CN104280717B - Intelligent home alignment system and its localization method - Google Patents
Intelligent home alignment system and its localization method Download PDFInfo
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- CN104280717B CN104280717B CN201310292092.0A CN201310292092A CN104280717B CN 104280717 B CN104280717 B CN 104280717B CN 201310292092 A CN201310292092 A CN 201310292092A CN 104280717 B CN104280717 B CN 104280717B
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- measured object
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- plane wave
- conduction
- heat plane
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000004807 localization Effects 0.000 title claims abstract description 10
- 230000005540 biological transmission Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 206010016256 fatigue Diseases 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000002269 spontaneous effect Effects 0.000 description 1
Classifications
-
- 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
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention discloses a kind of intelligent home alignment system and its localization method, it is installed in two-dimensional closed space, and it includes：One positioner, it includes an orientation computing module and a positions calculations module；And multiple sensing member, each sensing member is electrically connected with the positions calculations module of positioner and orientation computing module；Wherein, this positioner utilizes positions calculations module and orientation computing module, according to the time difference between multiple sensing members and voltage output amount, accurately to measure position in two-dimensional closed space for the user.
Description
Technical field
The present invention relates to alignment system and method, the thermal source that more particularly, to a kind of transmission human body is distributed precisely to detect position
Alignment system and its localization method in the position of relevant people indoor at home etc..
Background technology
With scientific and technological progress, people also gradually step up in the level of house life, moil in early stage people one whole
It is desirable to having a good rest, have a bath, seeing TV, blow the comfortable enjoyment such as cold air life After Hours when it is gone back home, but must consume
Take some times one by one by the unlatching of these household appliances, and wait the operating heat engine of machinery just really to be used, so not only
Cannot completely relax, more lead to further tired out.
For this reason, the progressive band of science and technology gives people more convenient life, when science and technology now can allow people be in other places, in advance
Electrical home appliances is carried out with the setting of time, when people are in going back home before the time setting, set electrical home appliances
Operate immediately, go to open various electrical home appliances to remove user body tired out in tow again from, in addition, or even can pass through no
The mode remote controlled electrical household appliances articles for use of line remote control, when people are in the road gone home, can be wireless first with the controller of cell phone type
Electrical appliance in remote control man is started operating so that the electrical appliance in family operates in advance, allows people one to go back home
Enjoy the comfort that electrical home appliances is brought, in addition to the startup that can control household appliances, further can by setting at home
In safety system, monitoring system etc., to protect safety in life at home.
Refer to TaiWan, China Application No. 099121448, the patent application of entitled " position reading control system ", its
Comprise for detecting at least one position of mobile object, and export a ground cushion of an automatically controlled signal, according to this automatically controlled signal transmission one control
Control unit in the one of system order, and change that to come from the kinetic energy of this motive objects be electric energy, and supply should ground cushion, control unit institute in this
Need a spontaneous electric unit of electric power.Thereby, this invention according to the distributing position of this motive objects, and then can control life through aforementioned
Order, makes the sphere of action of at least one electronic installation cover aforementioned motive objects, reaches the purpose of Based Intelligent Control aforementioned electronic.
Above-mentioned " position reading control system " is to have the place that can detect motive objects, and through trampling in ground cushion, utilizes
The detecting of ground cushion makes the startup of middle control unit control apparatus articles for use further, to reach aforementioned described purpose and effect, but,
Sensing through ground cushion is detected and cannot precisely be detected motive objects in on-site accurate location, if when people no tramples in ground
During pad, cannot sense the location of people so that ground cushion cannot transmit automatically controlled signal to middle control unit, and then cannot really open
Dynamic electrical home appliances.
Content of the invention
In view of this, present invention is primarily targeted at providing a kind of intelligent home alignment system and its localization method, supply
When user is in house, through the setting of positioner, can precisely identify the position positioned at indoor user.
For reaching above-mentioned purpose, the technical scheme is that and be achieved in that：
A kind of intelligent home alignment system, it is installed in two-dimensional closed space, and it includes：One positioner, it includes
One orientation computing module and a positions calculations module；And multiple sensing member, the positions calculations module of each sensing member and positioner
And orientation computing module is electrically connected with；Wherein, this positioner utilizes positions calculations module and orientation computing module, according to multiple
Time difference between sensing member and voltage output amount, to measure position in two-dimensional closed space for the user.
A kind of localization method of the alignment system of intelligent home according to claim 1, its step includes：
A, the step of orientation measured object, including：Positions calculations module passes through the distance between two adjacent sensing members parameter,
And sample rate parameter, to calculate the angle value between measured object and any sensor；
B, the step of positioning measured object, including：Positions calculations module passes through the defeated of at least three adjacent sensing member voltage ADC
Go out, to measure the position that measured object is relative to three sensing members；
C, according to above-mentioned to measured object orientation and the output result to measured object positioning step, measure measured object in closing
Position in space.
Wherein：Described measured object is thermal source or IR source.
Intelligent home alignment system provided by the present invention and its localization method, have advantages below：
Using the positioning result of the present invention, can be further up to the accurate use direction controlling electrical home appliances, it is
Improve in prior art, when user position is trampled on ground cushion, ground cushion then cannot transmit automatically controlled signal and give control device, enter
And cannot the startup of effective control electrical home appliances and required use direction etc. deficiency.
