CN208636719U - A kind of automatic following system based on ultrasonic distance measurement - Google Patents
A kind of automatic following system based on ultrasonic distance measurement Download PDFInfo
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- CN208636719U CN208636719U CN201821328969.1U CN201821328969U CN208636719U CN 208636719 U CN208636719 U CN 208636719U CN 201821328969 U CN201821328969 U CN 201821328969U CN 208636719 U CN208636719 U CN 208636719U
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Abstract
The utility model discloses a kind of automatic following systems based on ultrasonic distance measurement, use ultrasonic wave as measurement means, measurement accuracy is high, follow effect good, using lapel mike battle array as ultrasonic receiver, for traditional ultrasonic transducer, installation volume can be substantially reduced, applicable range is also extended, and is installed simple.
Description
Technical field
The utility model relates to ultrasonic technology, especially a kind of automatic following system based on ultrasonic distance measurement.
Background technique
The current technology that follows automatically includes 3 kinds: 1, being followed based on wireless telecommunications；2, based on camera image identification with
With；3, it is followed based on ultrasonic transducer, is to utilize two wireless receivings for following end to install based on the mode that wireless telecommunications follow
Module receives the signal of the same transmitting module of transmitting terminal, by analyzing two signals for having the receiving module of certain mounting distance
Intensity calculates two receiving modules respectively at a distance from transmitting module and range difference, calculates further according to the two range differences
Follow the angle between end equipment and transmitting terminal, and receiving intensity directly reflects and follows the distance between end and transmitting terminal, it should
For method the disadvantage is that signal strength consistency is bad between radio receiving transmitting module, resolution ratio is low, and the directionality and distance followed is not
It is ideal.
The mode followed based on camera image identification is high to system requirements, needs high-performance processor, at high cost, power consumption
Height all requires, narrow application range to target direction angular intensity is followed.
Technology is followed based on ultrasonic transducer, is that the ultrasonic signal arrival two issued according to ultrasonic transmitter is used for
The time difference of received ultrasonic transducer, inverse go out ultrasonic transmitter to range difference between two receivers, calculate reception
Angle between device and ultrasonic transmitter.Since receiving end uses ultrasonic transducer, volume is big, in order to reach enough essences
It spends, distance wants few cm or even tens centimetres between two receivers.
Utility model content
To solve the above problems, the purpose of this utility model is to provide a kind of, following automatically based on ultrasonic distance measurement is
System, using lapel mike battle array as receiving end, relative to conventional ultrasound transducing receiver, installation volume can be substantially reduced,
Application range expands.
The technical solution adopted by the utility model to solve the problem is as follows:
A kind of automatic following system based on ultrasonic distance measurement, including being mounted on the ultrasonic vocalization being followed on end
Source, be mounted on follow ultrasonic receiver on object and driving follow object it is mobile follow executing agency, the ultrasonic wave hair
Source emission ultrasonic signal is described that executing agency is followed to be driven according to the signal that ultrasonic receiver exports to ultrasonic receiver
It is dynamic to follow object mobile；The ultrasonic receiver includes more than one, and the ultrasonic receiver is lapel mike battle array.
Further, the ultrasonic receiver includes the first receiver and second receiver, first receiver and the
Two receivers are located on same level or same vertical plane.Ultrasonic receiver is set as two-dimensional scene, can apply and play
Tool vehicle, perambulator etc. follow in equipment.
Further, the ultrasonic receiver further includes third receiver, the third receiver and the first receiver or
Plane locating for second receiver, perpendicular to plane locating for first receiver and second receiver.Ultrasonic receiver
It is set as three-dimensional scenic, can be applied in the equipment such as aircraft, unmanned plane.
Further, the lapel mike battle array is Electret Condencer Microphone or MEMS silicon microphone.The body of lapel mike battle array
Product is smaller, can be applied on most of objects, has a wide range of application.
Further, it is described follow executing agency include the second microprocessor for receiving the output of lapel mike battle array with
And for driving the driving mechanism for following object mobile, second microprocessor is connect with driving mechanism.At second microprocessor
It manages the output signal of lapel mike battle array and outputs a control signal to driving mechanism.
Further, the driving mechanism is steering motor or steering engine.
Further, the ultrasonic vocalization source includes piezoelectric supersonic wave transducer or electromagnetic horn.
It further, further include the synchronization module synchronous for realizing transmitting-receiving, the synchronization module includes being mounted on to be followed
Transmitting module on end and it is mounted on the receiving module followed on object, the transmitting module and receiving module data connection.
