then enter Enter step (11)；
11, controller calculate circulation after average time difference, be multiplied by ultrasonic velocity, obtain between website and end points away from From；
12, website continues the next end-point distances of monitoring.The result obtained is the distance between website and end points and end points Identity information.
According to another aspect of the present invention, additionally provide the method determining end points locus: the steps include:
A, 3 site electrical labels (referred to as website) of layout, set up space coordinates and determine that the space of 3 websites is sat Mark；
B, measurement terminals electronic tag (referred to as end points), respectively to the distance of 3 websites, i.e. can determine that this end points is in space Position in coordinate system.
In general, by the contemplated above technical scheme of the present invention compared with prior art, it is possible to show under acquirement Benefit effect:
1) present invention utilizes ultrasound wave can the most accurately determine identity information and the locus of monitoring end points；
2) radio-frequency module of the present invention is capable of information reception and emission function, therefore has information transmission integration merit Energy；
3) present invention computational analysis can enter building site or the personnel in workshop and the accurate coordinates of equipment, determines personnel in real time With equipment safe condition, carry out Real-time Monitor Management of keeping the safety in production, thus reduce accident potential.
By arranging site electrical label in advance, determine that in space coordinates, three site electrical tag coordinates are followed successively by A (0,2,2), B (2,0,2), and C (0,0,3).By site electrical label A and end points electronic tag E real time distance, site electrical Label B and end points electronic tag E real time distance, site electrical label C and end points electronic tag E real time distance, determine t end Point-like electron label E is respectively R to the distance of site electrical label A, B, and CAE=2.828m, RBE=2.828m, and RCE= 4.123m, build equation can try to achieve t end points electronic tag space coordinates E (x, y, z).That is:
(x-0)2+(y-2)2+(z-2)2=2.8282
(x-2)2+(y-0)2+(z-2)2=2.8282
(x-0)2+(y-0)2+(z-3)2=4.1232
E (x, y, z)=(2,2,0)
Accompanying drawing explanation
Fig. 1 is a kind of site electrical label construction block diagram；
Fig. 2 is a kind of end points Electronic Tag Structure block diagram；
Fig. 3 is a kind of website and end points range finding flow chart.
Fig. 4 determines schematic diagram for a kind of end points locus.
Wherein: ultrasonic emitting module (TELESKY HC-SR04), controller A (PIC16C75A), memorizer A are (permissible Integrated), radio-frequency module A (RF24L01), (integrated power supply, as south is inspired confidence in for state indicator module A (common light emitting diode), power supply A Battery).Ultrasound wave receiver module (TELESKY HC-SR04 and CX20106A), controller B (PIC16C75A), memorizer B (can With integrated), radio-frequency module B (RF24L01), (integrated power supply, such as south for state indicator module B (common light emitting diode), power supply B Inspire confidence in battery)
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right The present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, and It is not used in the restriction present invention.If additionally, technical characteristic involved in each embodiment of invention described below The conflict of not constituting each other just can be mutually combined.
Embodiment 1:
According to Fig. 1, Fig. 2, a kind of ultrasonic locating active electronic label group device, including ultrasonic emitting module, Controller A, memorizer A, radio-frequency module A, state indicator module A, power supply A, ultrasound wave receiver module, controller B, memorizer B, Radio-frequency module B, state indicator module B, power supply B, it is characterised in that: communicated with radio-frequency module B by radio-frequency module A, additionally, station In point-like electron label, ultrasonic emitting module is used for launching ultrasound wave, and in end points electronic tag, ultrasound wave receiver module is used for receiving Ultrasound wave.Controller A arranges modules A and state instruction mould respectively with ultrasonic emitting module, memorizer A, radio-frequency module A, ID Block A is connected, and described controller A can control ultrasonic emitting module and launch spy away from ultrasound wave；Bin A access letter can be controlled Breath, it is possible to control radio-frequency module A and communicate with management terminal, website and end points electronic tag, it is possible to controlled state indicating module A shows Show site works state.Described power supply A ground connection is all module for power supply of site electrical label.Controller B connects with ultrasound wave respectively Receipts module, memorizer B, radio-frequency module B, ID arrange module B and are connected with state indicator module B.Described controller B can control to surpass The spy that acoustic receiver module receiving station occurs is away from ultrasound wave, it is possible to control bin B access information, it is possible to control radio-frequency module B and site electrical label communication, it is possible to controlled state indicating module B display end points duty and safe condition.Described power supply B Ground connection is all module for power supply of end points electronic tag.
Described memorizer (Memory) is for protecting stored memory device in modern information technologies.Its concept is very Extensively, there is a lot of level, in digital display circuit, as long as can preserve binary data can be memorizer；In integrated circuits, One circuit with storage function not having physical form is also memorizer, such as RAM, FIFO etc.；In systems, there is material object The storage device of form is also memorizer, such as memory bar, TF card etc..Full detail in computer, including input initial data, Computer program, middle operation result and final operation result all preserve in memory.The position that it is specified according to controller It is stored in and taking-up information.Having had memorizer, computer just has memory function, and guarantee normally works.Storage in computer Device can be divided into main storage (internal memory) and additional storage (external memory) by purposes memorizer, also has and is divided into external memory storage and inside The sorting technique of memorizer.External memory is typically magnetic medium or CD etc., can preserve information for a long time.Internal memory refers to the storage on mainboard Parts, are used for depositing the data and program being currently executing, but are only used for temporarily depositing program and data, close power supply or disconnected Electricity, data can be lost.
Embodiment 2:
According to Fig. 3, a kind of method that website and end-point distances determine, the steps include:
(1) site electrical label controller A and end points electronic tag controller B port initialization；
(2) site electrical tag ID arranges modules A and arranges Site ID, and end points electronic tag ID arranges module B and arranges end points ID；
(3) site electrical label control radio-frequency module A communicates with end points electronic tag radio-frequency module B, structure the website and end Point communication network；
(4) site electrical label controller A controls the transmitting spy of ultrasonic emitting module away from ultrasound wave, Synchronization Control radio frequency mould Block A communicates with the radio-frequency module B of end points electronic tag；
(5) end points electronic tag radio-frequency module B receives signal of communication, and notification controller B starts timing, and the record moment is t1；
(6) ultrasound wave receiver module receives and visits away from ultrasound wave, and controller B receives this signal, and synchronizes to stop timing, record This moment t2；
(7) control bin B store time information t1 and record this moment t2, control radio-frequency module B simultaneously and the moment is believed Breath t1 transmits to radio-frequency module A with recording this moment t2；
(8) site electrical Tag Radio Frequency modules A receiving endpoint time signal, transmits to controller A；
(9) site electrical label controller A signal calculated time difference T=t1-t2, and control bin A storage information；
(10) controller reaches ultrasonic emitting cycle-index when judging, if it is not, then enter step (4)；The most then enter Enter step (11)；
(11) the average time difference after controller calculates circulation, is multiplied by ultrasonic velocity, obtains between website and end points Distance；
(12) website continues the next end-point distances of monitoring.The result obtained is the distance between website and end points and end points Identity information.
Embodiment 3:
According to Fig. 4, determine that end points locus method is: 3 site electrical label As, B, and C are set, set up Play space coordinates and determine 3 site location A (xA,yA,zA),B(xB,yB,zB), and C (xC,yC,zC).By website and end Point range finding draws end points E, and (x, y, z) to distance R of website A, B, and CAE,RBE, and RCE, build equation and can try to achieve end points E's Space coordinates.That is:
( x - x A ) 2 + ( y - y A ) 2 + ( z - z A ) 2 = R AE 2
( x - x B ) 2 + ( y - y B ) 2 + ( z - z B ) 2 = R BE 2
( x - x C ) 2 + ( y - y C ) 2 + ( z - z C ) 2 = R CE 2
As it will be easily appreciated by one skilled in the art that and the foregoing is only presently preferred embodiments of the present invention, not in order to Limit the present invention, all any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention, all should comprise Within protection scope of the present invention.

