CN109741631A - A relative position detection device and its working method - Google Patents
A relative position detection device and its working method Download PDFInfo
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- CN109741631A CN109741631A CN201910104358.1A CN201910104358A CN109741631A CN 109741631 A CN109741631 A CN 109741631A CN 201910104358 A CN201910104358 A CN 201910104358A CN 109741631 A CN109741631 A CN 109741631A
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Abstract
本发明公开了一种相对位置检测设备，包括无线通讯模块和数据处理模块；所述无线通讯模块包括远距离无线感知单元、近距离无线感知单元、支持距离和方向感知的无线测距单元。本发明能够通过无线时间同步，近距离感知，动态测距频率调整，运动传感器的融合等，有效解决多目标相对位置检测，有效地解决了多目标使用的时候目标之间的无线冲突；特别是在高风险的时候，提高感知频率，缩短了响应时间；同时通过运动传感器的融合和方位感知，将误告警率极大降低。
The invention discloses a relative position detection device, comprising a wireless communication module and a data processing module; the wireless communication module includes a long-distance wireless sensing unit, a short-range wireless sensing unit, and a wireless ranging unit supporting distance and direction sensing. The invention can effectively solve the relative position detection of multiple targets through wireless time synchronization, short-range perception, dynamic ranging frequency adjustment, fusion of motion sensors, etc., and effectively solve the wireless conflict between targets when multiple targets are used; especially In high-risk situations, the sensing frequency is increased and the response time is shortened; at the same time, the false alarm rate is greatly reduced through the fusion of motion sensors and orientation perception.
Description
Technical field
The present invention relates to wireless communication technique fields, in particular to a kind of relative position detection device and its work side
Method.
Background technique
Application No. is the patent application of CN201520999759.5 " a kind of fork truck-personnel's wireless distance finding alarm system ",
And application No. is the patent application of CN201810157708.6 " data processing method, device, alarm method, warning device and reports
In alert equipment ", mention mainly by based on ranging or reaching the method for angle, to realize the inspection of distance/position relationship
It surveys.
But in practical applications, there may be large number of movable objects in region, since the quantity of target is more, phase
Mutual ranging may result in test leakage, and there are biggish risk factors.In addition, between the very close target of two actual ranges due to
The factors such as the shelter at scene frequently result in ranging failure, cause the accident and take place frequently.
Summary of the invention
It is an object of that present invention to provide a kind of relative position detection device and its working method, synchronous by wireless time,
Closely the methods of perception, the adjustment of dynamic distance frequency, the fusion of motion sensor, effectively solve the detection of multiple target relative position
Problems；When the position between target is judged as high risk, perceived frequency is improved, shortens the response time, with
Reduce accident risk；It is perceived by the fusion of motion sensor and orientation, false alarm rate is greatly reduced.The present invention by using
A variety of wireless communication techniques realize the relative position perception between multiple targets, and are degree of danger, Yong Huke according to safety
To take in response to measure, the risk for generating safety accident is reduced.
To reach above-mentioned purpose, in conjunction with Fig. 1, the present invention proposes a kind of relative position detection device, the relative position inspection
Measurement equipment includes wireless communication module and data processing module.
The wireless communication module include remote-wireless sension unit, near radio sension unit, support distance and
The wireless distance finding unit of directional perception.
The remote-wireless sension unit, near radio sension unit, wireless distance finding unit respectively with data processing
Module electrical connection.
The data processing module starts in response to affiliated relative position detection device, and driving remote-wireless perception is single
Member is broadcasted according to the first setting period, to detect to other in running order relative positions in the first setting range
Equipment is listened to, and
If there are at least one other in running order relative position detection devices, data in the first setting range
Processing module by the time of affiliated relative position detection device adjust to other relative position detection device institutes for listening to
Corresponding system time synchronization.
Remote-wireless sension unit is mainly used for wireless time and synchronizes, and ensures that the equipment in whole system is that have
Unified time, operating distance can achieve hundreds of meters, such as wireless telecommunications based on 433MHz etc..