Synchronization module can guarantee that transmitting-receiving synchronizes, while can also reach more with other system for tracking networkings communication in adjacent space
The purpose that machine uses simultaneously.
Further, the synchronization module is wireless communication module or infrared transceiver module.
The beneficial effects of the utility model are: a kind of following automatically based on ultrasonic distance measurement that the utility model uses is
System, using lapel mike battle array as ultrasonic receiver, can greatly reduce the volume of receiving end, so that application range can
It is small to can be used to equipment such as toy car, unmanned planes more extensively, to arrive perambulator, suitcase greatly.
Detailed description of the invention
The utility model is described in further detail with example with reference to the accompanying drawing.
Fig. 1 is a kind of functional block diagram of the automatic following system based on ultrasonic distance measurement of the utility model；
Fig. 2 is a kind of two dimensional application schematic diagram of the automatic following system based on ultrasonic distance measurement of the utility model；
Fig. 3 is a kind of three-dimensional applications schematic diagram of the automatic following system based on ultrasonic distance measurement of the utility model.
Specific embodiment
Referring to Fig.1, a kind of automatic following system based on ultrasonic distance measurement of the utility model, including first microprocessor
4, ultrasonic vocalization source 1, ultrasonic receiver 2, synchronization module 5 and executing agency 3 is followed, first microprocessor 4 and ultrasound
Wave sound generation source 1, which is mounted on, to be followed on end, ultrasonic receiver 2 and follows executing agency 3 to be mounted on to follow on object, specifically
Follow process are as follows: be followed end by equipment such as intelligent terminals to following object transmission to follow signal, controlled by first microprocessor 4
Ultrasonic vocalization source 1 issues ultrasonic signal, after then ultrasonic receiver 2 receives ultrasonic signal and is converted into electric signal
It being transferred to and follows executing agency 3, driving follows object mobile after following executing agency 3 to receive electric signal, and reach and follows effect, by
In using ultrasonic wave, as measurement means, measurement accuracy height reaches grade, more than the method for passing through wireless telecommunications ionization meter
Height, for image recognition scheme, small in size, at low cost, use environment require it is low, it is applied widely.
And in order to enable the utility model is different from traditional system for tracking using ultrasonic transducer, and it is practical to extend this
Novel use scope, the utility model use lapel mike battle array as ultrasonic receiver 2, and using at corresponding signal
Reason technology does the size of the entirety of ultrasonic receiver 2 very small, reaches grade, be conventional ultrasound transducer
Size part to 1/tens, the scope of application is larger, can not only occupy smaller space be mounted on it is large and medium-sized with
With equipment such as luggage case, perambulator, tool car etc., moreover it is possible to be mounted on it is small-sized follow in equipment, such as toy car, it is small-sized fly
Row device etc..
Specifically, lapel mike battle array includes Electret Condencer Microphone or MEMS (Micro Electro Mechanical System) silicon microphone, ultrasound
Wave sound generation source 1 includes piezoelectric supersonic wave transducer or electromagnetic horn, the ultrasonic signal issued by measurement ultrasonic vocalization source 1
It reaches time difference caused by the distance between each lapel mike, phase difference, intensity difference etc. and carries out source of sound positioning, accurate inverse
Angle between ultrasonic receiver 2 and ultrasonic vocalization source 1 out, but the ultrasonic vocalization source 1 of the utility model and ultrasound
Wave receiver 2 is not limited to the above embodiment.
Simultaneously in order to guarantee the synchronization received and dispatched, the utility model is provided with synchronization module 5, including setting is being followed end
On transmitting module 51 and be mounted on the receiving module 52 followed on object, transmitting module 51 and first microprocessor 4 connect, and connect
It receives module 52 and the second microprocessor 31, the time that receiving-transmitting sides may be implemented by transmitting module 51 and receiving module 52 is same
Step, and can also be communicated by other system for tracking networkings of synchronization module 5 simultaneously and in adjacent space, reach multimachine simultaneously
The purpose used, the synchronization module 5 of the utility model are wireless communication module or infrared transceiver module.