Claims (2)

1. a ultrasonic locating active electronic label group device, including ultrasonic emitting module, controller A, memorizer A, penetrates Frequency module A, state indicator module A, power supply A, ultrasound wave receiver module, controller B, memorizer B, radio-frequency module B, state indicate Module B, power supply B, it is characterised in that: communicated with radio-frequency module B by radio-frequency module A, ultrasonic emitting in site electrical label Module is used for launching ultrasound wave, and in end points electronic tag, ultrasound wave receiver module is used for receiving ultrasound wave, and controller A is respectively with super Acoustic emission module, memorizer A, radio-frequency module A, ID arrange modules A and are connected with state indicator module A, and controller B is respectively with super Acoustic receiver module, memorizer B, radio-frequency module B, ID arrange module B and are connected with state indicator module B.
2. the method that a kind of website described in claim 1 and end-point distances determine, the steps include:
(1) site electrical label controller A and end points electronic tag controller B port initialization；
(2) site electrical tag ID arranges modules A and arranges Site ID, and end points electronic tag ID arranges module B and arranges endpoint id；
(3) site electrical label control radio-frequency module A communicates with end points electronic tag radio-frequency module B, and structure the website and end points lead to Communication network；
(4) site electrical label controller A controls the transmitting spy of ultrasonic emitting module away from ultrasound wave, Synchronization Control radio-frequency module A Communicate with the radio-frequency module B of end points electronic tag；
(5) end points electronic tag radio-frequency module B receives signal of communication, and notification controller B starts timing, and the record moment is t1；
(6) ultrasound wave receiver module receives and visits away from ultrasound wave, and controller B receives this signal, and synchronizes to stop timing, when recording this Carve t2；
(7) control bin B store time information t1 and record this moment t2, control radio-frequency module B by time information t1 simultaneously Transmit to radio-frequency module A with recording this moment t2；
(8) site electrical Tag Radio Frequency modules A receiving endpoint time signal, transmits to controller A；
(9) site electrical label controller A signal calculated time difference T=t1-t2, and control bin A storage information；
(10) controller reaches ultrasonic emitting cycle-index when judging, no, enters step (4)；It is then to enter step (11)；
(11) the average time difference after controller calculates circulation, is multiplied by ultrasonic velocity, obtains the distance between website and end points；
(12) website continues the next end-point distances of monitoring.
CN201610760901.XA 2016-08-29 2016-08-29 A kind of ultrasonic locating active electronic label group device and localization method Pending CN106249201A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107942287A (en) * 2017-12-13 2018-04-20 西安Tcl软件开发有限公司 Localization method, wireless device and the computer-readable recording medium of wireless device
CN113390433A (en) * 2021-07-20 2021-09-14 上海擎朗智能科技有限公司 Robot positioning method and device, robot and storage medium

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Application publication date: 20161221