Method and device for locating direction and distance of adjacent equipment

Abstract

The present invention relates to the technical field of device positioning, and discloses a method and a device for positioning the direction and distance of adjacent devices. A positioning device sends an identification notification to a positioned device, and after receiving the identification notification, the positioned device generates a perceptible and presentable positioning identification according to the requirements of the identification notification; the positioning device senses the positioning identification sent by the positioned device, and obtains the relative direction between the positioned device and the positioning device and the relative distance between the positioned device and the positioning device by analyzing the sensed positioning identification; the positioning identification is generated by the positioned device, and the positioning identification can be perceived and presented. In this way, the positioning device can obtain the relative distance between the positioned device and the positioning device by sensing the positioning identification and analyzing the sensed positioning identification, and realize the relative direction between the devices. The method can be used in application systems such as long-distance safe adaptive wireless power supply that require mutual positioning and mutual alignment between devices.

Description

Technical Field

[0001] The invention relates to the technical field of device positioning, and more specifically, to a method and device for positioning the direction and distance of adjacent devices. Background Art

[0002] Positioning is a widely used technology with practical applications, and is widely used in navigation, geodesy, engineering surveying, aerial photography, and vehicles. Usually, this type of positioning technology is developed in conjunction with satellites and communications. It uses navigation satellites to measure time and distance, calculate the longitude and latitude coordinates of objects, and mark them on maps for easy identification, observation, and use by users. However, this satellite-based positioning technology is usually not very accurate (at least 0.3 meters reported).

[0003] Another type of positioning is the inertial positioning technology that combines accelerometers and gyroscopes. By measuring the object's direction of movement and acceleration in real time, the object's relative movement is calculated and the movement trajectory is drawn. This positioning accuracy is high, but it can only locate the change in the center of mass position of the object itself.

[0004] In the prior art, there is no positioning technology for measuring the relative direction and distance between devices for alignment. Summary of the invention

[0005] The purpose of the present invention is to provide a method for locating the direction and distance of adjacent devices, aiming to solve the problem in the prior art that there is no method for locating the direction and distance between devices.

[0006] The present invention is implemented as follows: a method for locating the direction and distance of a neighboring device, wherein a positioning device sends an identification notification to a located device, and after receiving the identification notification, the located device generates a perceptible and presentable positioning identification in accordance with the requirements of the identification notification; the positioning device perceives the positioning identification sent by the located device, and obtains the relative direction between the located device and the positioning device, and the relative distance between the located device and the positioning device by analyzing the perceived positioning identification.

[0007] Furthermore, the located device sends out a power supply request, and after receiving the power supply request, the positioning device authenticates the power supply request of the located device. After the authentication is passed, the positioning device sends the identification notification to the located device.

[0008] Furthermore, after the positioning device authenticates the power supply request of the positioned device, it allocates a power supply port, and at the same time, the positioning device sends the identification notification to the positioned device, it sends a tracing signal of the power supply port to the positioned device.

[0009] Furthermore, the located device sends a tracing signal of the power receiving port to the locating device at the same time as sending the locating mark.

[0010] Furthermore, after the positioning device senses the positioning identifier emitted by the positioned device, it observes the positioned device, and according to the relative direction between the positioned device and the positioning device and the relative distance between the positioned device and the positioning device, the positioning device flexibly adjusts the power supply port until the power supply port is aligned with the power receiving port, and the power supply port emits power supply energy to the power receiving port.

[0011] Furthermore, after sensing the positioning identifier sent by the positioned device, the positioning device adjusts the direction of the energy receiving port in a dynamic manner according to the following steps:

[0012] Step 1), the positioning device observes the positioned device, preliminarily determines the direction of the energy receiving port, and sends a motorized instruction for direction adjustment to the positioned device. After receiving the motorized instruction, the positioned device motorically adjusts the direction of the energy receiving port;

[0013] Step 2), the positioning device observes the positioned device after the motorized adjustment, determines the direction of the energy receiving port according to the current shape of the positioned device and the previous motorized instruction, and sends a motorized instruction for direction adjustment to the positioned device. After receiving the motorized instruction, the positioned device motorically adjusts the direction of the energy receiving port;

[0014] Step 3), repeat step 2) until it is confirmed that the energy receiving port is aligned with the energy supply port.