Ultrasonic vocalization source 1 can be dedicated ultrasonic vocalization device, such as piezoelectric ultrasonic transducing mentioned above
Device or electromagnetic horn are also possible to the ultrasonic wave generated manually by user, such as clap one's hands, tippy key string, rock metal
Or the ultrasound source that nonmetallic small bell, other metals or nonmetallic collision generate, it can be equal to ultrasonic vocalization source 1, be
The system of realization is further simplified, and can be changed to and to be generated ultrasonic wave by human action and be followed on end instead of being arranged in originally
Dedicated ultrasonic vocalization source 1 does not need specially to carry dedicated ultrasonic transmission device, reaching reduces cost and conveniently make
Purpose is particularly suitable for following in the equipment progress angle of fixed position, but using the premise of such mode is to be followed
End must be people, human body, which needs to carry out some specific movements, could generate ultrasonic wave, meanwhile, when use such mode with
After system, synchronization module 5 and first microprocessor 4 can also be cancelled, and further reduce cost, can be determined by calculating
Angle between source of sound and microphone array, following distance issue the time of ultrasonic wave by control to adjust.
Since radio is with light velocity propagation, the time can be ignored on following distance, it is believed that ultrasonic vocalization source 1 and super
Acoustic receiver 2 works under benchmark at the same time, and ultrasonic wave issues the time difference between reception, can calculate transmitting
The ultrasonic receiver 2 of the distance at end and receiving end, the utility model includes more than one, and between ultrasonic receiver 2
At intervals, due to the presence of drift angle, the ultrasonic wave that ultrasonic vocalization source 1 is emitted reaches each ultrasonic receiver
The distance between 2 is different, so receiving the time of ultrasonic wave by measuring each ultrasonic receiver 2, can calculate excess of export
Sound wave sound generation source 1 arrives the distance between ultrasonic receiver 2, can then calculate ultrasonic vocalization source 1 and ultrasonic wave receives
Actual range L and bias angle theta between device 2, finally according to the bias angle theta calculated, control follows executing agency 3 to correct the side of following
To following the adjustment of executing agency 3 to follow according to actual range L control and object and be followed end distance.
Calculating process described above is by following executing agency 3 to carry out, and the utility model follows executing agency 3 to wrap
The second microprocessor 31 and driving mechanism 32 are included, the signal that the second microprocessor 31 exports ultrasonic receiver 2 is handled
And calculating, the result of calculating is output in driving mechanism 32, follows object to be moved by the control of driving mechanism 32, reaches and follow
Effect, the driving mechanism 32 of the utility model include steering motor or steering engine.
And the automatic following system of the utility model is applicable not only to two dimension and follows, can be extended to three-dimensional follows, ginseng
According to two dimensional application schematic diagram shown in Fig. 2, ultrasonic receiver 2 includes the first receiver and second receiver, the first receiver
Be located in same level or same vertical plane with second receiver, by calculate two ultrasonic receivers 2 drift angle and
Actual range between ultrasonic vocalization source 1 it is available it is final follow data, can apply in toy car, perambulator etc.
It follows in equipment.
Referring to three-dimensional applications schematic diagram shown in Fig. 3, ultrasonic receiver 2 include the first receiver, second receiver with
And third receiver, the first receiver and second receiver are located in same level, second receiver and third receiver position
In on same vertical plane, can be applied in the equipment such as aircraft, unmanned plane.
Specifically, it either in two dimensional application or three-dimensional applications, is put down locating for the first receiver and second receiver
Face not necessarily horizontal plane or vertical plane, the difference of the different shapes for following object, it is possible to will lead to the first receiver and
The location of second receiver difference, the plane locating for the first receiver and second receiver be one with respect to the horizontal plane
It, can be by position locating for the first receiver and second receiver when carrying out distance and angle calculation when being inclined plane
It sets and projects on horizontal plane or on vertical plane, facilitate and calculate the distance between receiver and ultrasonic vocalization source 1 and angle.
The above, the only preferred embodiment of the utility model, the utility model are not limited to above-mentioned implementation
Mode, as long as its technical effect for reaching the utility model with identical means, all should belong to the protection scope of the utility model.
Claims (9)
1. a kind of automatic following system based on ultrasonic distance measurement, it is characterised in that: be followed surpassing on end including being mounted on
Sound wave sound generation source (1), be mounted on follow the ultrasonic receiver on object (2) and driving follow object it is mobile follow executing agency
(3), ultrasonic vocalization source (1) the transmitting ultrasonic signal is described to follow executing agency (3) root to ultrasonic receiver (2)
Follow object mobile according to the signal driving of ultrasonic receiver (2) output；The ultrasonic receiver (2) includes more than one, institute
Stating ultrasonic receiver (2) is lapel mike battle array.
2. a kind of automatic following system based on ultrasonic distance measurement according to claim 1, it is characterised in that: the ultrasound
Wave receiver (2) includes the first receiver and second receiver, and first receiver and second receiver are located at same level
On face or same vertical plane.