Brief description
Fig. 1 is apparatus of the present invention block chart.
Fig. 2 is the inventive method block diagram.
Fig. 3 is two-dimensional space use state figure of the present invention.
Fig. 4 is 2 dimensional region areal map of the present invention.
Fig. 5 is orientation survey figure of the present invention.
Fig. 6 is positioning measurement figure of the present invention.
【Primary clustering symbol description】
Positioner 1 closing space 10
Orientation computing module 11 positions calculations module 12
Sensing member 21,22,23,24,25 senses block 3
Measured object 4 great circle 50,51,52
Centrage X left conduction of heat plane wave L1
Left symmetrical conduction of heat plane wave L2 right conduction of heat plane wave R1
Orientation S1 of right symmetrical conduction of heat plane wave R2 measured object
The positioning S2 angle theta of measured object
Apart from D.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiments of the invention make further details of theory to the alignment system of the present invention and method
Bright.
The present invention is applied to close two-dimensional space, the such as interior space such as room, kitchen, parlor for one kind, measures in order to accurate
Survey a kind of intelligent home alignment system of the position of measured object, refer to shown in Fig. 1 to Fig. 5, it includes：One positioner 1, its
Including an orientation computing module 11 and a positions calculations module 12；And multiple sensing member 21,22 ....Sensing member 21,22 of the present invention
Deng for PIR Sensor, each sensing member 21,22 is electrically connected with the positions calculations module 12 of positioner 1 and orientation computing module 11
Connect；Wherein, this positioner 1 utilize positions calculations module 12 and orientation computing module 11, according to multiple sensing members 21,22 etc. it
Between time difference and voltage output amount, accurately to measure position in two-dimensional closed space 10 for the measured object, wherein this is tested
Thing is thermal source or IR source.
According to the description of above-mentioned intelligent home alignment system, further illustrate intelligent home localization method of the present invention, please join
Read Fig. 2, its step includes：
Step S1 of orientation measured object：Positions calculations module 12 passes through the distance between two adjacent sensing members 21,22 etc.
Parameter, and sample rate parameter, to calculate the angle value between measured object and any sensor 2；
Step S2 of positioning measured object：Positions calculations module 12 passes through the output of three adjacent sensing member voltage ADC, to survey
Amount measured object is relative to the position of at least three sensing members 21,22 etc.；
According to above-mentioned to measured object orientation and the output result to measured object positioning step, measure measured object empty in closing
Interior position
Thereby, according to above-mentioned to measured object orientation and the output result to measured object positioning step, to measure measured object
Position in closing space 10.Wherein measured object 4 is thermal source or infrared ray（IR）Source.
The present invention can arrange in pairs or groups various intelligent apparatus, for example：Possesses the position according to user identity and user, with accurate
Regulation and control electronic installation to the usual operating state of user, the environment that user is comfortable is provided.In addition, the present invention can be accurate
Position in a two-dimensional closed space 10 for the detecting, and its direction of displacement, and then detect the dynamic news of each user at any time
Breath, reaches the effect monitoring at any time.
Refer to shown in Fig. 3 and Fig. 4, Fig. 3 is to represent closing space 10, sensing member 21,22 etc. and sensing block 3, and Fig. 4
Sensing block 3 with two-dimensional representation sensing member.
In the embodiment of the present invention, the plurality of sensing member 21,22 etc. is arranged on ceiling for spacing, therefore can use multiple senses
Survey the time difference of part 21,22 etc. and the ADC output of voltage and obtain the elaborate position of measured object.
