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WO2007132033A1 - System for detecting, guiding or tracking devices or persons - Google Patents

System for detecting, guiding or tracking devices or persons Download PDF

Info

Publication number
WO2007132033A1
WO2007132033A1 PCT/ES2006/070061 ES2006070061W WO2007132033A1 WO 2007132033 A1 WO2007132033 A1 WO 2007132033A1 ES 2006070061 W ES2006070061 W ES 2006070061W WO 2007132033 A1 WO2007132033 A1 WO 2007132033A1
Authority
WO
WIPO (PCT)
Prior art keywords
transmitter
guiding
tracking devices
detection system
persons according
Prior art date
Application number
PCT/ES2006/070061
Other languages
Spanish (es)
French (fr)
Inventor
Lucas Roca Nieto
Original Assignee
Smart Technology, S.A.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Smart Technology, S.A. filed Critical Smart Technology, S.A.
Priority to PCT/ES2006/070061 priority Critical patent/WO2007132033A1/en
Publication of WO2007132033A1 publication Critical patent/WO2007132033A1/en

Links

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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
    • G01S3/782—Systems for determining direction or deviation from predetermined direction
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection

Definitions

  • the present invention aims at a system for detecting, guiding or tracking devices or people that allows at any time to know the position of a transmitter by a mobile element.
  • the system allows the mobile element to follow a moving device or person at any time or be guided by fixed elements placed along its path.
  • the system of detection, guidance or tracking of devices or people allows the elimination of dead spots so that at all times the mobile element knows the position of the transmitter and the response time is greatly reduced.
  • Said remote control vehicle has four infrared receivers or detectors, two of them to control the speed at which the vehicle must follow the emitter, depending on the distance at which it is located and two of them to control the direction in the that the vehicle must follow the emitter, depending on the direction in which the emitter moves.
  • the system interprets that the transmitter is in front of the vehicle and at a very short distance.
  • this same state of the detectors can occur when the transmitter is outside the range of the detectors, so that if the transmitter does not re-enter the range of the detectors, the vehicle will not move.
  • the present invention relates to a system for detecting, guiding or monitoring devices or people that allows the position to be known at all times of a transmitter and track it by a mobile element.
  • the mobile element has a set of position sensors that cover a range of up to 360 ° and are located in a horizontal plane so that one of the sensors is always faced with the transmitter.
  • this information is sent to a receiver decoding unit where the relative position of the mobile element with respect to the transmitter is stored.
  • the mobile element has a distance sensor that determines the separation between said mobile element and the transmitter, the information being then sent to a distance control unit.
  • This distance sensor can be integrated into the position sensor assembly of the mobile element.
  • the data stored in the receiver decoding unit and the distance control unit are sent to a central control unit that is responsible for decoding, reorienting and relative or absolute positioning.
  • the entire process of detection and orientation of the mobile element with respect to the transmitter is carried out continuously so that the mobile element while moving is again determining the position of the transmitter with which it corrects continuously and without pauses its trajectory .
  • Figure 1 shows a block diagram of the detection, guidance or tracking system of devices or people.
  • Figure 2 shows a detail of the position and distance sensors of the mobile element of the detection, guidance or tracking system of devices or people.
  • Figure 3 shows a schematic of the path followed by the mobile element when describing a predefined path by a series of transmitters placed at fixed points.
  • the present invention relates to a system for detecting, guiding or monitoring devices or people that allows at any time to know the position of a transmitter (1) and track it by part of a mobile element (2).
  • the transmitter (1) is coupled to a golfer, emitting in this example of preferred embodiment by infrared.
  • the mobile element (2) is a golf club carriage provided with a set of position sensors (2.1), which in this preferred embodiment are of the infrared type, located equidistant along a circumference contained in a horizontal plane, so that one of the position sensors (2.1) is always facing the transmitter (1).
  • a set of position sensors (2.1) which in this preferred embodiment are of the infrared type, located equidistant along a circumference contained in a horizontal plane, so that one of the position sensors (2.1) is always facing the transmitter (1).
