Apparatus and method for detecting relative position of objects

Abstract

This invention provides an apparatus and method for detecting the relative position of objects, belonging to the technical field of wireless measurement. The apparatus includes: a first detection box having at least three faces not on the same plane, and signal transmitters disposed on at least three of these faces; a second detection box having at least three faces not on the same plane, and signal receivers disposed on at least three of these faces; and a main control module connected to the first and second detection boxes, used for: controlling the signal transmitters of the first detection box to emit signals; receiving feedback signals from the signal receivers of the second detection box; and determining the positional relationship between the first and second detection boxes based on the feedback signals. This apparatus, method, and system can accurately calculate the relative position of two objects.

Description

Technical Field

[0001] This invention relates to the technical field of wireless measurement, and more specifically to a device and method for detecting the relative position of an object. Background Technology

[0002] With the rapid development of the economy and electronic technology, the demand for positioning of target items in industrial production is becoming increasingly strong. Examples include: precision instrument transport and hoisting positioning detection, movement limit monitoring of moving parts in mechanical devices, monitoring of worker activity areas, and monitoring of seat belt positioning. These scenarios require real-time monitoring of the relative positions of personnel and items on the production site. However, existing sensors such as GPS, accelerometers, gyroscopes, and other MEMS sensors, as well as wireless networks, can only determine the absolute position of a single object within a specific area. Optical sensors such as cameras can determine the relative position of objects, but their accuracy and correctness fluctuate due to limitations in recognition rate and algorithms, resulting in significant uncertainty. Therefore, there is a need to develop a dedicated method and system for detecting the relative position of objects. Summary of the Invention

[0003] The purpose of this invention is to provide an apparatus and method for detecting the relative position of objects, which can accurately calculate the relative position of two objects.

[0004] To achieve the above objectives, embodiments of the present invention provide a device for detecting the relative position of an object, comprising:

[0005] A first detection box, wherein a signal transmitter is provided on each surface of the first detection box;

[0006] The second detection box has a signal receiver provided on each face of the second detection box;

[0007] The main control module, connected to the first detection box and the second detection box, is used for:

[0008] The signal transmitter of the first detection box is controlled to send a signal;

[0009] Receive the feedback signal from the signal receiver of the second detection box;

[0010] The positional relationship between the first detection box and the second detection box is determined based on the feedback signal.

[0011] Optionally, the main control module is used for:

[0012] Determine the number of signals contained in a single feedback signal;

[0013] When the number of signals is 1, it is determined that the first detection box is located directly in front of the face where the signal receiver is located.

[0014] Optionally, the main control module is used for:

[0015] When the number of signals is 2, the offset angle of the first detection box relative to the second detection box is calculated according to formula (1).

[0016]

[0017] Where α is the offset angle, Y MAX2 Y represents the signal strength of a received signal. MAX3 The signal strength of the other received signal.

[0018] Optionally, the main control module is used for:

[0019] When the number of signals is 3, the offset angle of the first detection box relative to the second detection box is calculated according to formula (1).

[0020]

[0021] Where α is the offset angle, Y MAX2 Y represents the signal strength of a received signal. MAX3 The signal strength of another received signal

[0022] Calculate the zenith angle of the first detection box relative to the second detection box according to formula (2).

[0023]

[0024] Where θ is the zenith angle, Y MAX1 The signal strength of the received signal.

[0025] Optionally, the main control module is used for:

[0026] The distance between the first and second detection boxes is calculated according to formulas (3) and (4).

[0027]

[0028] r = Y TRAN -Y MAX (4)

[0029] Where L is the distance, lg is the logarithm function to base 10, f is the signal transmission frequency of the first detection box, and Y MAX Y represents the signal receiving power of the second detection box. TRAN The signal transmission power of the first detection box is denoted as .

[0030] On the other hand, the present invention also provides a method for detecting the relative position of an object, the method comprising:

[0031] The signal transmitter controlling the first detection box sends out a signal;

[0032] Receive the feedback signal from the signal receiver of the second detection box;

[0033] The positional relationship between the first detection box and the second detection box is determined based on the feedback signal.