3. a kind of automatic following system based on ultrasonic distance measurement according to claim 2, it is characterised in that: the ultrasound
Wave receiver (2) further includes third receiver, plane locating for the third receiver and the first receiver or second receiver,
Perpendicular to plane locating for first receiver and second receiver.
4. a kind of automatic following system based on ultrasonic distance measurement according to claim 1, it is characterised in that: described small-sized
Microphone array is Electret Condencer Microphone or MEMS silicon microphone.
5. a kind of automatic following system based on ultrasonic distance measurement according to claim 1, it is characterised in that: described to follow
Executing agency (3) includes the second microprocessor (31) for receiving the output of lapel mike battle array and follows object for driving
Mobile driving mechanism (32), second microprocessor (31) connect with driving mechanism (32).
6. a kind of automatic following system based on ultrasonic distance measurement according to claim 5, it is characterised in that: the driving
Mechanism (32) is steering motor or steering engine.
7. a kind of automatic following system based on ultrasonic distance measurement according to claim 1, it is characterised in that: the ultrasound
Wave sound generation source (1) includes piezoelectric supersonic wave transducer or electromagnetic horn.
8. a kind of automatic following system based on ultrasonic distance measurement according to claim 1, it is characterised in that: further include using
In realizing the synchronous synchronization module (5) of transmitting-receiving, the synchronization module (5) includes being mounted on the transmitting module being followed on end
(51) receiving module (52) followed on object, the transmitting module (51) and receiving module (52) data connection are mounted on and.
9. a kind of automatic following system based on ultrasonic distance measurement according to claim 8, it is characterised in that: the synchronization
Module (5) is wireless communication module or infrared transceiver module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821328969.1U CN208636719U (en) | 2018-08-16 | 2018-08-16 | A kind of automatic following system based on ultrasonic distance measurement |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821328969.1U CN208636719U (en) | 2018-08-16 | 2018-08-16 | A kind of automatic following system based on ultrasonic distance measurement |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110412994A (en) * | 2019-07-24 | 2019-11-05 | 武汉大学 | A kind of miniature underwater robot delivery hydrophone autonomous formation system and control method |
| CN110837084A (en) * | 2019-10-30 | 2020-02-25 | 南京理工大学 | Ultrasonic testing additive component surface morphology device carried by mechanical arm |
| CN110928306A (en) * | 2019-12-06 | 2020-03-27 | 东莞市华复实业有限公司 | Following control method and system and intelligent robot |
| CN112327859A (en) * | 2020-10-30 | 2021-02-05 | 苏州触达信息技术有限公司 | Automatic following method and device for vehicle and vehicle |
| CN113513828A (en) * | 2020-04-10 | 2021-10-19 | 广东美的制冷设备有限公司 | Voice air conditioner, control method thereof and computer readable storage medium |
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2018
- 2018-08-16 CN CN201821328969.1U patent/CN208636719U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110412994A (en) * | 2019-07-24 | 2019-11-05 | 武汉大学 | A kind of miniature underwater robot delivery hydrophone autonomous formation system and control method |
| CN110412994B (en) * | 2019-07-24 | 2021-12-21 | 武汉大学 | Autonomous formation system for miniature underwater robot carrying hydrophones and control method |
| CN110837084A (en) * | 2019-10-30 | 2020-02-25 | 南京理工大学 | Ultrasonic testing additive component surface morphology device carried by mechanical arm |
| CN110928306A (en) * | 2019-12-06 | 2020-03-27 | 东莞市华复实业有限公司 | Following control method and system and intelligent robot |
| CN113513828A (en) * | 2020-04-10 | 2021-10-19 | 广东美的制冷设备有限公司 | Voice air conditioner, control method thereof and computer readable storage medium |
| CN113513828B (en) * | 2020-04-10 | 2023-08-18 | 广东美的制冷设备有限公司 | Voice air conditioner, control method thereof and computer readable storage medium |
| CN112327859A (en) * | 2020-10-30 | 2021-02-05 | 苏州触达信息技术有限公司 | Automatic following method and device for vehicle and vehicle |
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Effective date of registration: 20201104 Address after: 518000 Hedong building, Haoyunlai Plaza, Baoan District, Hedong community, Xixiang street, Bao'an District, Shenzhen City, Guangdong Province f5-017 Patentee after: SHENZHEN LETAE INTELLIGNET TECHNOLOGY Co.,Ltd. Address before: One of the 1st Floor of No. 3 Jinyi Road, Pengjiang District, Jiangmen City, Guangdong Province Patentee before: JIANGMEN LEIWOSI PHOTOELECTRIC TECHNOLOGY Co.,Ltd. |