CN201266322Y - Ultrasonic target positioning and tracking device - Google Patents

Abstract

The utility model discloses an ultrasonic target positioning and tracking device, which comprises a group of ultrasonic transceivers, a positioning module and a tracking module. The positioning module and the tracking module are composed of a micro-controller, a driving circuit and an executing mechanism, and is characterized in that: The ultrasonic transceiver device is mainly composed of an ultrasonic signal transmitter and an even number of ultrasonic signal receivers, and the ultrasonic signal receivers are symmetrically distributed on both sides of the ultrasonic signal transmitter. The utility model can realize target positioning, has simple structure and wide application range.

Description

Ultrasonic target positioning and tracking device

technical field

The utility model relates to a target positioning device, in particular to a target positioning and tracking device realized by ultrasonic waves.

Background technique

The principle of the ultrasonic ranging system is simple, easy to implement, and low in cost, so it has been widely used in production and life. Typical applications include ultrasonic object (material) level measurement, obstacle distance measurement, river bed depth measurement, reversing radar, etc., and there are already mature products. The principle is to actively transmit pulsed ultrasonic waves, and then detect the return time of the echo signal, and obtain the distance of the target after calculation.

On this basis, if the orientation of the target can be determined, the positioning of the target can be realized. This has important implications for many practical applications such as robotic systems.

Chinese invention patent application CN101226405A discloses a two-dimensional positioning control system based on an ultrasonic source, including two static ultrasonic base stations, an ultrasonic transceiver and a positioning controller installed on a machine that operates on a controlled two-dimensional plane. After receiving the ultrasonic signal, the ultrasonic signal is forwarded, and the positioning controller includes a distance calculation module, which is used to calculate the distance L1 and L2 between the current point and the two ultrasonic base stations, and the distance L3 and L4 between the target point and the two ultrasonic base stations; the data storage module uses It is used to store the distance L, L1 and L2, L3 and L4 between two static ultrasonic base stations; the positioning movement control module is used to realize the movement of the X-axis and the Y-axis when the machine moves from the current point to the target point, and will The X-axis and Y-axis moving distance control commands are output to the mechanical X-axis controlled motor and Y-axis controlled motor. This control system can realize the positioning on the two-dimensional plane, but it needs at least 3 pairs of ultrasonic transmitters and receivers, the structure is relatively complicated, and the cost is high; and one pair needs to be installed on the target to be positioned, and in many applications In some cases, it is unrealistic to add an ultrasonic transceiver to the target. The applications of the positioning device are thus limited.

Contents of the invention

The purpose of the utility model is to provide an ultrasonic target positioning and tracking device with a simple structure, which can realize the positioning and tracking of the target without installing an ultrasonic transceiver on the target.

In order to achieve the above object, the technical solution adopted by the utility model is: an ultrasonic target positioning and tracking device, including at least one set of ultrasonic transceivers, a positioning module and a tracking module, and the positioning module and the tracking module are driven by a microcontroller and The circuit is composed of an actuator, and the ultrasonic transceiver device includes an ultrasonic signal transmitter and an even number of ultrasonic signal receivers, and the ultrasonic signal receivers are symmetrically distributed on both sides of the ultrasonic signal transmitter.

In the above technical solution, the positioning module is calculated according to the round-trip time difference of the ultrasonic signal and the principle of the utility model to determine the distance and orientation of the target, which can be realized by a microcontroller; the tracking module is based on the object's The module for determining the direction of movement of the orientation determination device is usually composed of a microcontroller, a drive circuit and an actuator, and drives the carrier carrying the device to move through a device such as a motor to achieve tracking.

In a further technical solution, there are two ultrasonic signal receivers, the ultrasonic signal transmitter and the two ultrasonic signal receivers are located on a straight line, and the direction in which the ultrasonic signal transmitter emits the highest intensity is perpendicular to the straight line.

In order to realize the positioning of targets at different distances, it is necessary to adjust the distance from the ultrasonic signal receiver to the ultrasonic signal transmitter, increase the distance when the target is far away, and decrease the distance when the target is close. Therefore, one implementation solution is: the two ultrasonic signal receivers are arranged on a distance adjustment mechanism, and the movement direction of the distance adjustment mechanism is parallel to the connection direction of the ultrasonic signal receiver and the ultrasonic signal transmitter.

The preferred technical solution is that the distance between the ultrasonic signal receiver and the ultrasonic signal transmitter is between 1/4 and 1/2 of the distance of the measured target, with 1/2 being the best distance.

Another implementation solution is: at least 2 pairs of ultrasonic signal receivers are provided, and the 2 receivers in each pair are symmetrically distributed relative to the transmitter. According to needs, 2 pairs, 3 pairs or more receivers can be set, so as to switch and use the corresponding receiver pair according to the distance of the target.