System, which synchronizes, to be completed by remote-wireless sension unit, after in relative position, detection device is powered on, at a distance
Wireless aware unit can be listened to first.If can open broadcast it was found that not having other same categories of device in environment, broadcast is solid by one
The fixed time carries out, such as the time interval of 1s；If scene is listened to the presence of other equipment, according to the mesh in system
How much is mark, and timeslice locating for each target selects suitable timeslice to carry out the broadcast of oneself, and the equipment on periphery is allowed to find certainly
Oneself.In this system, automatic network-building can be carried out by data such as broadcast signal strengths between equipment, tears net open, grid-connected is dynamic
Make, it is final to realize with the Mesh network of one of equipment position central point, it is multistage due to using remote wireless transmission method
After synchronization, it can achieve using thousands of rice as the synchronizing network of radius, synchronization accuracy can control within 50us.
The control instruction that the near radio sension unit is sent according to data processing module, according to the second setting period
Other relative position detection devices in running order in second setting range periodically listen to, and knot will be listened to
Fruit feeds back to data processing module, and the intercepted result includes the number and correspondence of other relative position detection devices listened to
Signal strength.
First setting range is greater than the second setting range.
For example, it is assumed that the first setting range is configured to 50 meters of circles of radius centered on the relative position detection device
Interior, the second setting range is configured in 10 meters of circles of the radius centered on the relative position detection device.
When a relative position detection device starts, remote-wireless sension unit is similar to other within the scope of 50 meters
Equipment is perceived, and after perceiving the same category of device that other are working, is carried out networking from each other, made in working range
Relative position detection device system time synchronization, perform basis for subsequent further ranging.
After other same categories of device in the relative position detection device and working range complete system time synchronization, closely
The same category of device within the scope of 10 meters centered on it is listened to apart from wireless aware unit.Listen to frequency by user according to
Actual demand determines, it is preferred that described second sets the period as the unit time of system time, by taking aforementioned broadcast cycle as an example,
Unit time of the 1s as system is selected, while listening periods are also set to 1s, can be saved while ensuring to listen to efficiency
About electric energy also can reduce data wireless in addition, the unit time of broadcast cycle, listening periods, control system is done unification
Transmit the conflict of aspect.
The data processing module is listened to according to preset judgment rule near radio sension unit
Candidate measuring distance of target is judged in target, and the number for the candidate measuring distance of target judged is sent to wireless distance finding unit.
In some instances, the preset judgment rule refers to:
If other relative position detection devices, not ranging are not present in the second setting range.
If the quantity of other existing relative position detection devices is no more than M in the second setting range, will listen to
The numbers of all relative position detection devices be sent to wireless distance finding unit, carry out ranging.
If the quantity of other existing relative position detection devices is more than M in the second setting range, by what is listened to
Other relative position detection devices are ranked up by strong to weak according to signal, by the strongest relative position detection device of M signal
Number be sent to wireless distance finding unit, carry out ranging.
The M is the positive integer greater than zero.
By taking target device broadcast per second is primary as an example, initiating equipment needs the candidate ranging mesh per second for requiring to update oneself
Mark.The number of ranging can be effectively reduced in this way, to reduce average power consumption, battery power supply class equipment has longer standby event.
The wireless distance finding unit receives the number of the candidate measuring distance of target, according to the third setting period to affiliated opposite
Relative distance and relative angle between location detecting apparatus and candidate measuring distance of target measure, and measurement result is real-time
Feed back to data processing module.
Location aware is divided into two parts, ranging and angle judgement.
It supports the wireless technology of ranging to have UWB, BLE, Wi-Fi, CSS, ZigBee even Lora etc., does not limit to which kind of is used
Technology can calculate the fly event t between two equipment, multiplied by the light velocity by the methods of bidirectional ranging, symmetrical bidirectional ranging
C then obtains the distance between two points d=c x t.
Angle judgement, is mainly completed by array antenna, for example, by using AoA array antenna.It is better in order to reach
Precision, generally obtains angle number using phase difference method, and phase difference is necessary to ensure that the distance between antenna is half wavelength, is
Reach better precision, generally require the covering that multiple groups antenna is just able to satisfy 360 degree, it is ensured that angle detection in each direction
Precision meets expection.
The affiliated relative position detection device and candidate ranging that the data processing module measures wireless distance finding unit
Relative distance and relative angle between target are compared with the first set distance range, the first set angle range respectively,
And in response in following two condition any one set up: 1) relative distance measured beyond the first set distance range,
The relative angle measured exceeds the first set angle range, 2) the corresponding signal strength of candidate measuring distance of target is beyond the first setting
Strength range judges that the relative position between affiliated relative position detection device and candidate measuring distance of target is located at fence coverage, sends out
Alarm out.
Second setting range is greater than the first set distance range.
