Multi-node overwater and underwater positioning system based on radio communication

Abstract

The utility model relates to a multi-node overwater and underwater positioning system based on radio communication. The multi-node overwater and underwater positioning system comprises a first wireless communication terminal worn on a user and a second wireless communication terminal arranged on a robot, the first wireless communication terminal comprises a first wireless communication module; the second wireless communication terminal comprises a second processor module and more than two second wireless communication modules which are mounted on the robot and have the same antenna radiation direction, and each second wireless communication module is electrically connected with the second processor module; when the second wireless communication terminal enters the wireless signal coverage range of the first wireless communication terminal, the first wireless communication module of the first wireless communication terminal establishes wireless communication connection with each second wireless communication module of the second wireless communication terminal. According to the multi-node overwater and underwater positioning system based on radio communication, accurate positioning of a user can be realized, and a robot can be conveniently controlled to move to the position positioned by the user.

Description

Technical Field

[0001] The utility model relates to the technical field of positioning, in particular to a multi-node above-water and underwater positioning system based on radio communication. Background Art

[0002] Humans cannot breathe in water, and accidents often occur when swimming or wading in rivers or oceans (such as aquaculture, fishing, underwater surveys, etc.), resulting in drowning or even death. With the development of science and technology, people use surface rescue machines and underwater rescue robots (hereinafter referred to as robots) to participate in water rescue activities. During rescue, it is necessary to control the robot to approach the target person based on the location of the target person. Traditional positioning equipment such as satellite positioning has a large error (the error is more than several meters on the water surface, and it is difficult to receive signals underwater); and sonar equipment is relatively expensive and large in size, which is not conducive to carrying with you. Utility Model Content

[0003] Therefore, in order to solve the above-mentioned problems, the utility model proposes a multi-node above-water and underwater positioning system based on radio communication, which can realize accurate positioning and facilitate the control of the robot to move to the positioned position.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A multi-node above-water and underwater positioning system based on radio communication, comprising a first wireless communication terminal worn by a user and a second wireless communication terminal arranged on a robot;

[0006] The first wireless communication terminal includes a first wireless communication module;

[0007] The second wireless communication terminal includes a second processor module, and two or more second wireless communication modules installed on the robot and having the same antenna radiation direction, and each of the second wireless communication modules is electrically connected to the second processor module respectively;

[0008] When the second wireless communication terminal enters the wireless signal coverage of the first wireless communication terminal, the first wireless communication module of the first wireless communication terminal establishes wireless communication connections with each second wireless communication module of the second wireless communication terminal.

[0009] Furthermore, the first wireless communication module and the second wireless communication module both use any one or a combination of MF radio frequency module, HF radio frequency module, VHF radio frequency module, or UHF radio frequency module.

[0010] Furthermore, the antenna radiation angle of the first wireless communication module is less than 180°.

[0011] Furthermore, the antenna radiation angle of each of the second wireless communication modules is smaller than 180°.

[0012] By adopting the above technical solution, the beneficial effects of the utility model are:

[0013] By setting a first wireless communication terminal worn on the user and a second wireless communication terminal set on the robot, and the second wireless communication terminal is provided with multiple second wireless communication modules, when positioning, any one of the second wireless communication modules sends a wireless signal command to the first wireless communication terminal, and the first wireless communication terminal returns information to the second wireless communication terminal after receiving the wireless signal command. The first of the second wireless communication modules of the second wireless communication terminal that receives the returned information determines that the second wireless communication module is closest to the first wireless communication terminal (that is, the user), and uses this to determine the orientation of the first wireless communication terminal, and adjusts the orientation of the robot so that the robot can approach the user head-on.

[0014] Furthermore, by using the time when each second wireless communication module receives the return information, a three-dimensional space model from the robot to each second wireless communication module is established, thereby calculating the vertical distance from the robot to the user, so that the robot can approach the user head-on. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the distance between the first wireless communication terminal and each second wireless communication module of the second wireless communication terminal of the utility model;

[0016] Figure 2 It is a structural schematic diagram of the robot adjusting to the position of the first wireless communication terminal.

[0017] Figure 3 It is a structural frame diagram of the utility model. DETAILED DESCRIPTION

[0018] The utility model is now further described in conjunction with the accompanying drawings and specific implementation methods.

[0019] refer to Figure 1 , Figure 2 and Figure 3 This embodiment provides a multi-node above-water and underwater positioning system based on radio communication, including a first wireless communication terminal worn on a user (not shown in the figure) and a second wireless communication terminal set on the robot 100. In specific implementation, the first communication and positioning terminal 1 can be worn on a human wrist, or a swimming cap, or swimming goggles, or other personal clothing.

[0020] The first wireless communication terminal 1 includes a first wireless communication module 11 ( Figure 1The antenna radiation angle of the first wireless communication module 11 is less than 180°. The first wireless communication module 11 is used to receive the wireless signal instruction transmitted by the second wireless communication terminal 2 and return information to the second wireless communication terminal 2. The first wireless communication module 11 can adopt any one or a combination of MF radio frequency module, HF radio frequency module, VHF radio frequency module, or UHF radio frequency module. The MF radio frequency module, HF radio frequency module, VHF radio frequency module, and UHF radio frequency module are all existing devices.