[0034] Optionally, determining the positional relationship between the first detection box and the second detection box based on the feedback signal includes:

[0035] Determine the number of signals contained in a single feedback signal;

[0036] When the number of signals is 1, it is determined that the first detection box is located directly in front of the face where the signal receiver is located.

[0037] Optionally, determining the positional relationship between the first detection box and the second detection box based on the feedback signal includes:

[0038] When the number of signals is 2, the offset angle of the first detection box relative to the second detection box is calculated according to formula (1).

[0039]

[0040] Where α is the offset angle, Y MAX2 Y represents the signal strength of a received signal. MAX3 The signal strength of the other received signal.

[0041] Optionally, determining the positional relationship between the first detection box and the second detection box based on the feedback signal includes:

[0042] When the number of signals is 3, and when the number of signals is 2, the offset angle of the first detection box relative to the second detection box is calculated according to formula (1).

[0043]

[0044] Where α is the offset angle, Y MAX2 Y represents the signal strength of a received signal. MAX3 The signal strength of the other received signal;

[0045] Calculate the zenith angle of the first detection box relative to the second detection box according to formula (2).

[0046]

[0047] Where θ is the zenith angle, YMAX1 The signal strength of the received signal.

[0048] Optionally, determining the positional relationship between the first detection box and the second detection box based on the feedback signal includes:

[0049] The distance between the first and second detection boxes is calculated according to formulas (3) and (4).

[0050]

[0051] r = Y TRAN -Y MAX (4)

[0052] Where L is the distance, lg is the logarithm function to base 10, f is the signal transmission frequency of the first detection box, and Y MAX Y represents the signal receiving power of the second detection box. TRAN The signal transmission power of the first detection box is denoted as .

[0053] Through the above technical solution, the device and method for detecting the relative position of an object provided by the present invention calculate the relative position between the two detection boxes by comparing the intensity of signals received on each surface of the first and second detection boxes. Compared with the prior art, the device, method, and system provided by the present invention are simpler and more accurate.

[0054] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0055] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0056] Figure 1 This is a structural block diagram of a device for detecting the relative position of an object according to an embodiment of the present invention;

[0057] Figure 2 This is an example diagram of a device for detecting the relative position of an object according to an embodiment of the present invention;

[0058] Figure 3 This is a schematic diagram showing the relative zenith angle and offset angle according to an embodiment of the present invention;

[0059] Figure 4 This is a flowchart of a method for detecting the relative position of an object according to an embodiment of the present invention. Detailed Implementation

[0060] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0061] like Figure 1 The diagram shown is a structural block diagram of a device for detecting the relative position of objects according to an embodiment of the present invention. Figure 1 The device may include a first detection box 1, a second detection box 2, and a main control module 3. Both the first detection box 1 and the second detection box 2 are square or rectangular, and each face of the first detection box 1 may be equipped with a signal transmitter, while each face of the second detection box 2 may be equipped with a signal receiver. The main control module 3 can be connected to the first detection box 1 and the second detection box 2, and is used to control the signal transmitter of the first detection box 1 to emit signals; receive feedback signals from the signal receiver of the second detection box 2; and finally determine the positional relationship between the first detection box 1 and the second detection box 2 based on the feedback signals.

[0062] The main control module 3 is used to determine the relative positional relationship between the first detection box 1 and the second detection box 2 based on the feedback signal. Due to the perpendicular relationship between the three faces of the first detection box 1 and the second detection box 2, the feedback signal received by a single face may include three cases: receiving 1 signal, 2 signals, or 3 signals.

[0063] Specifically, when the feedback signal is a single signal, since electromagnetic wave signals propagate in a straight line, a single feedback signal indicates that there is only one surface between the two detection boxes that can complete signal transmission without obstruction. Therefore, it can be determined that the first detection box 1 is located directly in front of the surface where the signal receiver is located, which is also directly in front of the second detection box 2.