The third setting period was less than or equal to for the second setting period.
The relative position detection device includes an alarm unit.
The alarm unit is electrically connected with data processing module, according to the control instruction of data processing module to issue acousto-optic
Alarm.
In some instances, the data processing module can control target device side and sound an alarm, for example, in initiator
Communication link is established between opposite relative position detection device and the data processing module of target side relative position detection device, when
Judge to need to sound an alarm at this time after initiator's ranging, sends data processing module of the alert request to target side, target side
Data processing module receive alert request, drive alarm unit belonging to it to issue audible and visible alarm.
The setting purpose of first set distance range is that there are time enough to adjust position to staff, avoids
It collides or avoids with losing, it therefore, can be according to the device type and working method of monitoring to the first set distance range
It adjusts.
For example, fork truck movement speed is fast, touches when relative position detection device is mainly used for monitoring the collision of two fork trucks
Consequence caused by hitting is serious, the first set distance range can be set as except 10 meters of radius centered on fork truck of circle
Region, when relative position, detection device is mainly used for monitoring personnel, the movement speed of personnel is slow, consequence caused by collision compared with
Gently, and personnel are more flexible to mobile controlling, instant, the first set distance range can be set as centered on personnel
1 meter of radius of circle except region etc..When the region for thering are other objects to enter in 10 meters of circles centered on aforementioned fork truck,
Or 1 meter of the radius centered on aforementioned personnel circle inner region when, relative position detection device sounds an alarm.
In other examples, if the purpose of phase position detection method is to prevent with losing, the first setting range
Setting it is opposite.That is, the region in 10 meters of circles centered on follow object to leave aforementioned fork truck, or with aforementioned personnel it is
When 1 meter of radius of circle inner region of the heart, relative position detection device is sounded an alarm.
For example, can be arranged to cart follow user when shopping, an opposite position is respectively installed with cart and user
Set detection device, when cart leaves user farther out, relative position detection device is sounded an alarm, remind user, prevent cart with
It loses.
In addition, due to more complicated at the scene, for example by the way of UWB perception, due to blocking, will lead to
Ranging failure, and become not distance, also, even if ranging measurement of power, due to blocking, it is biggish to will lead to ranging appearance
Deviation, also, message is reached by multipath, and the angle perceived is also mistake, in this mode is needed based on close
Signal strength apart from wireless aware unit short distance perceptual model controls, and reduces risk, can pass through setting signal intensity
Threshold value, for example -60dBm at this time even if being also judged as without ranging into high risk zone, generates corresponding alarm.
Double protection when ranging failure is realized by preceding method.
Preferably, M is equal to 2.On the one hand, through practical proof, in conjunction with aforementioned shorter listening periods, select two it is nearest
Equipment carries out ranging, has been able to ensure to keep safe distance between this equipment and other equipment；On the other hand, only selection two
Equipment carries out ranging, and data volume to be treated is few, and processing speed is fast, equipment reaction is sensitive, it is not easy to break down.
In ranging quantity choice experiment, the to be detected trolley different more than 5, testboard are placed around test trolley
One is mounted on vehicle and trolley to be detected to relative position detection device, experimenter manipulates each trolley to be detected and testing
It is moved around trolley, is close or separate.
The first situation: it is demonstrated experimentally that when selection only carries out ranging between nearest trolley to be detected with one,
System response is fastest, and measuring distance of target replacement is also most fast, but due to measuring distance of target replacement after, need selected target again to carry out
The operand of ranging, system itself is not low, and when target replacement is too fast, the reaction of test trolley is not as good as there are still collisions
May, after tested, test trolley can not collided by the trolley to be detected of ranging a possibility that there are 11% with other.
Second situation: when carrying out ranging between selection and 3 or more trolleys to be detected, measuring distance of target is more
Stablize, but since measuring distance of target is more, the operand of system is larger in each ranging period, and system response speed is slow, needs point
The time of dispensing ranging unit also increases therewith, and power consumption is big, operation not in time, after tested, test trolley still have 6% can
Energy property can be collided with trolley to be detected, and the trolley of collision is not limited to the not trolley to be detected by ranging.
The third situation: when carrying out ranging between selection and 2 trolleys to be detected, though measuring distance of target has transformation, by
Few in measuring distance of target, system operations amount, system reaction time between first two situation, are given there are time enough and are controlled
Personnel processed do the adjustment of testboard truck position, and after tested, test trolley only has for 1% a possibility that and has trolley to be detected and touch
It hits.