  • this information is sent to a receiver decoding unit (3) where the relative position of the element (2) is stored. ) mobile with respect to the transmitter (1).
  • the mobile element (2) has a distance sensor (2.2), which in this preferred embodiment is of the ultrasound type and is integrated in the set of position sensors (2.1), by which the separation is determined between the mobile element (2) and the transmitter (1), the information being then sent to a distance control unit (4).
  • a distance sensor (2.2) which in this preferred embodiment is of the ultrasound type and is integrated in the set of position sensors (2.1), by which the separation is determined between the mobile element (2) and the transmitter (1), the information being then sent to a distance control unit (4).
  • the data stored in the receiver decoding unit (3) and in the unit (4) of Distance control are sent to a central control unit (5) that is responsible for decoding, reorienting and relative or absolute positioning.
  • a motion control unit (6) that is responsible for sending a signal to motors (7) arranged in the mobile element (2) to reorient their front position with respect to the transmitter (1) and approach He up to a certain distance.
  • a series of transmitters (1) placed along a path defining the trajectory of the mobile element (2) are used, which in this preferred embodiment is a charging robot that follows a Tour the halls of a factory.
  • the mobile element (2) is provided with a set of position sensors (2.1), which in this preferred embodiment are of the infrared type, located equidistant along a circumference contained in a horizontal plane, of so that one of the position sensors (2.1) is always faced with the first of the transmitters (1).
  • a set of position sensors (2.1) which in this preferred embodiment are of the infrared type, located equidistant along a circumference contained in a horizontal plane, of so that one of the position sensors (2.1) is always faced with the first of the transmitters (1).
  • the position sensor (2.1) facing the first transmitter (1) detects its location, this information is sent to a receiver decoding unit (3) where the relative position of the element is stored ( 2) mobile with respect to the transmitter (1).
  • the mobile element (2) has a distance sensor (2.2), which in this preferred embodiment is of the ultrasound type and is integrated in the set of position sensors (2.1), by which the separation is determined between the mobile element (2) and the transmitter (1), the information being then sent to a distance control unit (4).
  • the data stored in the receiver decoding unit (3) and the distance control unit (4) are sent to a central control unit (5) that is responsible for decoding, reorienting and relative or absolute positioning.
  • a motion control unit (6) which is responsible for sending a signal to motors (7) arranged in the mobile element (2) to reorient their front position with respect to the transmitter (1) and approach He up to a certain distance.
  • the mobile element (2) may stop when the first transmitter (1) stops emitting or be directed in a manner It continues to a second transmitter (1) that begins to emit immediately and that is at a certain distance from the first transmitter (1).
  • the position sensor (2.1) of the mobile element (2) facing the second transmitter (1) has detected its location and the continuous sequence as described for the first (1) transmitter.
  • the mobile element (2) follows the path described by the set of transmitters (1) knowing at all times the next movement in its path.
  • the transmitter (1) is coupled to an operator and the mobile element (2) is a charging device where the rest of the elements are the same as those mentioned in the first example of embodiment, it being understood not it is necessary to quote them again.
  • the transmitter (1) as well as the position sensors (2.1) and the distance sensors (2.2) of the mobile element (2) can be infrared, ultrasound, radio frequency or a combination thereof. .
  • the process of detection and orientation of the mobile element (2) with respect to the transmitter (1) is carried out continuously so that the mobile element (2), while moving, is determining by means of the central control unit (6) the new position of the transmitter (1), in case it had changed its location, thereby correcting its trajectory continuously and without pauses.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The subject of the present invention is a system for detecting, guiding or tracking devices or persons, which makes it possible, at all times, for a movable element to ascertain the position of a transmitter, since, owing to its special configuration, the system makes it possible, at all times, for the movable element to follow a device or person on the move or to be guided by fixed elements placed along its trajectory, by eliminating dead spots, and therefore, at all times, the movable element can ascertain the position of the transmitter and the response time is greatly reduced.

