CN105353379A - Anti-collision ranging right assignment method for multiple moving bodies - Google Patents
Anti-collision ranging right assignment method for multiple moving bodies Download PDFInfo
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- CN105353379A CN105353379A CN201510855926.3A CN201510855926A CN105353379A CN 105353379 A CN105353379 A CN 105353379A CN 201510855926 A CN201510855926 A CN 201510855926A CN 105353379 A CN105353379 A CN 105353379A
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- 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
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
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Abstract
The invention provides an anti-collision ranging right assignment method for multiple moving bodies. The method comprises the following steps: 1, forming a peer-to-peer network of multiple moving bodies, and acquiring the number of network moving bodies within radio frequency coverage; 2, sequentially giving each moving body single ranging rights according to the number of network moving bodies obtained in the first step to obtain the distance between each moving body and the closest moving body, and then establishing a minimum moving body distance table; 3, preferentially assigning, by the network, the rights to following moving bodies requesting for acquiring the ranging rights based on the minimum moving body distance table obtained in the second step; 4, after the network preferentially assigns the moving body ranging rights, establishing, by the network, a rejection frequency table according to the failure frequency of failing moving bodies requesting for acquiring the ranging rights; and 5, assigning, by the network, the moving body ranging rights according to the above two tables. The method has the advantages of high security, low collision event rate, less mis-operation and the like.
Description
Technical field
The present invention relates to object collision protection field, particularly relate to a kind of anticollision range finding right distribution method of many moving bodys.
Background technology
At present, collision-proof method of the prior art is generally measure distance between two objects with ultrasound wave, and when the distance between two objects is less than certain threshold value, start anticollision measure, this is a kind of static collision-proof method.And for the object of multiple motion, because ultrasound wave between moving body exists interference mutually, supersonic sounding is inaccurate even to lose efficacy.During preventing collision protection for multiple moving body, go test periphery moving body and the distance of oneself because each moving body will send ultrasound wave, so need a kind of dispatching method not conflict with the ultrasound wave ensureing multiple moving body and send.Such as: publication number be 200510062546.0 patent documentation provide a kind of mixed distance measuring method, though this kind of method can measuring distance, the method that also exists is loaded down with trivial details, ranging time long, system running efficiency is low, can not realize the problems such as quick distance measurement.
In addition, while all moving bodys of guarantee obtain ambient condition information real-time, also need the fairness considering emphatically range finding, to avoid some node to be in accepting state always, cannot initiative range measurement be carried out.
Summary of the invention
The object of the invention is to provide that a kind of security is high, the incidence that reduces collision accident, the anticollision range finding right distribution method of many moving bodys that reduces maloperation.
For achieving the above object, have employed following technical scheme: the inventive method comprises multiple moving body, each moving body is all equipped with electromagnetic transceiver and ultrasonic distance-measuring sensor module, and described range finding right distribution method is made up of moving body ultrasonic ranging part and moving body range finding right distribution part;
(1) moving body ultrasonic ranging part, is divided into the following two kinds situation
(1) in measured zone, comprise multiple moving body and stationary obstruction, distance-finding method is as follows;
(1-1) select a moving body to send electromagnetic wave signal, be broadcast to other moving body, this moving body obtains the power of preferential range finding; The moving body called after emitter of electromagnetic signals, receives the moving body called after receiving body of electromagnetic wave signal;
(1-2) all receiving body are after receiving electromagnetic wave signal, no longer outwards send ultrasound wave;
(1-3) emitter utilizes the ultrasonic distance-measuring sensor module of self to launch ultrasound wave to each receiving body and stationary obstruction;
(1-4) emitter utilizes the ultrasonic distance-measuring sensor module of self to receive the ultrasound wave of each receiving body and stationary obstruction reflection, according to transmitting ultrasound wave with receive hyperacoustic mistiming, hyperacoustic velocity of propagation, calculate the distance between emitter and each receiving body, stationary obstruction;
(2) in measured zone, only have multiple moving body, there is no other barriers;