In conjunction with Fig. 2, in the present invention, it is also mentioned a kind of time management method of control system.It is specific:
The data processing module includes a timeslice administrative unit.
The time quantum of system time is divided into management timeslice and ranging time piece by the timeslice administrative unit,
In, the data processing module in management timeslice is to handle the data received, the number in ranging time piece
According to processing module to drive wireless distance finding unit to measure the relative position of candidate measuring distance of target.
Preferably, the ranging time piece includes basic ranging time piece and temporary time piece.
The timeslice administrative unit is in response to opposite between affiliated relative position detection device and candidate measuring distance of target
Position is located at early warning range, and temporary time piece is adjusted to basic ranging time piece according to preset allocation rule.
After completing system time synchronization, system carries out automatic time fragment.In this system, typical case is basic with 1s
Time quantum, i.e. 1000ms is classified as two big parts, wherein such as Ams is management timeslice, other (1000-A)
Ms is ranging time piece, if each timeslice by B ms division, when ranging time piece can be converted into C=(1000-A)/B
Between piece.Then proceed to divide, will wherein D=1/3C be common ranging time piece, in addition E=2/3C timeslice as it is interim when
Between piece., will be some or all in E temporary time piece when two target collision risks are high, it distributes to this kind of
Target uses, and when risk releases, withdraws the temporary time piece dispensed again.
The distribution of timeslice is used and is discharged, and is to be broadcasted by remote-wireless sension unit to realize, when receiving it
After the broadcast declaration of his target, the relative position detection device needs to update oneself local timeslice use information, if
Oneself need using when, can come by searching for idle temporary time piece using.It is not used when more than certain time
This temporary time piece or target have had been moved off danger zone, then will declare that temporary time piece is no longer occupied by broadcasting
With can be distributed to other equipment.
Foregoing timeslice management method, it is contemplated that control system time synchronization, passes through the method for time-division, drop
Low ranging failure caused due to being wirelessly transferred conflict, meanwhile, the utilization rate of time is improved, the capacity of system is increased.
The present invention has carried out further optimization to aforementioned schemes from the following aspects.
First aspect optimizes the second setting range
Aforementioned schemes are the circles that select to put using centered on equipment as the second setting range, by taking fork truck as an example, in fork truck
In moving process, even if the people or fork truck except its moving direction are close again apart from it, it will not collide with it, this
Have led to a large amount of invalid alarm.
In this regard, dynamic protection area is established in present invention proposition.
Specifically, the data processing module includes movement sensor unit and processor unit.
The movement sensor unit detects affiliated relative position to the control instruction sent according to processor unit
The direction of travel of the corresponding mobile object of equipment is identified, recognition result is sent to processor unit.
The processor unit receives the recognition result of movement sensor unit feedback, calculates the second setting for needing to monitor
Range, the first set distance range, the first set angle range, and calculated second setting range is sent to closely
Wireless aware unit.
The near radio sension unit receives the second setting range that processor unit is sent, to the second setting range
Interior other in running order relative position detection devices periodically listen to, and intercepted result is fed back to processor
Unit.
It needs to establish dynamic protection area according to the traffic direction of vehicle when equipment is on vehicle in conjunction with Fig. 3,
Invalid alarm number can be effectively reduced in this way.When forward travel, need to establish protection zone, left/right rotation in front
When, it needs protection zone being adjusted to left or right side, when vehicle backing, needs to establish protection zone at rear.
This part is mainly based upon movement sensor unit and processor unit two are partially completed, according to motion-sensing
The data of device unit acquire, and judge the variation of the driving direction of vehicle.Compare typically, Chinese herbaceous peony into when, do not need
It is arranged at rear and protects, that is, make one close also not related, but when vehicle retreats, needs protection zone being adjusted to backward
Angle.
The second aspect, dynamic adjust range frequency
When target is not before entering into protection zone, the frequency of location aware is not perceive or low frequency perception, works as entrance
After protection zone, mobile unit can actively temporary time slot be used, the frequency of perception is adjusted to higher, for example, 5Hz or
It is higher.After leaving protection zone, and the occupancy of automatic release temporary time piece, avoid other targets from not being available.