[0015] Furthermore, the positioning device senses the positioning identifier issued by the positioned device through the panoramic receiver, and when the sensing number == 1, the positioning device locks the positioning identifier issued by the positioned device;

[0016] When the perception number > 1, the positioning device re-issues a new identification notification to the positioned device, the positioned device issues a new positioning identification to the positioning device, and the positioning device re-senses the new positioning identification issued by the positioned device through the panoramic receiver, and repeats the operation until the perception number == 1.

[0017] Furthermore, the positioning device analyzes the positioning mark issued by the positioned device to obtain the midpoint of the positioning mark and the length of the characteristic side, obtains the relative direction between the positioned device and the positioning device by analyzing the deviation ratio between the midpoint of the mark and the origin of the interval, and obtains the distance between the positioned device and the positioning device by analyzing the length of the characteristic side and the length of the standard meter distance.

[0018] Furthermore, when the positioned device generates the positioning identifier, the positioned device synchronously generates a protective grating accompanying the positioning identifier, and the positioning device monitors the protective grating in real time. When the positioning device confirms that the protective grating is normal, it sets power supply permission; when the positioning device confirms that the protective grating is abnormal, it sets power supply termination.

[0019] The present invention also provides an apparatus for locating the direction and distance of a neighboring device, comprising an identification transmitter and a positioning device arranged on the located device, wherein the positioning device communicates with the located device, and the positioning device sends an identification notification to the located device. After the located device receives the identification notification, the identification transmitter generates a perceptible and presentable positioning identifier, and transmits the positioning identifier; the positioning device has a receiver and an analysis and processing module, wherein the receiver perceives the positioning identifier, and the analysis and processing module analyzes the positioning identifier to obtain the relative direction between the located device and the positioning device, and the relative distance between the located device and the positioning device.

[0020] Compared with the prior art, the method for locating the direction and distance of adjacent devices provided by the present invention generates a positioning identifier through the located device, and the positioning identifier can be perceived and presented. In this way, the positioning device can obtain the relative distance between the located device and the positioning device by sensing the positioning identifier and analyzing the perceived positioning identifier, and realize the relative direction between devices. It can be used in application systems such as long-distance safe adaptive wireless power supply that require mutual positioning and alignment between devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a simplified flow chart of a method for locating the direction and distance of a neighboring device provided by the present invention;

[0022] Figure 2 It is a schematic diagram of the principle of calculating the relative distance using the characteristic edge length provided by the present invention;

[0023] Figure 3 It is a detailed flow chart of the method for locating the direction and distance of a neighboring device provided by the present invention;

[0024] Figure 4 It is a schematic diagram of the principle of the method for locating the direction and distance of a neighboring device provided by the present invention;

[0025] Figure 5 It is a simplified structural diagram of the orientation and distance positioning of adjacent devices provided by the present invention. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0027] The implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0028] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0029] Reference Figure 1-5 The figure shows a preferred embodiment of the present invention.

[0030] The located device 200 provided in this embodiment can be various electrical devices, such as aircraft, automobiles, and various intelligent devices, etc., depending on the actual application. The positioning device 100 and the located device 200 can be in a mobile state or a stationary state, and can be in the air or on the ground, without specific limitation.

[0031] This embodiment describes the positioning process. It should be noted that in actual applications, the same physical device may be used as a positioning device to position other positioned devices, and at the same time, it may be used as a positioned device to be positioned by other positioning devices. That is to say, the relative positioning relationship between the positioned device 200 and the positioning device 100 is not absolute. However, when it comes to a single positioning process, the positioning principle is similar, and both include the positioned device 200 and the positioning device 100. For simplicity and ease of understanding, only a single positioning process is described in this embodiment.

[0032] In the method for locating the direction and distance of a neighboring device, the positioning device 100 sends an identification notification to the located device 200. After receiving the identification notification, the located device 200 generates a perceptible and presentable positioning identification 300 according to the requirements of the identification notification.