Further describe orientation computing module 11 actual operation and implementation process, permissible through orientation computing module 11
Calculate the direction of measured object 4 movement, in the present embodiment, measured object 4 is people, alternatively referred to as thermal source refers to shown in Fig. 5, wherein
There are two sensing members 21,22, wherein one sensing member 21 is PIR_A in left side, and another sensing member 22 is PIR_B in right side, and
Measured object 4（People）Position be the upper right side of sensing member 21,22, define one in position in right side sensing member 22 and run through sensing member
The centrage X at 22 centers, and by measured object 4（People）Define a right conduction of heat plane wave R1 towards sensing member 22 direction, this right heat passes
Guiding plane ripple R1 and centrage X mutually occurs simultaneously in sensing member 22 upper surface, another definition one right side symmetrically conduction of heat plane wave R2, should
Right conduction of heat plane wave R1 relative mirror setting centered on centrage X with right symmetrical conduction of heat plane wave R2, and right conduction of heat
There is between plane wave R1 and centrage X an angle theta.In addition, this measured object 4（People）Define one towards the sensor 21 positioned at left side
Left conduction of heat plane wave L1, and one pass through sensing member 21, and a left side symmetrically hot biography with left conductive plane ripple L1 relatively mirror setting
Guiding plane ripple L2, again mainly through the sample frequency for article（Sample Rate）, and two sensing members 21,22 (PIR_
A and PIR_B) exist apart from D (DAB), and the spacing of left symmetrical conduction of heat plane wave L2 and right symmetrical conduction of heat plane wave R2
For DABSin θ, distance and sample frequency（Sample Rate）Relation is represented by：
Wherein, v represents measured object 4（People）To the transmission speed of sensing member 21,22, θ represents measured object 4（People）To sensing member
32 angle（Assume that measured object 4 is to transmit in plane wave mode）, so sampling frequency（Sample Rate）Fixing, by two
The delay of sensing member 21,22（Delay）, also counter can release angle theta and learn the moving direction of measured object 4, its expression formula is as follows：
Additionally, referring to shown in Fig. 6, further illustrate the bit definition in block（No speed equivalent, matrix relationship）, sense
Survey part is primarily directed to body heat energy and gives out specific wavelength（10mm about）Infrared ray carry out action, and human body distance perspective
The distance surveying part can affect the output of voltage ADC, if working as distance parameter with the output of voltage ADC, can pass through three sensors
23rd, 24,25 determine measured object 4 with 3 points of positioning mode（People）Relative position, as shown in fig. 6, middle white point is measured object 4
（People）, and it is surrounded on measured object 4（People）Surrounding is three sensing members 23,24,25 arranging in triangular form, and the three of outmost turns
Individual great circle 50,51,52 is respectively the sensing range of sensing member 23,24,25, and three sensing members 23,24,25 are respectively and are located at a left side
Side PIR_A, its coordinate position system（XA,YA）, be located at right side PIR_B, its coordinate position system（XB,YB）, and above
PIR_C, its coordinate position system（XC,YC）, and measured object 4（People）Coordinate position system（Xo,Yo）, sensing member 23PIR_A the pure man
Distance be DAO, the distance of sensing member 24PIR_B the pure man is DBO, and the distance of sensing member 25PIR_C the pure man is DCO, its survey
Amount measured object 4（People）Positioning formula be defined as：
And DAO and DBO, DCO subtract each other and can obtain：
Eliminate radical sign using square：
It is organized into solution linear equation to represent：
If during N number of sensing member, can be expressed as follows：
Finally it is defined as follows：
Therefore the present invention can accurately measure measured object 4 through above-mentioned definition（People）Position and its displacement side
To.
The above, only presently preferred embodiments of the present invention, it is not intended to limit protection scope of the present invention.
Claims (2)
1. a kind of localization method of intelligent home alignment system is it is characterised in that comprise the steps：
A, the step of orientation measured object, including：Positions calculations module passes through the distance between two adjacent sensing members parameter, and sample
Product rate parameter, to calculate the angle value between measured object and arbitrary sensing member；The angle ranging from：Measured object is towards sensing member side
To defining a right conduction of heat plane wave R1, this right conduction of heat plane wave R1 and centrage X mutually occurs simultaneously in sensing member upper surface, separately
Define a right symmetrical conduction of heat plane wave R2, this right conduction of heat plane wave R1 and right symmetrical conduction of heat plane wave R2 is with centrage X
Centered on relatively mirror setting, and between right conduction of heat plane wave R1 and centrage X, there is an angle theta；
B, the step of positioning measured object, including：Positions calculations module passes through the output of at least three adjacent sensing member voltage ADC,
To measure the position that measured object is relative to three sensing members；
C, according to above-mentioned to measured object orientation and the output result to measured object positioning step, measure measured object in closing space
Interior position.
2. localization method according to claim 1 is it is characterised in that this measured object is thermal source or IR source.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310292092.0A CN104280717B (en) | 2013-07-12 | 2013-07-12 | Intelligent home alignment system and its localization method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310292092.0A CN104280717B (en) | 2013-07-12 | 2013-07-12 | Intelligent home alignment system and its localization method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104280717A CN104280717A (en) | 2015-01-14 |
| CN104280717B true CN104280717B (en) | 2017-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310292092.0A Expired - Fee Related CN104280717B (en) | 2013-07-12 | 2013-07-12 | Intelligent home alignment system and its localization method |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105068520A (en) * | 2015-07-31 | 2015-11-18 | 惠而浦（中国）股份有限公司 | Novel smart home system and installation and control method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6597180B1 (en) * | 1998-12-28 | 2003-07-22 | Nippon Kouatsu Electric Co., Ltd. | Fault point location system |
| CN101609382A (en) * | 2009-07-16 | 2009-12-23 | 安徽大学 | An electronic whiteboard based on reverse infrared scanning and its positioning method |
| CN101957442A (en) * | 2010-06-04 | 2011-01-26 | 河北工业大学 | Sound source positioning device |
-
2013
- 2013-07-12 CN CN201310292092.0A patent/CN104280717B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6597180B1 (en) * | 1998-12-28 | 2003-07-22 | Nippon Kouatsu Electric Co., Ltd. | Fault point location system |
| CN101609382A (en) * | 2009-07-16 | 2009-12-23 | 安徽大学 | An electronic whiteboard based on reverse infrared scanning and its positioning method |
| CN101957442A (en) * | 2010-06-04 | 2011-01-26 | 河北工业大学 | Sound source positioning device |
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| CN104280717A (en) | 2015-01-14 |
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