In the above technical solution, a display module may also be provided, and the display module is electrically connected to the output terminal of the microcontroller. The display module is used to display the azimuth and distance of the target.

In the above technical solution, a moving mechanism controlled by a microcontroller can be provided, and the moving mechanism is loaded with all parts of the ultrasonic target positioning and tracking device, and can move to the target direction under the control of the microcontroller, thereby realizing For target tracking.

The working principle of the utility model is described as follows:

Referring to Figure 1, the ultrasonic sensor and the target are idealized as a point. The system uses an ultrasonic transmitter (SP) and two ultrasonic receivers (R1, R2) symmetrically arranged at a mutual distance of 2S.

之间的关系如下：Using the method of ultrasonic distance measurement, the round-trip transmission time t1 and t2 of the ultrasonic wave from the transmitter to the two receivers can be obtained, which are proportional to the distance L+L1 and L+L2, v is the ultrasonic propagation speed, using the triangle After the relationship is calculated, the average distance L (that is, the distance from the transmitter to the target) and the azimuth angle can be obtained

The relationship between them is as follows:

L1+L=v×t1=C1

L2+L=v×t2=C2

After simple derivation, we can get: $L=\frac{{C1}^2+{C2}^2-{2S}^2}{2(C1+C2)};$

反之，则有

If L1>L2, then there is

On the contrary, there are

Due to the use of the above technical solutions, the utility model has the following advantages compared with the prior art:

1. Since the receiver is arranged symmetrically with respect to the ultrasonic signal transmitter, the utility model can realize the positioning of the target by using the triangular relationship, without the need to install an ultrasonic device on the target, thus, the structure is simple and the scope of application is wide.

2. The device of the present invention has a good positioning effect on a single small-sized independent object. In the experiment, moving targets within a relatively large range can be accurately positioned. By selecting a suitable ultrasonic sensor and detection circuit, the maximum detection distance can be achieved. Up to 5 meters, the maximum detection angle can reach 120 degrees.

3. By cooperating with the tracking module, the tracking of the target can be realized, which is suitable for making products such as toys and intelligent robots.

Description of drawings

Fig. 1 is a schematic diagram of the basic principle of ultrasonic target positioning;

Fig. 2 is a schematic block diagram of the circuit composition structure of the device of Embodiment 1;

Fig. 3 is a schematic diagram of the spacing adjustment mechanism of the second embodiment;

Fig. 4 is a schematic block diagram of the device circuit composition structure of the second embodiment;

Fig. 5 is a schematic block diagram of the circuit composition and structure of the device of the third embodiment.

Detailed ways

Below in conjunction with accompanying drawing and embodiment the utility model is further described:

Embodiment one: referring to shown in accompanying drawing 2, a kind of ultrasonic target positioning and tracking device comprises a group of ultrasonic transceiver, positioning module, tracking module and display module, described positioning module and tracking module are composed of microcontroller and drive circuit With the actuator, the display module is electrically connected to the output end of the microcontroller, and the ultrasonic transceiver device is composed of an ultrasonic signal transmitter and two ultrasonic signal receivers, and the ultrasonic signal receivers are symmetrically distributed on the ultrasonic wave. On both sides of the signal transmitter, the distance from the two ultrasonic signal receivers to the ultrasonic signal transmitter is equal. The ultrasonic signal transmitter includes an ultrasonic signal drive amplifier driven by a microcontroller and a sounding device SP; the ultrasonic signal receiver includes 2 ultrasonic sensors R1, R2, ultrasonic signal amplification, filtering and detection circuits, and its output is connected to the micro The input port of the controller. The ultrasonic signal transmitter and the two ultrasonic signal receivers are located on a straight line, and the direction in which the ultrasonic signal transmitter emits the greatest intensity is perpendicular to the straight line. The distance between the ultrasonic signal receiver and the ultrasonic signal transmitter is 100-500 mm.

The implementation of the device in this embodiment requires not only an ultrasonic drive and detection circuit, but also a microcontroller for corresponding mathematical calculations, result display and overall control. The block diagram of the system structure is shown in Figure 2.

In Fig. 2, a modulated ultrasonic pulse wave is sent out by a microcontroller (MCU), and a timer is started to start timing at the same time. The echo signal received by the receiving sensor is amplified, filtered and processed by the detection circuit to obtain a changed level signal and send it to the microcontroller. The orientation information of the target object can be obtained after the microcontroller calculates the two received signals. These information can be displayed in the required form in the display module, and also provided to the tracking module to track and control the target.