[0033] The positioning device 100 communicates with the positioned device 200. The positioning identifier 300 is a unique identifier used to identify the positioned object, which can be a certain shape or a special signal, or a combination of several shapes or signals in a time-space sequence, such as the following expression:

[0034] Positioning mark 300 = (mark sequence, mark presentation mode);

[0035] Positioning mark 300 sequence = [[mark 1, duration 1], [mark 2, duration 2], ..., [mark n, duration n].

[0036] The positioning mark 300 or a projection or mapping of the positioning mark 300 has the following characteristics:

[0037] (1) It is measurable. Within the measurable range, the positioning mark 300 can be measured and sensed by the sensor;

[0038] (2) It should be presentable and can be presented by the located object;

[0039] (3) It has uniqueness or distinctiveness, so that it can be identified in the surrounding environment and will not be interfered by other similar shapes or signals. If it is found that the positioning mark 300 has lost its uniqueness or distinctiveness, it is necessary to regenerate the positioning mark.

[0040] The positioning mark 300 may be physically visible, such as laser or other visible light beams, or may be invisible, such as invisible light beams, electromagnetic waves, and the like.

[0041] The positioning device 100 senses the positioning mark 300 emitted by the positioned device 200 , and obtains the relative direction between the positioned device 200 and the positioning device 100 , and the relative distance between the positioned device 200 and the positioning device 100 by analyzing the sensed positioning mark 300 .

[0042] The positioning device 100 can sense the positioning mark 300 through a camera, a sensor, or other various sensing devices, and locate the positioning mark 300 through various methods such as algorithms and image recognition.

[0043] The method for locating the direction and distance of a neighboring device provided above generates a positioning mark 300 through the located device 200, and the positioning mark 300 can be perceived and presented. In this way, the positioning device 100 can obtain the relative distance between the located device 200 and the positioning device 100 by sensing the positioning mark 300 and analyzing the perceived positioning mark 300, thereby realizing the relative direction between the devices, which can be used in application systems such as long-distance safe adaptive wireless power supply that require mutual positioning and alignment between devices.

[0044] When the located device 200 needs energy, such as charging, etc., the located device 200 sends out an energy request, which can be considered as paging and is sent over a wide range. The energy request here can include: authorization permission token, target voltage, maximum power, etc.

[0045] After receiving the energy supply request, the positioning device 100 authenticates the energy supply request of the positioned device 200. The authentication content may include determining whether the energy supply request of the positioned device 200 is permitted, such as authority, target voltage, permitted power, etc. After the authentication is passed, the positioning device 100 sends an identification notification to the positioned device 200, informing the positioned device 200 to generate a positioning identification 300 according to the identification notification.

[0046] After the positioning device 100 authenticates the power supply request of the positioned device 200, it allocates a power supply port at the same time. Of course, the positioning device 100 may have multiple power supply ports and supply power to multiple positioned devices 200 at the same time.

[0047] When the positioning device 100 sends an identification notification to the positioned device 200, it also sends a tracer signal of the power supply port to the positioned device 200. In this way, when the positioned device 200 receives the identification notification, it can also know the position of the positioning device 100.

[0048] When the located device 200 sends out the positioning mark 300 , it sends out a tracer signal of the power receiving port to the positioning device 100 . Thus, when the positioning device 100 senses the positioning mark 300 , it can also obtain the position of the located device 200 .

[0049] After the positioning device 100 senses the positioning mark 300 emitted by the positioned device 200, it observes the positioned device 200, and according to the relative direction between the positioned device 200 and the positioning device 100 and the relative distance between the positioned device 200 and the positioning device 100, the positioning device 100 flexibly adjusts the power supply port until the power supply port is aligned with the power receiving port, and the power supply port emits power supply energy 400 to the power receiving port, thereby realizing the power supply request of the positioned device 200.