In terms of third, prewarning area is set
The affiliated relative position detection device and candidate ranging that the data processing module measures wireless distance finding unit
Relative distance and relative angle between target are compared with the second set distance range, the second set angle range respectively,
And set up in response to any one in the following conditions: 1) relative distance measured exceeds the second set distance range, measurement
The relative angle arrived exceeds the second set angle range, 2) the corresponding signal strength of candidate measuring distance of target is beyond the second setting intensity
Range judges that the relative position between affiliated relative position detection device and candidate measuring distance of target is located at early warning range, issues pre-
It is alert.
Second set distance range is greater than the first set distance range.
The second set angle range is greater than the first set distance range.
The second setting strength range is greater than the first setting strength range.
Preferably, the data processing module is in response between affiliated relative position detection device and candidate measuring distance of target
Relative position is located at early warning range, and driving wireless distance finding unit is according to the 4th setting period to being in work in the second setting range
Other relative position detection devices of state periodically listen to.
The 4th setting period is less than third and sets the period.
By the way that prewarning area is arranged, so that staff is done good position adjustment in advance and prepare, reduce risk of collision.
4th aspect, increase directly control means
The relative position detection device is mounted on movable equipment, relative position detection device and movable equipment one
One is corresponding.
The control system of the data processing module of the relative position detection device and corresponding movable equipment and/or
Power switch electrical connection.
When situation is more critical, relative position detection device is directly cut off the power, and mobile device, such as fork truck is forced to stop
It only moves, avoids colliding.
Based on preceding method, the present invention further mentions a kind of working method of relative position detection device, the working method
Include:
Startup power supply is broadcasted according to the first setting period, in running order in the first setting range
Other relative position detection devices are listened to, and the opposite detection device is incorporated to one of them opposite detection detection
In the Mesh network put centered on equipment.
According to second setting the period to other relative position detection devices in running order in the second setting range into
Row is periodically listened to, and intercepted result includes the number and corresponding signal strength of other relative position detection devices listened to.
According to preset judgment rule, candidate measuring distance of target is judged from the target listened to.
According to the third setting period between the relative position detection device and candidate measuring distance of target relative distance and
Relative angle measures.
By the relative distance and relative angle between the relative position detection device measured and candidate measuring distance of target
It is compared respectively with the first set distance range, the first set angle range, and in response to any in following two condition
One establishment: 1) relative distance measured is beyond the first set distance range, the relative angle measured beyond the first setting
Angular range, 2) the corresponding signal strength of candidate measuring distance of target judges the relative position inspection beyond the first setting strength range
Relative position between measurement equipment and candidate measuring distance of target is located at fence coverage, sounds an alarm.
First setting range is greater than the second setting range.
Second setting range is greater than the second set distance range.
The third setting period was less than or equal to for the second setting period.
The above technical solution of the present invention, compared with existing, significant beneficial effect is,
1) control system time synchronization reduces the caused survey due to being wirelessly transferred conflict by the method for time-division
Away from failure, meanwhile, the utilization rate of time is improved, the capacity of system is increased.
2) two kinds of judgment modes of distance and signal are used, even if ranging fails, when signal reaches threshold value, still can be provided
Effectively alarm.
3) it first perceives, rear ranging, by the means of communication of low-power, mutual perception selects closer according to signal strength
Target carries out ranging, has prompted power system capacity.
4) orientation recognition between moving target, judge the object time belong to it is close to each other be still located remotely from each other or follow,
Wrong report is reduced, user's perception is improved.
5) adjust automatically range frequency, according to degree of danger, range frequency between adjust automatically target, when risk reduces it
Afterwards, the frequency of perception is reduced.
It should be appreciated that as long as aforementioned concepts and all combinations additionally conceived described in greater detail below are at this
It can be viewed as a part of the subject matter of the disclosure in the case that the design of sample is not conflicting.In addition, required guarantor
All combinations of the theme of shield are considered as a part of the subject matter of the disclosure.
Can be more fully appreciated from the following description in conjunction with attached drawing present invention teach that the foregoing and other aspects, reality
Apply example and feature.The features and/or benefits of other additional aspects such as illustrative embodiments of the invention will be below
Description in it is obvious, or learnt in practice by the specific embodiment instructed according to the present invention.
Detailed description of the invention
Attached drawing is not intended to drawn to scale.In the accompanying drawings, identical or nearly identical group each of is shown in each figure
It can be indicated by the same numeral at part.For clarity, in each figure, not each component part is labeled.
Now, example will be passed through and the embodiments of various aspects of the invention is described in reference to the drawings, in which:
Fig. 1 is the structural schematic diagram of relative position detection device of the invention.