Description

SISTEMA DE DETECCIÓN. GUIADO O SEGUIMIENTO DE DISPOSITIVOS O PERSONAS DETECTION SYSTEM. GUIDANCE OR MONITORING OF DEVICES OR PEOPLE
DESCRIPCIÓNDESCRIPTION
OBJETO DE LA INVENCIÓNOBJECT OF THE INVENTION
La presente invención tiene por objeto un sistema de detección, guiado ó seguimiento de dispositivos ó personas que permite en todo momento conocer la posición de una transmisor por parte de un elemento móvil.The present invention aims at a system for detecting, guiding or tracking devices or people that allows at any time to know the position of a transmitter by a mobile element.
Debido a su especial configuración, el sistema permite en todo momento que el elemento móvil siga a un dispositivo o persona en movimiento o sea guiado por elementos fijos colocados a lo largo de su trayectoria.Due to its special configuration, the system allows the mobile element to follow a moving device or person at any time or be guided by fixed elements placed along its path.
El sistema de detección, guiado ó seguimiento de dispositivos o personas permite la eliminación de puntos muertos con lo que en todo momento el elemento móvil conoce la posición del transmisor y el tiempo de respuesta se reduce en gran medida.The system of detection, guidance or tracking of devices or people allows the elimination of dead spots so that at all times the mobile element knows the position of the transmitter and the response time is greatly reduced.
ANTECEDENTES DE LA INVENCIÓNBACKGROUND OF THE INVENTION
Son sobradamente conocidos en el estado de la técnica los sistemas que presentan un emisor y un receptor cada uno de los cuales está colocado en un dispositivo móvil, de manera que el dispositivo receptor sigue al dispositivo emisor de acuerdo a las señales detectadas .Systems that have a transmitter and a receiver each of which are placed in a mobile device are well known in the prior art, so that the receiving device follows the emitting device according to the detected signals.
Entre los sistemas anteriores se encuentra la publicación US4844493 referida a un vehículo por control remoto en los que el dispositivo receptor y el dispositivo emisor emiten y reciben mediante infrarroj os .Among the previous systems is publication US4844493 referring to a vehicle by control remote in which the receiving device and the sending device emit and receive via infrared.
Dicho vehículo por control remoto presenta cuatro receptores o detectores de infrarrojos, dos de ellos para controlar la velocidad a la que el vehículo debe seguir al emisor, dependiendo de la distancia a la que éste se encuentra y dos de ellos para controlar la dirección en la que el vehículo debe seguir al emisor, dependiendo de la dirección en la que el emisor se mueve .Said remote control vehicle has four infrared receivers or detectors, two of them to control the speed at which the vehicle must follow the emitter, depending on the distance at which it is located and two of them to control the direction in the that the vehicle must follow the emitter, depending on the direction in which the emitter moves.
Sin embargo, en el sistema anterior existen zonas donde el vehículo puede perder al emisor debido por ejemplo, a un rápido movimiento de éste, ya que existen zonas donde si ninguno de los detectores, tanto los de velocidad como los de dirección, reciben la señal del emisor, el sistema interpreta que el emisor está delante del vehículo y a muy corta distancia.However, in the previous system there are areas where the vehicle can lose the transmitter due to, for example, a rapid movement of the vehicle, since there are areas where none of the detectors, both speed and direction, receive the signal of the transmitter, the system interprets that the transmitter is in front of the vehicle and at a very short distance.
Sin embargo, este mismo estado de los detectores puede darse cuando el emisor se encuentra fuera del rango de alcance de los detectores, de manera que si el emisor no vuelve a entrar en el rango de alcance de los detectores, el vehículo no se moverá.However, this same state of the detectors can occur when the transmitter is outside the range of the detectors, so that if the transmitter does not re-enter the range of the detectors, the vehicle will not move.
Todos estos inconvenientes quedan superados mediante la invención que ahora se procede a describir.All these inconveniences are overcome by the invention that is now described.