[0050] Alternatively, the energy receiving port of the located device 200 may be adjusted in a dynamic manner. After the positioning device 100 senses the positioning mark 300 issued by the located device 200, it dynamically adjusts the direction of the energy receiving port according to the following steps:

[0051] Step 1), the positioning device 100 observes the positioned device 200, preliminarily determines the direction of the energy receiving port, and sends a motor command for direction adjustment to the positioned device 200. After receiving the motor command, the positioned device 200 motor-adjusts the direction of the energy receiving port;

[0052] Step 2), the positioning device 100 observes the positioned device 200 after the motorized adjustment, determines the direction of the energy receiving port according to the current shape of the positioned device 200 and the previous motorized instruction, and sends a motorized instruction for direction adjustment to the positioned device 200. After receiving the motorized instruction, the positioned device 200 motorically adjusts the direction of the energy receiving port;

[0053] Step 3) Repeat step 2) until the energy receiving port is aligned with the energy supply port.

[0054] Alternatively, both the energy receiving port and the energy supply port may be flexibly adjusted, depending on actual needs.

[0055] The positioning device 100 senses the positioning identifier 300 issued by the positioned device 200 through the panoramic receiver 101. When the sensing number == 1, the positioning device 100 locks the positioning identifier 300 issued by the positioned device 200.

[0056] When the perception number > 1, the positioning device 100 re-issues a new identification notification to the positioned device 200, the positioned device 200 issues a new positioning identification 300 to the positioning device 100, and the positioning device 100 re-senses the new positioning identification 300 issued by the positioned device 200 through the panoramic receiver 101, and repeats the operation until the perception number == 1.

[0057] When the number of perceptions = 0, the positioning failure message is returned and the process terminates.

[0058] The panoramic receiver 101 can receive the positioning mark 300 issued by the positioning device 200 in a wide range, such as 180° or 360°.

[0059] In this embodiment, the positioning device 100 analyzes the positioning mark 300 issued by the positioned device 200, obtains the midpoint of the positioning mark 300 and the characteristic side length, obtains the relative direction between the positioned device 200 and the positioning device 100 by analyzing the deviation ratio between the midpoint of the mark and the origin of the interval, and obtains the distance between the positioned device 200 and the positioning device 100 by analyzing the characteristic side length and the length of the standard meter distance.

[0060] Of course, the positioning mark 300 may also be analyzed by other methods, such as image recognition and the like.

[0061] Reference Figure 2 As shown, the approximate relative distance is calculated by the similarity method using the characteristic edge length, as follows:

[0062] According to the triangle similarity principle, we can get the following

[0063]

[0064]

[0065] With the above formula 1 and formula 2, we get the following:

[0066]

[0067] In the above formula,

[0068] X0 is the distance from the imaging point to the logical origin;

[0069] X1 is the distance from the measurement reference point to the logical origin;

[0070] X2 is the distance from the object to be measured to the logical origin;

[0071] Y1 is the height of the measurement reference;

[0072] Y2 is the height of the object being measured;

[0073] Y1′ is the measurement reference imaging height;

[0074] Y2′ is the imaging height of the object being measured;

[0075] In practical applications, X1 and Y1 are factory standard measurements, usually X1 = 1m, Y1' is the factory measurement result, and Y2 is notified to the positioning device by the measured device, which are all known. Each time it is applied, it is only necessary to measure the characteristic side length Y2' of the observed positioning mark to obtain the measured distance X2.

[0076] When the located device 200 generates the positioning mark 300, the located device 200 synchronously generates a protective grating accompanying the positioning mark 300, and the positioning device 100 monitors the protective grating in real time. When the positioning device 100 confirms that the protective grating is normal, there will be no obstruction or risk between the positioning device 100 and the located device 200, and power supply permission is set. When the positioning device 100 confirms that the protective grating is abnormal, there may be an obstruction or risk between the positioning device 100 and the located device 200, and power supply termination is set.

[0077] The protective grating may be integrated with the positioning mark 300 or independently distributed outside the positioning mark 300, depending on actual needs.

[0078] When the positioning device 100 sets the power supply permission, the positioned device 200 notifies the positioning device 100 of the power supply status, such as the real-time voltage, power, expected voltage, etc.; the positioning device 100 analyzes the difference and adjusts the power supply parameters within the power supply permission range.

[0079] When the located device 200 requests termination, or the located device 200 exceeds the power supply distance, or the power receiving port of the located device 200 exceeds the alignment threshold, or the power reaches 100%, the power supply task is stopped.