In this embodiment, any microcontroller that can realize the above functions can be selected; the display circuit can use digital tube display or liquid crystal display.

The device of this embodiment has a good positioning effect on a single small-sized independent object, and accurate positioning can be performed on a moving target within a relatively large range in the experiment. By selecting a suitable ultrasonic sensor and detection circuit, the maximum detection distance can reach 5 meters, and the maximum detection angle can reach 120 degrees.

This embodiment can cooperate with other structures to form a device with positioning and tracking functions.

For example:

Toys that track objects automatically:

Installing this device on a toy that can move autonomously, such as a toy dog, can measure the distance and orientation of objects within a certain distance around it, and move towards the target by controlling its own movement device. When the object cannot be detected within the effective distance, it will continue to detect while turning on the spot. Such toys will be more interesting and entertaining.

Obstacle detectors for the blind:

The device can be used as an obstacle detector for the blind. Target range and bearing information is given by a special intermittent beeping tone from a stereo headset. The closer the distance, the shorter the interval between intermittent sounds until they are continuous. When the target is directly in front, the sound volume of the two earphones is the same. If the target is to the left, the volume of the earphone on the left is greater than that on the right; otherwise, the volume of the earphone on the right is greater than that on the left. The greater the angular deviation, the greater the volume difference until the sound on one side disappears completely. Such a device can provide certain surrounding environment information to the blind.

Environmental perception system installed on the robot:

The device can be used to make sensors (ultrasonic radar) for autonomous mobile robots to perceive the surrounding environment. In an ideal situation, a rough image of the surrounding objects can be formed so that the robot can perform obstacle avoidance motion and motion path planning.

Embodiment 2: Referring to accompanying drawings 3 and 4, an ultrasonic target positioning and tracking device has the same basic structure as Embodiment 1, wherein the two ultrasonic signal receivers are arranged on a distance adjustment mechanism , the moving direction of the distance adjusting mechanism is parallel to the connecting line direction between the ultrasonic signal receiver and the ultrasonic signal transmitter. The distance adjustment mechanism of this embodiment can adopt a pair of motors with heads, and the two output ends of the motors are respectively connected to a left-handed screw and a right-handed screw, so as to realize the synchronous adjustment of the distance between the ultrasonic signal receivers.

When in use, use the microcontroller to control the movement of the distance adjustment mechanism, and change the distance between it and the transmitter under the premise of ensuring the symmetrical arrangement of the two ultrasonic signal receivers, so that it is suitable for positioning of targets at different distances.

Embodiment three: referring to the accompanying drawing 5, a kind of ultrasonic target positioning and tracking device, its basic structure is the same as embodiment one, wherein, more than 2 pairs of receiving sensors R1, ..., Rn are configured symmetrically, The outer sensor is used when the target is far away and the inner sensor is used when the target is closer.

Claims (7)

1. ultrasound wave target localization and tracking means, comprise one group of ultrasonic receiving device, locating module and tracking module, described locating module and tracking module are made of microcontroller and driving circuit and topworks, it is characterized in that: described ultrasonic receiving device mainly is made of a ultrasonic signal emitters and even number ultrasonic signal receiver, and described ultrasonic signal receiver is symmetrically distributed in the both sides of ultrasonic signal emitters.

2. ultrasound wave target localization according to claim 1 and tracking means, it is characterized in that: be provided with 2 described ultrasonic signal receivers, described ultrasonic signal emitters and 2 ultrasonic signal receivers are positioned on the straight line, and the direction of ultrasonic signal emitters emissive porwer maximum is vertical with this straight line.

3. ultrasound wave target localization according to claim 1 and tracking means, it is characterized in that: described 2 ultrasonic signal receivers are located on the spacing adjusting mechanism, and the direction of motion of described spacing adjusting mechanism is parallel with the line direction of ultrasonic signal receiver and ultrasonic signal emitters.

4. according to claim 1 or 3 described ultrasound wave target localization and tracking means, it is characterized in that: the distance between described ultrasonic signal receiver and ultrasonic signal emitters the measured target distance 1/4～1/2 between.

5. ultrasound wave target localization according to claim 1 and tracking means is characterized in that: be provided with at least 2 pairs of described ultrasonic signal receivers, the relative transmitter of 2 receivers of every centering is symmetrically distributed.

6. ultrasound wave target localization according to claim 1 and tracking means is characterized in that: be provided with information display module, described information display module is electrically connected with the output terminal of described microcontroller.

7. ultrasound wave target localization according to claim 1 and tracking means is characterized in that: be provided with the travel mechanism by microprocessor controls, described ultrasonic receiving device, locating module and tracking module are installed in the described travel mechanism.

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