DESCRIPCIÓN DE LA INVENCIÓNDESCRIPTION OF THE INVENTION
La presente invención se refiere a un sistema de detección, guiado ó seguimiento de dispositivos ó personas que permite en todo momento conocer la posición de un transmisor y realizar el seguimiento del mismo por parte de un elemento móvil.The present invention relates to a system for detecting, guiding or monitoring devices or people that allows the position to be known at all times of a transmitter and track it by a mobile element.
El elemento móvil presenta un conjunto de sensores de posición que cubren un rango de hasta 360° y están situados en un plano horizontal de manera que siempre uno de los sensores está enfrentado con el transmisor .The mobile element has a set of position sensors that cover a range of up to 360 ° and are located in a horizontal plane so that one of the sensors is always faced with the transmitter.
Una vez que el correspondiente sensor de posición detecta la ubicación del transmisor, se envia esta información a una unidad de decodificación de receptores donde se almacena la posición relativa del elemento móvil respecto al transmisor.Once the corresponding position sensor detects the location of the transmitter, this information is sent to a receiver decoding unit where the relative position of the mobile element with respect to the transmitter is stored.
Asi mismo, el elemento móvil presenta un sensor de distancia que determina la separación entre dicho elemento móvil y el transmisor, enviándose después la información a una unidad de control de distancia.Likewise, the mobile element has a distance sensor that determines the separation between said mobile element and the transmitter, the information being then sent to a distance control unit.
Este sensor de distancia puede estar integrado en el conjunto de sensores de posición del elemento móvil .This distance sensor can be integrated into the position sensor assembly of the mobile element.
Los datos almacenados en la unidad de decodificación de receptores y en la unidad de control de distancia son enviados a una unidad de control central que se encarga de la decodificación, reorientación y posicionamiento relativo o absoluto.The data stored in the receiver decoding unit and the distance control unit are sent to a central control unit that is responsible for decoding, reorienting and relative or absolute positioning.
Desde aqui se envían a una unidad de control de movimiento que es la encargada de enviar una señal a unos motores dispuestos en el elemento móvil para reorientar su posición frontal respecto al transmisor y acercarse a él hasta una determinada distancia. - A -From here they are sent to a motion control unit that is in charge of sending a signal to motors arranged in the mobile element to reorient its front position with respect to the transmitter and approach it to a certain distance. - TO -
Todo el proceso de detección y orientación del elemento móvil respecto al transmisor se realiza de manera continua de manera que el elemento móvil a la vez que se va moviendo va determinando nuevamente la posición del transmisor con lo que corrige de manera continua y sin pausas su trayectoria.The entire process of detection and orientation of the mobile element with respect to the transmitter is carried out continuously so that the mobile element while moving is again determining the position of the transmitter with which it corrects continuously and without pauses its trajectory .
DESCRIPCIÓN DE LOS DIBUJOSDESCRIPTION OF THE DRAWINGS
Se complementa la presente memoria descriptiva, con un juego de planos, ilustrativos del ejemplo preferente y nunca limitativo de la invención.The present specification is complemented by a set of drawings, illustrative of the preferred and never limiting example of the invention.
La Figura 1 muestra un diagrama de bloques del sistema de detección, guiado ó seguimiento de dispositivos ó personas.Figure 1 shows a block diagram of the detection, guidance or tracking system of devices or people.
La Figura 2 muestra un detalle de los sensores de posición y distancia del elemento móvil del sistema de detección, guiado ó seguimiento de dispositivos ó personas .Figure 2 shows a detail of the position and distance sensors of the mobile element of the detection, guidance or tracking system of devices or people.
La Figura 3 muestra un esquema del recorrido se- guido por el elemento móvil cuando describe una trayectoria predefinida por una serie de transmisores colocados en puntos fijos.Figure 3 shows a schematic of the path followed by the mobile element when describing a predefined path by a series of transmitters placed at fixed points.