[0080] This embodiment also provides an apparatus for locating the direction and distance of a neighboring device, including an identification transmitter 201 disposed on the located device 200 and a positioning device 100, wherein the communication between the positioning device 100 and the located device is generally wireless communication.

[0081] The positioning device 100 sends an identification notification to the positioned device 200 . After the positioned device 200 receives the identification notification, the identification transmitter 201 generates a perceptible and presentable positioning identification 300 , and transmits the positioning identification 300 .

[0082] The positioning device 100 has a receiver 101 and an analysis and processing module. The receiver 101 senses the positioning mark 300. The analysis and processing module analyzes the positioning mark 300 to obtain the relative direction between the positioned device 200 and the positioning device 100, and the relative distance between the positioned device 200 and the positioning device 100.

[0083] In the device for locating the direction and distance of a neighboring device provided above, the located device 200 and the positioning device 100 communicate with each other and can receive each other's signals. The identification transmitter 201 of the located device 200 transmits the positioning identification 300, and the receiver 101 of the positioning device 100 obtains the positioning identification 300, thereby analyzing the relative direction and distance between the located device 200 and the positioning device 100 through the analysis and processing module.

[0084] The positioned device 200 is provided with an energy receiver 202, and the energy receiver 202 has an energy receiving port. The positioning device 100 is provided with an energy supplier 102, and the energy supplier 102 has an energy supply port.

[0085] Before the identification transmitter 201 of the located device 200 transmits the positioning identification 300, the located device 200 sends out a power supply request. After receiving the power supply request, the positioning device 100 authenticates the power supply request of the located device 200. After the authentication is passed, the positioning device 100 sends an identification notification to the located device 200, and at the same time, the energy supplier 102 of the positioning device 100 allocates a power supply port.

[0086] The positioning device 100 sends the identification notification to the positioned device 200 and sends a tracer signal of the power supply port to the positioned device 200. The identification transmitter 201 of the positioned device 200 sends the positioning identification 300 and sends a tracer signal of the power receiving port to the positioning device 100.

[0087] When the energy supply port of the energy supplier 102 supplies energy to the energy receiving port of the energy receiver 202 , the energy supply port transmits the energy supply energy 400 , and the energy receiving port of the energy receiver 202 receives the energy supply energy 400 .

[0088] The located device 200 is provided with an energy converter, which converts the energy supply energy 400 received by the energy receiving port into energy that can be used by itself, for example, into electrical energy.

[0089] In this embodiment, the receiver 101 may be a panoramic sensor, so as to ensure that the receiver 101 can receive the positioning mark 300 in a wide range, for example, it may be a camera or other sensors.

[0090] The energy supply device 102 is connected to an energy supply adjustment structure, so that the direction of the energy supply port can be adjusted by adjusting the energy supply adjustment structure.

[0091] The energy receiver 202 is connected to an energy receiving adjustment structure, so that the direction of the energy receiving port can be adjusted by adjusting the energy receiving adjustment structure.

[0092] In this way, before the energy supply port transmits energy 400 to the energy receiving port, the energy supply port can be aligned with the energy receiving port by adjusting the energy supply adjustment structure and / or the energy receiving adjustment structure.

[0093] The energy supply adjustment structure and the energy receiving adjustment structure can be a universal head or other mechanical linkage structures and the like.

[0094] A protection transmitter is provided on the identification transmitter 201. When the located device 200 generates the positioning identification 300, the protection transmitter synchronously generates a protection signal accompanying the positioning identification 300. The positioning device 100 monitors the protection signal in real time. When the positioning device 100 confirms that the protection signal is normal, power supply permission is set. When the positioning device 100 confirms that the protection signal is abnormal, power supply termination is set.

[0095] Of course, the protection signal is perceptible and presentable, for example, it can be a protection grating, etc. The protection signal can be mixed in the positioning mark 300, or it can be distributed on the outer periphery or inner periphery of the positioning mark 300.