Fig. 2 is timeslice management method schematic diagram of the invention.
Fig. 3 is dynamic protection area schematic diagram of the invention.
Fig. 4 is the scene example of one of ranging failure of specific embodiments of the present invention two.
Specific embodiment
In order to better understand the technical content of the present invention, special to lift specific embodiment and institute's accompanying drawings is cooperated to be described as follows.
Specific embodiment one
In factory, the most typically anticollision of fork truck and people, due to sight, corner, worker is careless, fork truck
Fast running results in a large amount of accident every year, and worker comes to harm, and factory brings loss.This model is most typically
People and Che are being moved, also, the problems in are all collected very much due to instantaneously will appear people's vehicle.
Relative position detection device mentioned by the invention is installed one on each fork truck, meanwhile, each worker with
One, it can effectively realize the anticipation that fork truck is thrusted into, while being also adapted to other vehicles, be also adapted to anticollision between vehicle and vehicle.
Implementation method:
Relative mounting positions detection device on fork truck verifies the use direction matching of motion-sensing unit 201 and fork truck, is
The protection zone of certain distance is arranged in fork truck, for example 30 meters require to start ranging, and 15 meters are protection zone, and 8 meters are alarm region, into
After entering this range, it is necessary to the frequency of perception be turned up, setting degree of protection is 90 degree of conduct direction.
Relative position detection device on fork truck is generally by the way of fork truck direct power supply, after fork truck powers on, opposite position
Whether have other fork trucks running, complete system if setting in the first inspection environment of remote-wireless sension unit 102 of detection device
The time synchronization of system perceives the timeslice distribution condition of periphery relative position detection device.
The near radio sension unit 101 of relative position detection device starts to broadcast on fork truck, and operating distance is general
It is required that reaching 40 meters or more, the relative position detection device convenient for allowing people to wear can be perceived.
The relative position detection device that people wears is synchronous with system based on 102 module of remote-wireless sension unit, search
The broadcast singal of near radio sension unit 101 from vehicle, if the presence less than fork truck is perceived, automatically into suspend mode
Then state is periodically restored to operating mode.If perceiving, there are fork trucks, and signal strength has reached and needs ranging
Threshold value (such as -88dBm) starts strongest two targets of selection signal intensity and carries out ranging.
Vehicle-mounted relative position detection device obtains ranging distance and angle on fork truck.
One, if target location is worn by the measurement of wireless distance finding unit 103 with people close to scope of conservation area
The distance between relative position detection device and angle are turned up range frequency, and are worn by 202 nominator of processor unit
Relative position detection device used in timeslice, people wear relative position detection device receive after, be turned up ranging frequency
Rate.Two, if target location enters alarm region, the vehicle-mounted relative position detection device outputting alarm signal of fork truck is used
Family can choose audible and visual alarm, and the relative position detection device that can also be worn by 202 nunciator of processor unit alerts, together
When vehicle action, such as self-actuating brake can also be controlled by output signal.Three, after people leaves alarm region, vehicle-mounted phase
To location detecting apparatus release time piece, range frequency is reduced, when signal strength further decreases, people is worn opposite
Location detecting apparatus no longer ranging.
Specific embodiment two
In conjunction with Fig. 4, when vehicle and people are when two different corners, since ranging data Feasible degree is low, the angle of acquisition
Degree evidence is reached by multipath, also unavailable.At this time, it may be necessary to the near radio sense based on two relative position detection devices
Know that unit 101 perceives, if signal strength is more than threshold value, at this time, vehicle-mounted relative position detection device is also required to send alarm.
It should be appreciated that scene mentioned by Fig. 4 is the example of one of ranging failure, the present invention proposes strong by signal
The judgement of degree alerts to realize, is not limited to whether ranging fails, only as another alarm triggered means, to realize multiple side
Formula judgement, improves safety.
Specific embodiment three
When selection is prevented with losing function, typically used in supermarket, in order to improve efficiency, or the field of liberation both hands
Scape, such as the vehicle that replenishes of supermarket, Replenishment Associate needs ceaselessly to remove cart, but can actually be walked according to Replenishment Associate, and replenish vehicle
It can accomplish to follow automatically, reduce the number that walks back and forth of Replenishment Associate, promote the efficiency that replenishes.Another is supermarket shopping car,
Purchaser does not have to push away shopping cart walking again, it is only necessary to walk in front, shopping cart follows later.