REALIZACIÓN PREFERENTE DE LA INVENCIÓNPREFERRED EMBODIMENT OF THE INVENTION
A la vista de lo anteriormente enunciado, la presente invención se refiere a un sistema de detección, guiado ó seguimiento de dispositivos ó personas que permite en todo momento conocer la posición de un transmisor (1) y realizar el seguimiento del mismo por parte de un elemento (2) móvil.In view of the foregoing, the present invention relates to a system for detecting, guiding or monitoring devices or people that allows at any time to know the position of a transmitter (1) and track it by part of a mobile element (2).
Primer ejemplo de realización preferenteFirst preferred embodiment
En este primer ejemplo de realización preferente, el transmisor (1) va acoplado en un golfista, emitiendo en este ejemplo de realización preferente mediante infrarrojos.In this first example of preferred embodiment, the transmitter (1) is coupled to a golfer, emitting in this example of preferred embodiment by infrared.
El elemento (2) móvil es un carro de palos de golf provisto de un conjunto de sensores (2.1) de posición, que en este ejemplo de realización preferente son del tipo infrarrojos, situados de manera equidistante a lo largo de una circunferencia contenida en un plano horizontal, de manera que siempre uno de los sensores (2.1) de posición está enfrentado con el transmisor (1).The mobile element (2) is a golf club carriage provided with a set of position sensors (2.1), which in this preferred embodiment are of the infrared type, located equidistant along a circumference contained in a horizontal plane, so that one of the position sensors (2.1) is always facing the transmitter (1).
Una vez que el sensor (2.1) de posición que está enfrentado con el transmisor (1), detecta la ubicación de éste, se envia esta información a una unidad (3) de decodificación de receptores donde se almacena la posición relativa del elemento (2) móvil respecto al transmisor ( 1 ) .Once the position sensor (2.1) facing the transmitter (1) detects its location, this information is sent to a receiver decoding unit (3) where the relative position of the element (2) is stored. ) mobile with respect to the transmitter (1).
Asi mismo, el elemento (2) móvil presenta un sensor (2.2) de distancia, que en este ejemplo de realización preferente es del tipo ultrasonidos y está integrado en el conjunto de sensores (2.1) de posición, mediante el que se determina la separación entre el elemento (2) móvil y el transmisor (1), enviándose después la información a una unidad (4) de control de distancia .Likewise, the mobile element (2) has a distance sensor (2.2), which in this preferred embodiment is of the ultrasound type and is integrated in the set of position sensors (2.1), by which the separation is determined between the mobile element (2) and the transmitter (1), the information being then sent to a distance control unit (4).
Los datos almacenados en la unidad (3) de decodificación de receptores y en la unidad (4) de control de distancia son enviados a una unidad (5) de control central que se encarga de la decodificación, reorientación y posicionamiento relativo o absoluto.The data stored in the receiver decoding unit (3) and in the unit (4) of Distance control are sent to a central control unit (5) that is responsible for decoding, reorienting and relative or absolute positioning.
Desde aqui se envían a una unidad (6) de control de movimiento que es la encargada de enviar una señal a unos motores (7) dispuestos en el elemento (2) móvil para reorientar su posición frontal respecto al transmisor (1) y acercarse a él hasta una determinada distancia.From here they are sent to a motion control unit (6) that is responsible for sending a signal to motors (7) arranged in the mobile element (2) to reorient their front position with respect to the transmitter (1) and approach He up to a certain distance.
Sedundo eieπiplo dθ realización prθfθ-rθntθThirsty age of realization prθfθ-rθntθ
En este segundo ejemplo de realización preferente, se emplean una serie de transmisores (1) colocados a lo largo de un recorrido que define la trayectoria del elemento (2) móvil, que en este ejemplo de realización preferente es un robot de carga que sigue un recorrido por los pasillos de una fábrica.In this second preferred embodiment, a series of transmitters (1) placed along a path defining the trajectory of the mobile element (2) are used, which in this preferred embodiment is a charging robot that follows a Tour the halls of a factory.