[0021] The second wireless communication terminal 2 includes a second processor module 21, and two or more second wireless communication modules installed on the robot 100 and having the same antenna radiation direction, and the antenna radiation angle of each second wireless communication module is less than 180°. The second wireless communication module can be any one or a combination of MF radio frequency module, HF radio frequency module, VHF radio frequency module, or UHF radio frequency module.

[0022] like Figure 1 As shown, the number of second wireless communication modules provided in this specific embodiment is four, which are respectively recorded as second wireless communication module H1, second wireless communication module H2, second wireless communication module H3 and second wireless communication module H4 for the convenience of description. The second wireless communication module H1, second wireless communication module H2, second wireless communication module H3 and second wireless communication module H4 are respectively electrically connected to the second processor module 21.

[0023] When the second wireless communication terminal 2 enters the wireless signal coverage range of the first wireless communication terminal 1, the first wireless communication module 11 of the first wireless communication terminal 1 establishes wireless communication connections with the second wireless communication modules H1, H2, H3 and H4 of the second wireless communication terminal 2 respectively.

[0024] During positioning, any one of the second wireless communication modules sends a wireless signal command to the first wireless communication terminal. Figure 1 For example, the second wireless communication module H4 sends a wireless signal instruction to the first wireless communication terminal 1, and the first wireless communication terminal 1 returns information to the second wireless communication terminal 2 after receiving the wireless signal instruction. The time when the second wireless communication module H1, the second wireless communication module H2, the second wireless communication module H3 and the second wireless communication module H4 on the second wireless communication terminal 2 receive the return signal is different, that is, the second wireless communication module H1, the second wireless communication module H2, the second wireless communication module H3 and the second wireless communication module H4 are at different distances from the first wireless communication terminal 1; Figure 1, the distance between the second wireless communication module H1 and the first wireless communication terminal 1 is d1, the distance between the second wireless communication module H2 and the first wireless communication terminal 1 is d2, the distance between the second wireless communication module H3 and the first wireless communication terminal 1 is d3, and the distance between the second wireless communication module H4 and the first wireless communication terminal 1 is d4; at this time, the second wireless communication module H2 receives the return signal the fastest, that is, d2 is the smallest, and the second wireless communication module H2 is closest to the first wireless communication terminal 1. And the position of the first wireless communication terminal 1 is determined based on this, and the orientation of the robot 100 is adjusted.

[0025] like Figure 2 When the robot 100 is at position A, the second wireless communication module H1 is closest to the first wireless communication terminal 1. When the robot 100 moves closer to the first wireless communication terminal 1, the orientation of the robot 100 is adjusted. As shown in the figure, the robot 100 is at positions B, C, D and E ( Figure 2 For the convenience of description, in this specific embodiment, the robot 100 always keeps the second wireless communication module H1 closest to the first wireless communication terminal 1 during movement, and the distance between the second wireless communication module H1 and the first wireless communication terminal 1 is d11>d12>d13>d14>d15), so that the robot 100 can approach the user head-on.

[0026] Furthermore, through the time when the second wireless communication module H1, the second wireless communication module H2, the second wireless communication module H3 and the second wireless communication module H4 receive the return information, a three-dimensional space model of the robot to each second wireless communication module (the space structure surrounded by the first wireless communication terminal 1 and the second wireless communication module H1, the second wireless communication module H2, the second wireless communication module H3 and the second wireless communication module H4) is established, such as Figure 1 It means that the vertical distance from the machine to the user can be calculated (the calculation method is conventional technical means and will not be described in detail here), so that the robot can approach the user head-on.

[0027] Although the present invention has been specifically demonstrated and described in conjunction with the preferred embodiments, those skilled in the art should understand that various changes may be made to the present invention in form and detail without departing from the spirit and scope of the present invention as defined in the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. A multi-node above-water and underwater positioning system based on radio communication, characterized in that: It includes a first wireless communication terminal worn by a user and a second wireless communication terminal arranged on a robot; The first wireless communication terminal includes a first wireless communication module; The second wireless communication terminal includes a second processor module, and two or more second wireless communication modules installed on the robot and having the same antenna radiation direction, and each of the second wireless communication modules is electrically connected to the second processor module respectively; When the second wireless communication terminal enters the wireless signal coverage of the first wireless communication terminal, the first wireless communication module of the first wireless communication terminal establishes wireless communication connections with each second wireless communication module of the second wireless communication terminal.

2. The multi-node above-water and underwater positioning system based on radio communication according to claim 1, characterized in that: The first wireless communication module and the second wireless communication module both use any one or a combination of MF radio frequency module, HF radio frequency module, VHF radio frequency module, or UHF radio frequency module.

3. The multi-node above-water and underwater positioning system based on radio communication according to claim 1, characterized in that: The antenna radiation angle of the first wireless communication module is less than 180°.

4. The multi-node above-water and underwater positioning system based on radio communication according to claim 1, characterized in that: The antenna radiation angle of each of the second wireless communication modules is smaller than 180°.

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