[0064] In this embodiment, when the number of signals is 2, it indicates that the two detection boxes are offset in the plane, and the offset angle of the first detection box relative to the second detection box can be calculated according to formula (1).

[0065]

[0066] Where α is the offset angle, Y MAX2 Y represents the signal strength of a received signal. MAX3 The signal strength of the other received signal.

[0067] When the number of signals is 3, it means that the two detection boxes are misaligned in the three mutually perpendicular rectangular coordinate directions. Therefore, the offset angle of the first detection box relative to the second detection box can be calculated according to formula (1).

[0068]

[0069] Where α is the offset angle, Y MAX2 Y represents the signal strength of a received signal. MAX3 The signal strength of the other received signal.

[0070] Then, calculate the zenith angle of the first detection box relative to the second detection box according to formula (2).

[0071]

[0072] Where θ is the zenith angle, Y MAX2 Y represents the signal strength of a received signal. MAX3 Y represents the signal strength of another received signal. MAX1 The signal strength of the received signal.

[0073] In addition, to further calculate the distance between the two detection boxes, the main control module 3 can also calculate it according to formulas (3) and (4).

[0074]

[0075] r = Y TRAN -Y MAX (4)

[0076] Where L is the distance, lg is the logarithmic function to the base 10, f is the signal transmission frequency of the first detection box, and Y... MAX Y represents the signal receiving power of the second detection box. TRAN This represents the signal transmission power of the first detection box.

[0077] On the other hand, the present invention also provides a method for detecting the relative position of objects, the method including, for example Figure 3 The steps shown are described in this. Figure 3 In this context, the method may include:

[0078] In step S10, the signal transmitter of the first detection box is controlled to send out a signal;

[0079] In step S11, the feedback signal from the signal receiver of the second detection box is received;

[0080] In step S12, the positional relationship between the first detection box and the second detection box is determined based on the feedback signal.

[0081] The main control module 3 is used to determine the relative positional relationship between the first detection box 1 and the second detection box 2 based on the feedback signal. Due to the perpendicular relationship between the three faces of the first detection box 1 and the second detection box 2, the feedback signal received by a single face may include three cases: receiving 1 signal, 2 signals, or 3 signals.

[0082] Specifically, when the feedback signal is a single signal, since electromagnetic wave signals propagate in a straight line, a single feedback signal indicates that there is only one surface between the two detection boxes that can complete signal transmission without obstruction. Therefore, it can be determined that the first detection box 1 is located directly in front of the surface where the signal receiver is located, which is also directly in front of the second detection box 2.

[0083] In this embodiment, when the number of signals is 2, it indicates that the two detection boxes are offset in the plane, and the offset angle of the first detection box relative to the second detection box can be calculated according to formula (1).

[0084]

[0085] Where a is the offset angle, Y MAX2 Y represents the signal strength of a received signal. MAX3 The signal strength of the other received signal.

[0086] When the number of signals is 3, it means that the two detection boxes are misaligned in the three mutually perpendicular rectangular coordinate directions. Therefore, the offset angle of the first detection box relative to the second detection box can be calculated according to formula (1).

[0087]

[0088] Where α is the offset angle, Y MAX2 Y represents the signal strength of a received signal. MAX3 The signal strength of the other received signal.

[0089] Then, calculate the zenith angle of the first detection box relative to the second detection box according to formula (2).

[0090]

[0091] Where θ is the zenith angle, Y MAX2 Y represents the signal strength of a received signal. MAX3 Y represents the signal strength of another received signal. MAX1 The signal strength of the received signal.

[0092] Furthermore, to further calculate the distance between the two detection boxes, this distance can also be calculated using formulas (3) and (4).

[0093]

[0094] r = Y TRAN -Y MAX (4)

[0095] Where L is the distance, lg is the logarithmic function to the base 10, f is the signal transmission frequency of the first detection box, and Y... MAX Y represents the signal receiving power of the second detection box. TRAN This represents the signal transmission power of the first detection box.