El elemento (2) móvil está provisto de un conjunto de sensores (2.1) de posición, que en este ejemplo de realización preferente son del tipo infrarrojos, situados de manera equidistante a lo largo de una cir- cunferencia contenida en un plano horizontal, de manera que siempre uno de los sensores (2.1) de posición está enfrentado con el primero de los transmisores (1) .The mobile element (2) is provided with a set of position sensors (2.1), which in this preferred embodiment are of the infrared type, located equidistant along a circumference contained in a horizontal plane, of so that one of the position sensors (2.1) is always faced with the first of the transmitters (1).
Una vez que el sensor (2.1) de posición que está enfrentado con el primer transmisor (1), detecta la ubicación de éste, se envia esta información a una unidad (3) de decodificación de receptores donde se almacena la posición relativa del elemento (2) móvil respecto al transmisor (1). Así mismo, el elemento (2) móvil presenta un sensor (2.2) de distancia, que en este ejemplo de realización preferente es del tipo ultrasonidos y está integrado en el conjunto de sensores (2.1) de posición, mediante el que se determina la separación entre el elemento (2) móvil y el transmisor (1), enviándose después la información a una unidad (4) de control de distancia .Once the position sensor (2.1) facing the first transmitter (1) detects its location, this information is sent to a receiver decoding unit (3) where the relative position of the element is stored ( 2) mobile with respect to the transmitter (1). Likewise, the mobile element (2) has a distance sensor (2.2), which in this preferred embodiment is of the ultrasound type and is integrated in the set of position sensors (2.1), by which the separation is determined between the mobile element (2) and the transmitter (1), the information being then sent to a distance control unit (4).
Los datos almacenados en la unidad (3) de decodificación de receptores y en la unidad (4) de control de distancia son enviados a una unidad (5) de control central que se encarga de la decodificación, reorientación y posicionamiento relativo o absoluto.The data stored in the receiver decoding unit (3) and the distance control unit (4) are sent to a central control unit (5) that is responsible for decoding, reorienting and relative or absolute positioning.
Desde aquí se envían a una unidad (6) de control de movimiento que es la encargada de enviar una señal a unos motores (7) dispuestos en el elemento (2) móvil para reorientar su posición frontal respecto al transmisor (1) y acercarse a él hasta una determinada distancia .From here they are sent to a motion control unit (6) which is responsible for sending a signal to motors (7) arranged in the mobile element (2) to reorient their front position with respect to the transmitter (1) and approach He up to a certain distance.
Una vez que el elemento (2) móvil, en este caso el robot, está a una determinada distancia del primer transmisor (1), el elemento (2) móvil puede detenerse al dejar de emitir el primer transmisor (1) o dirigirse de manera continua hacia un segundo transmisor (1) que comienza a emitir inmediatamente y que se encuentra a una determinada distancia del primer transmisor (1) .Once the mobile element (2), in this case the robot, is at a certain distance from the first transmitter (1), the mobile element (2) may stop when the first transmitter (1) stops emitting or be directed in a manner It continues to a second transmitter (1) that begins to emit immediately and that is at a certain distance from the first transmitter (1).
Para que esto ocurra, el sensor (2.1) de posición del elemento (2) móvil que está enfrentado con el segundo transmisor (1), ha detectado la ubicación de éste y la secuencia continua según lo descrito para el primer (1) transmisor. El elemento (2) móvil sigue la trayectoria descrita por el conjunto de transmisores (1) conociendo en todo momento el siguiente desplazamiento en su recorrido.For this to happen, the position sensor (2.1) of the mobile element (2) facing the second transmitter (1) has detected its location and the continuous sequence as described for the first (1) transmitter. The mobile element (2) follows the path described by the set of transmitters (1) knowing at all times the next movement in its path.
Tercer ejemplo de realización preferenteThird preferred embodiment
En este tercer ejemplo de realización preferente, el transmisor (1) va acoplado en un operario y el elemento (2) móvil es un dispositivo de carga donde el resto de elementos son los mismos que se citaron en el primer ejemplo de realización, entendiéndose no necesario el volver a citarlos nuevamente.In this third preferred embodiment, the transmitter (1) is coupled to an operator and the mobile element (2) is a charging device where the rest of the elements are the same as those mentioned in the first example of embodiment, it being understood not it is necessary to quote them again.