By relative position detection device one mentioned by the present invention on Following Car, another personnel is worn, together
The settings such as step, time slicing are the same, in system before use, needing to complete the pairing of two equipment, avoid with mistake.In some examples
In, it can be set and use matching function, such as Bluetooth pairing, can substantially not use near radio sension unit at this time
101.Specifically, the data processing module includes a matching module, such as Bluetooth pairing module, data processing module passes through pairing
Data communication link is established between module and other equipment, other equipment herein are not limited to relative position detection device, also
Customer mobile terminal etc. including having Bluetooth pairing function.
The setting of this protection zone is exactly the opposite, when people and Che apart from it is closer when, perceived frequency is relatively low, when people's vehicle
Apart from it is distant when, perceived frequency improve, avoid with losing.It is therefore desirable to be arranged in 2 meters of short distance, by primary sense in one second
Know, 2 meters or more, perceived frequency is turned up.
When angular deviation is bigger, it is also desirable to perceived frequency be turned up, avoid with losing.
Various aspects with reference to the accompanying drawings to describe the present invention in the disclosure, shown in the drawings of the embodiment of many explanations.
Embodiment of the disclosure need not be defined on including all aspects of the invention.It should be appreciated that a variety of designs and reality presented hereinbefore
Those of apply example, and describe in more detail below design and embodiment can in many ways in any one come it is real
It applies, this is because conception and embodiment disclosed in this invention are not limited to any embodiment.In addition, disclosed by the invention one
A little aspects can be used alone, or otherwise any appropriately combined use with disclosed by the invention.
Although the present invention has been disclosed as a preferred embodiment, however, it is not to limit the invention.Skill belonging to the present invention
Has usually intellectual in art field, without departing from the spirit and scope of the present invention, when can be used for a variety of modifications and variations.Cause
This, the scope of protection of the present invention is defined by those of the claims.
Claims (10)
1. a kind of relative position detection device, which is characterized in that the relative position detection device include wireless communication module and
Data processing module；
The wireless communication module includes remote-wireless sension unit, near radio sension unit, supports distance and direction
The wireless distance finding unit of perception；
The remote-wireless sension unit, near radio sension unit, wireless distance finding unit respectively with data processing module
Electrical connection；
The data processing module starts in response to affiliated relative position detection device, and driving remote-wireless sension unit is pressed
It is broadcasted according to the first setting period, to other in running order relative position detection devices in the first setting range
It is listened to, and
If there is at least one other in running order relative position detection devices, data processing in the first setting range
Module by the time of affiliated relative position detection device adjust to corresponding to other relative position detection devices for listening to
System time synchronization；
The control instruction that the near radio sension unit is sent according to data processing module, according to the second setting period to the
Other in running order relative position detection devices periodically listen in two setting ranges, and intercepted result is anti-
Be fed to data processing module, the intercepted result include other relative position detection devices listened to number and corresponding letter
Number intensity；
The data processing module is according to preset judgment rule, the target that is listened near radio sension unit
In judge candidate measuring distance of target, the number for the candidate measuring distance of target judged is sent to wireless distance finding unit；
The wireless distance finding unit receives the number of the candidate measuring distance of target, according to the third setting period to affiliated relative position
Relative distance and relative angle between detection device and candidate measuring distance of target measure, and by measurement result Real-time Feedback
To data processing module；
The affiliated relative position detection device and candidate measuring distance of target that the data processing module measures wireless distance finding unit
Between relative distance and relative angle be compared respectively with the first set distance range, the first set angle range, and
Set up in response to any one in following two condition: 1) relative distance measured is beyond the first set distance range, measurement
The relative angle arrived exceeds the first set angle range, 2) the corresponding signal strength of candidate measuring distance of target is beyond the first setting intensity
Range judges that the relative position between affiliated relative position detection device and candidate measuring distance of target is located at fence coverage, issues police
Report；
First setting range is greater than the second setting range；
Second setting range is greater than the second set distance range；
The third setting period was less than or equal to for the second setting period.
2. relative position detection device according to claim 1, which is characterized in that described second when setting the period as system
Between unit time.