[0096] Through the above technical solution, the device and method for detecting the relative position of an object provided by the present invention calculate the relative position between the two detection boxes by comparing the intensity of signals received on each surface of the first and second detection boxes. Compared with the prior art, the device, method, and system provided by the present invention are simpler and more accurate.

[0097] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0098] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0099] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0100] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0101] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0102] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0103] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0104] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0105] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A device for detecting the relative position of an object, characterized in that, The device includes: A first detection box, wherein a signal transmitter is provided on each surface of the first detection box; The second detection box has a signal receiver provided on each face of the second detection box; The main control module, connected to the first detection box and the second detection box, is used for: The signal transmitter of the first detection box is controlled to send a signal; Receive the feedback signal from the signal receiver of the second detection box; The positional relationship between the first detection box and the second detection box is determined based on the feedback signal; The main control module is used for: The distance between the first and second detection boxes is calculated according to formulas (3) and (4). ，（3） ，（4） in, For the distance, It is a logarithmic function with base 10. The signal transmission frequency of the first detection box is [value]. This refers to the signal receiving power of the second detection box. The signal transmission power of the first detection box is denoted as .

2. The apparatus according to claim 1, characterized in that, The main control module is used for: Determine the number of signals contained in a single feedback signal; When the number of signals is 1, it is determined that the first detection box is located directly in front of the face where the signal receiver is located.

3. The apparatus according to claim 2, characterized in that, The main control module is used for: When the number of signals is 2, the offset angle of the first detection box relative to the second detection box is calculated according to formula (1). ，（1） in, The offset angle is... The signal strength of a received signal. The signal strength of the other received signal.

4. The apparatus according to claim 2, characterized in that, The main control module is used for: When the number of signals is 3, the offset angle of the first detection box relative to the second detection box is calculated according to formula (1). ，（1） in, The offset angle is... The signal strength of a received signal. The signal strength of another received signal Calculate the zenith angle of the first detection box relative to the second detection box according to formula (2). ，（2） in, The zenith angle is the stated zenith angle. The signal strength of the received signal.

5. A method for detecting the relative position of an object, characterized in that, The method includes: The signal transmitter controlling the first detection box sends out a signal; Receive the feedback signal from the signal receiver of the second detection box; The positional relationship between the first detection box and the second detection box is determined based on the feedback signal; Determining the positional relationship between the first detection box and the second detection box based on the feedback signal includes: The distance between the first and second detection boxes is calculated according to formulas (3) and (4). ，（3） ，（4） in, For the distance, It is a logarithmic function with base 10. The signal transmission frequency of the first detection box is [value]. This refers to the signal receiving power of the second detection box. The signal transmission power of the first detection box is denoted as .

6. The method according to claim 5, characterized in that, Determining the positional relationship between the first detection box and the second detection box based on the feedback signal includes: Determine the number of signals contained in a single feedback signal; When the number of signals is 1, it is determined that the first detection box is located directly in front of the face where the signal receiver is located.

7. The method according to claim 5, characterized in that, Determining the positional relationship between the first detection box and the second detection box based on the feedback signal includes: When the number of signals is 2, the offset angle of the first detection box relative to the second detection box is calculated according to formula (1). ，（1） in, The offset angle is... The signal strength of a received signal. The signal strength of the other received signal.

8. The method according to claim 5, characterized in that, Determining the positional relationship between the first detection box and the second detection box based on the feedback signal includes: When the number of signals is 3, and when the number of signals is 2, the offset angle of the first detection box relative to the second detection box is calculated according to formula (1). ，（1） in, The offset angle is... The signal strength of a received signal. The signal strength of the other received signal; Calculate the zenith angle of the first detection box relative to the second detection box according to formula (2). ，（2） in, The zenith angle is the stated zenith angle. The signal strength of the received signal.

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