En otros ejemplos de realización preferente, el transmisor (1) asi como los sensores (2.1) de posición y los sensores (2.2) de distancia del elemento (2) móvil pueden ser de tipo infrarrojo, ultrasonidos, radio frecuencia o una combinación de ellos.In other examples of preferred embodiment, the transmitter (1) as well as the position sensors (2.1) and the distance sensors (2.2) of the mobile element (2) can be infrared, ultrasound, radio frequency or a combination thereof. .
En todos los ejemplos de realización anteriores, el proceso de detección y orientación del elemento (2) móvil respecto al transmisor (1) se realiza de manera continua de manera que el elemento (2) móvil, a la vez que se va moviendo, va determinando mediante la unidad (6) de control central la nueva posición del transmisor (1), en caso de que éste hubiera cambiado su ubicación, con lo que corrige de manera continua y sin pausas su trayectoria.In all the previous embodiments, the process of detection and orientation of the mobile element (2) with respect to the transmitter (1) is carried out continuously so that the mobile element (2), while moving, is determining by means of the central control unit (6) the new position of the transmitter (1), in case it had changed its location, thereby correcting its trajectory continuously and without pauses.
No alteran la esencialidad de esta invención variaciones en materiales, forma, tamaño y disposición de los elementos componentes, descritos de manera no limi- tativa, bastando ésta para proceder a su reproducción por un expertoVariations in materials, shape, size and arrangement of the component elements, described in a non-limiting manner, do not alter the essentiality of this invention, being sufficient to proceed with its reproduction by an expert
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Claims

REIVINDICACIONES
Ia.- Sistema de detección, guiado ó seguimiento de dispositivos ó personas caracterizado porque permite en todo momento conocer la posición de un transmisor (1) y realizar el seguimiento del mismo por parte de un elemento (2) móvil debido a la presencia de un conjunto de sensores (2.1) de posición que cubren un rango de hasta 360°, de manera que siempre uno de los sensores (2.1) de posición está enfrentado con el transmisor (1) para detectar la ubicación de éste, presentando además el elemento (2) móvil un sensor (2.2) de distancia mediante el que se determina la separación entre el elemento (2) móvil y el transmisor (1), enviándose la información a una unidad (3) de decodificación de receptores y a una unidad (4) de control a distancia, cuyos datos se almacenan después en una unidad (5) de control central, seguida de una unidad (6) de control de movimiento que es la encargada de enviar una señal a unos motores (7) dispuestos en el elemento (2) móvil para reorientar su posición frontal respecto al transmisor (1) y acercarse a él hasta una determinada distancia .I to .- detection system, guiding or tracking devices or persons wherein allows always know the position of a transmitter (1) and track it by a movable element (2) due to the presence of a set of position sensors (2.1) covering a range of up to 360 °, so that one of the position sensors (2.1) is always faced with the transmitter (1) to detect its location, also presenting the element (2) mobile a distance sensor (2.2) by which the separation between the mobile element (2) and the transmitter (1) is determined, the information being sent to a receiver decoding unit (3) and a unit (4) ) remote control, whose data is then stored in a central control unit (5), followed by a motion control unit (6) that is responsible for sending a signal to motors (7) arranged in the element (2) mobile for reorient ar its frontal position with respect to the transmitter (1) and approach it to a certain distance.