3. relative position detection device according to claim 1, which is characterized in that the data processing module will be surveyed wirelessly
The relative distance and relative angle difference between affiliated relative position detection device and candidate measuring distance of target measured away from unit
It is compared with the second set distance range, the second set angle range, and is set up in response to any one in the following conditions:
1) relative distance measured exceeds the second set distance range, and the relative angle measured exceeds the second set angle range,
2) the corresponding signal strength of candidate measuring distance of target judges affiliated relative position detection device and waits beyond the second setting strength range
It selects the relative position between measuring distance of target to be located at early warning range, issues early warning；
Second set distance range is greater than the first set distance range；
The second set angle range is greater than the first set distance range；
The second setting strength range is greater than the first setting strength range.
4. relative position detection device according to claim 3, which is characterized in that the data processing module is in response to institute
Belong to the relative position between relative position detection device and candidate measuring distance of target and be located at early warning range, driving wireless distance finding unit is pressed
Other relative position detection devices in running order in the second setting range periodically detect according to the 4th setting period
It listens；
The 4th setting period is less than third and sets the period.
5. relative position detection device according to claim 1, which is characterized in that the data processing module includes for the moment
Between piece administrative unit；
The time quantum of system time is divided into management timeslice and ranging time piece by the timeslice administrative unit, wherein
Data processing module in management timeslice is to handle the data received, at the data in ranging time piece
Module is managed to drive wireless distance finding unit to measure the relative position of candidate measuring distance of target.
6. relative position detection device according to claim 5, which is characterized in that the ranging time piece includes that basis is surveyed
Away from timeslice and temporary time piece；
The timeslice administrative unit is in response to the relative position between affiliated relative position detection device and candidate measuring distance of target
Positioned at early warning range, temporary time piece is adjusted to by basic ranging time piece according to preset allocation rule.
7. relative position detection device according to claim 1, which is characterized in that the data processing module includes movement
Sensor unit and processor unit；
The movement sensor unit is to the control instruction that is sent according to processor unit, to affiliated relative position detection device
The direction of travel of corresponding mobile object is identified, recognition result is sent to processor unit；
The processor unit receives the recognition result of movement sensor unit feedback, calculates the second setting model for needing to monitor
It encloses, the first set distance range, the first set angle range, and calculated second setting range is sent to short distance nothing
Line sension unit；
The near radio sension unit receives the second setting range that processor unit is sent, in the second setting range
Periodically listen in other relative position detection devices of working condition, and intercepted result is fed back into processor list
Member.
8. relative position detection device according to claim 1, which is characterized in that the preset judgment rule is
Refer to,
If other relative position detection devices, not ranging are not present in the second setting range；
If the quantity of other existing relative position detection devices is no more than M in the second setting range, the institute that will be listened to
There is the number of relative position detection device to be sent to wireless distance finding unit, carries out ranging；
If the quantity of other existing relative position detection devices is more than M in the second setting range, by other listened to
Relative position detection device is ranked up by strong to weak according to signal, by the volume of the strongest relative position detection device of M signal
It number is sent to wireless distance finding unit, carries out ranging；
The M is the positive integer greater than zero.
9. relative position detection device according to claim 1, which is characterized in that the relative position detection device installation
On movable equipment, relative position detection device and movable equipment are corresponded；
The control system and/or power supply of the data processing module of the relative position detection device and corresponding movable equipment
Switch electrical connection.
10. a kind of working method of relative position detection device, which is characterized in that the working method includes:
Startup power supply is broadcasted according to the first setting period, in running order other in the first setting range
Relative position detection device is listened to, and the opposite detection device is incorporated to one of them opposite detection detection device
Centered in the Mesh network put；
According to the second setting period are carried out to other relative position detection devices in running order in the second setting range week
Phase property is listened to, and intercepted result includes the number and corresponding signal strength of other relative position detection devices listened to；
According to preset judgment rule, candidate measuring distance of target is judged from the target listened to；
According to the third setting period to the relative distance between the relative position detection device and candidate measuring distance of target and relatively
Angle measures；
By the relative distance and relative angle difference between the relative position detection device measured and candidate measuring distance of target
It is compared with the first set distance range, the first set angle range, and in response to any one in following two condition
Set up: 1) relative distance measured is beyond the first set distance range, the relative angle measured beyond the first set angle
Range, 2) the corresponding signal strength of candidate measuring distance of target judges that the relative position detection is set beyond the first setting strength range
The standby relative position between candidate measuring distance of target is located at fence coverage, sounds an alarm；
First setting range is greater than the second setting range；
Second setting range is greater than the second set distance range；
The third setting period was less than or equal to for the second setting period.
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