[0096] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for locating the direction and distance of a neighboring device, characterized in that: The positioning device sends an identification notification to the positioned device. After receiving the identification notification, the positioned device generates a perceptible and presentable positioning identification according to the requirements of the identification notification. The positioning device senses the positioning identification sent by the positioned device, and obtains the relative direction between the positioned device and the positioning device, and the relative distance between the positioned device and the positioning device by analyzing the sensed positioning identification. The positioning device analyzes the positioning mark issued by the positioned device to obtain the midpoint of the positioning mark and the length of the characteristic side. By analyzing the deviation ratio between the midpoint of the mark and the origin of the interval, the relative direction between the positioned device and the positioning device is obtained. By analyzing the length of the characteristic side and the length of the standard meter distance, the distance between the positioned device and the positioning device is obtained.

2. The method for locating the direction and distance of a neighboring device according to claim 1, characterized in that: The located device sends out a power supply request. After receiving the power supply request, the positioning device authenticates the power supply request of the located device. After the authentication is passed, the positioning device sends the identification notification to the located device.

3. The method for locating the direction and distance of a neighboring device as claimed in claim 2, characterized in that: After the positioning device authenticates the energy supply request of the positioned device, it allocates an energy supply port, and at the same time, the positioning device sends the identification notification to the positioned device and sends a tracing signal of the energy supply port to the positioned device.

4. The method for locating the direction and distance of a neighboring device as claimed in claim 3, characterized in that: The located device sends the locating mark and at the same time sends a tracing signal of the power receiving port to the locating device.

5. The method for locating the direction and distance of a neighboring device as claimed in claim 4, characterized in that: After the positioning device senses the positioning identifier emitted by the positioned device, it observes the positioned device, and according to the relative direction between the positioned device and the positioning device and the relative distance between the positioned device and the positioning device, the positioning device flexibly adjusts the power supply port until the power supply port is aligned with the power receiving port, and the power supply port emits power supply energy to the power receiving port.

6. The method for locating the direction and distance of a neighboring device as claimed in claim 4, characterized in that: After the positioning device senses the positioning identifier sent by the positioned device, the orientation of the energy receiving port is adjusted in a dynamic manner according to the following steps: Step 1), the positioning device observes the positioned device, preliminarily determines the direction of the energy receiving port, and sends a maneuvering instruction for direction adjustment to the positioned device. After receiving the maneuvering instruction, the positioned device maneuvers to adjust the direction of the energy receiving port; Step 2), the positioning device observes the positioned device after the motorized adjustment, determines the direction of the energy receiving port according to the current shape of the positioned device and the previous motorized instruction, and sends a motorized instruction for direction adjustment to the positioned device. After receiving the motorized instruction, the positioned device motorically adjusts the direction of the energy receiving port; Step 3), repeat step 2), until it is confirmed that the energy receiving port is aligned with the energy supply port.

7. The method for locating the direction and distance of a neighboring device according to any one of claims 1 to 6, characterized in that: The positioning device senses the positioning identifier issued by the positioned device through a panoramic receiver, and when the sensing number=1, the positioning device locks the positioning identifier issued by the positioned device; When the perception number > 1, the positioning device re-issues a new identification notification to the positioned device, the positioned device issues a new positioning identification to the positioning device, and the positioning device re-senses the new positioning identification issued by the positioned device through the panoramic receiver, and repeats the operation until the perception number = 1.

8. The method for locating the direction and distance of a neighboring device according to any one of claims 1 to 6, characterized in that: When the located device generates the positioning identifier, the located device synchronously generates a protective grating accompanying the positioning identifier, and the positioning device monitors the protective grating in real time. When the positioning device confirms that the protective grating is normal, it sets power supply permission; when the positioning device confirms that the protective grating is abnormal, it sets power supply termination.

9. A device for locating the direction and distance of a neighboring device based on the method for locating the direction and distance of a neighboring device according to any one of claims 1 to 8, characterized in that: The invention comprises an identification transmitter arranged on a device to be located and a positioning device, wherein the positioning device communicates with the device to be located, and the positioning device sends an identification notification to the device to be located. After the device to be located receives the identification notification, the identification transmitter generates a positioning identification that can be perceived and presented, and transmits the positioning identification. The positioning device has a receiver and an analysis and processing module, wherein the receiver perceives the positioning identification, and the analysis and processing module analyzes the positioning identification to obtain the relative direction between the device to be located and the positioning device, and the relative distance between the device to be located and the positioning device.

Images