2a.- Sistema de detección, guiado ó seguimiento de dispositivos ó personas según reivindicación 1 caracterizado porque en la unidad (3) de decodificación de receptores se almacena la posición relativa del elemento (2) móvil respecto al transmisor (1)2 .- detection system, guiding or tracking devices or persons according to claim 1 characterized in that the unit (3) decoding receivers stores the relative position of the element (2) movable relative to the transmitter (1)
3a.- Sistema de detección, guiado ó seguimiento de dispositivos ó personas según reivindicación 1 caracterizado porque la unidad (5) de control central se encarga de la decodificación, reorientación y posiciona- miento relativo o absoluto. 4a.- Sistema de detección, guiado ó seguimiento de dispositivos ó personas según reivindicación 1 caracterizado porque los sensores (2.1) de posición del elemento (2) móvil son del tipo infrarrojos.3 .- detection system, guidance or tracking devices or persons according to claim 1 characterized in that the unit (5) of central control is responsible for decoding, reorientation and positioning of relative or absolute. 4 .- detection system, guiding or tracking devices or persons according to claim 1 wherein the sensors (2.1) position the moveable member (2) are of the infrared type.
5a.- Sistema de detección, guiado ó seguimiento de dispositivos ó personas según reivindicación 1 caracterizado porque el sensor (2.2) de distancia del elemen- to (2) móvil es del tipo ultrasonidos.5 .- detection system, guiding or tracking devices or persons according to claim 1 wherein the sensor (2.2) away from the mobile to ele- (2) is of the ultrasonic type.
6a.- Sistema de detección, guiado ó seguimiento de dispositivos ó personas según reivindicación 1 caracterizado porque el sensor (2.2) de distancia está inte- grado en el conjunto de sensores (2.1) de posición.6 a. - System for detecting, guiding or monitoring devices or persons according to claim 1, characterized in that the distance sensor (2.2) is integrated in the set of position sensors (2.1).
7a.- Sistema de detección, guiado ó seguimiento de dispositivos ó personas según reivindicación 1 caracterizado porque el transmisor (1) va acoplado en un golfista, donde el elemento (2) móvil es un carro de palos de golf.7 .- detection system, guiding or tracking devices or persons according to claim 1 wherein the transmitter (1) is coupled in a golfer, wherein the movable member (2) is a trolley of golf clubs.
8a.- Sistema de detección, guiado ó seguimiento de dispositivos ó personas según reivindicación 1 carac- terizado porque se emplean una serie de transmisores (1) colocados a lo largo de un recorrido que define la trayectoria del elemento (2) móvil que es un robot, que sigue el recorrido predeterminado por los transmisores (D •8 .- detection system, guiding or tracking devices will or persons according to claim 1 terized character- that a plurality of transmitters (1) placed along a path defining the trajectory of the moving element (2) which is used a robot, which follows the predetermined route through the transmitters (D •
9a.- Sistema de detección, guiado ó seguimiento de dispositivos ó personas según reivindicación 1 caracterizado porque el transmisor (1) va acoplado en un operario y el elemento (2) móvil es un dispositivo de carga. 9 .- detection system, guiding or tracking devices or persons according to claim 1 wherein the transmitter (1) is coupled to an operator and the movable member (2) is a charging device.
PCT/ES2006/070061 2006-05-17 2006-05-17 System for detecting, guiding or tracking devices or persons WO2007132033A1 (en)

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US8094137B2 (en) 2007-07-23 2012-01-10 Smart Technologies Ulc System and method of detecting contact on a display
US8432377B2 (en) 2007-08-30 2013-04-30 Next Holdings Limited Optical touchscreen with improved illumination
US8384693B2 (en) 2007-08-30 2013-02-26 Next Holdings Limited Low profile touch panel systems
US8405636B2 (en) 2008-01-07 2013-03-26 Next Holdings Limited Optical position sensing system and optical position sensor assembly
US8405637B2 (en) 2008-01-07 2013-03-26 Next Holdings Limited Optical position sensing system and optical position sensor assembly with convex imaging window
US8902193B2 (en) 2008-05-09 2014-12-02 Smart Technologies Ulc Interactive input system and bezel therefor
US8339378B2 (en) 2008-11-05 2012-12-25 Smart Technologies Ulc Interactive input system with multi-angle reflector
US8774981B2 (en) 2009-09-14 2014-07-08 Israel Aerospace Industries Ltd. Infantry robotic porter system and methods useful in conjunction therewith

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