(2-1) select a moving body to send electromagnetic wave signal, be broadcast to other moving body, this moving body obtains the power of preferential range finding; After other moving bodys receive electromagnetic wave signal, no longer outwards send ultrasound wave, be all in reception ultrasound mode; Transmit moving body called after emitter, Received signal strength moving body called after receiving body;
(2-2) emitter electromagnetic signals again, makes all moving body time synchronized in radio-frequency region;
(2-3) emitter sends electromagnetic wave and ultrasonic signal simultaneously; Electromagnetic wave signal record ultrasound wave launch time is so that follow-up distance calculates;
(2-4) after each receiving body receives the electromagnetic wave and ultrasonic signal that emitter sends, according to transmitting sonication times with receive hyperacoustic mistiming, ultrasonic propagation velocity, calculate the distance between emitter and each receiving body;
(2) moving body range finding right distribution part, comprises the following steps:
The first step, multiple moving body forms a peer-to-peer network, and each moving body is called network node and has unique number, obtains the moving body quantity in radio frequency covering in network and numbering;
Second step, according to the moving body quantity obtained and numbering, give each moving body successively once to find range right, each moving body obtains the distance between its nearest moving body, and each moving body sets up the minor increment table of this moving body and other moving bodys in real time;
3rd step, peer-to-peer network, according to moving body minor increment table, carries out priority allocation to moving body acquisition request range finding right after this;
4th step, according to the frequency of failure of the moving body of acquisition request range finding right failure, peer-to-peer network sets up a refusal frequency table, and sets predetermined value;
5th step, peer-to-peer network obtains range finding right according to moving body minor increment table and refusal frequency table to moving body and distributes, preferentially with moving body minor increment table as a reference, only just go as a reference to distribute moving body acquisition range finding right to refuse frequency table when the unaccepted number of times of certain moving body is greater than predetermined value.To strengthen the security of the preventing collision protection of moving body.
Preferably, described moving body minor increment table is that each moving body is measured the distance apart from oneself nearest object thus sets up moving body minor increment form corresponding with it, predict with this probability that moving body collides, the moving body that minor increment is little preferentially obtains range finding right.
Preferably, described refusal frequency table is rejected according to moving body and it a kind of form that the relation that obtains right number of times of finding range sets up, owing to not getting range finding right for a long time, may great variety be there is in movable body position information, when being rejected number of times and reaching predetermined value number of times, need to give this moving body range finding right.
Compared with prior art, tool of the present invention has the following advantages:
1, each moving body adopts the problem that the method for finding range one by one is disturbed mutually to the ultrasound wave preventing different moving body and send.
2, consider the range data of moving body self and other moving body and the moving body acquisition request power frequency of failure of finding range and carry out preventing collision protection; the fairness that all moving bodys are found range can be ensured, effectively avoid the problem that some moving body cannot be found range always.
3, greatly strengthen the security of the preventing collision protection of motion state object, reduce the generation of collision accident, and reduce the maloperation of moving body safeguard measure in motion process.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the inventive method.
Fig. 2 is the range finding ordering chart of the second situation of moving body ultrasonic ranging part in the inventive method.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described:
Distribution method of the present invention, comprise multiple moving body, each moving body is all equipped with electromagnetic transceiver and ultrasonic distance-measuring sensor module, and described range finding right distribution method is made up of moving body ultrasonic ranging part and moving body range finding right distribution part;
(1) moving body ultrasonic ranging part, is divided into the following two kinds situation
(1) in measured zone, comprise multiple moving body and stationary obstruction, distance-finding method is as follows;
(1-1) select a moving body to send electromagnetic wave signal, be broadcast to other moving body, this moving body obtains the power of preferential range finding; The moving body called after emitter of electromagnetic signals, receives the moving body called after receiving body of electromagnetic wave signal;
(1-2) all receiving body are after receiving electromagnetic wave signal, no longer outwards send ultrasound wave;
(1-3) emitter utilizes the ultrasonic distance-measuring sensor module of self to launch ultrasound wave to each receiving body and stationary obstruction;
(1-4) emitter utilizes the ultrasonic distance-measuring sensor module of self to receive the ultrasound wave of each receiving body and stationary obstruction reflection, according to transmitting ultrasound wave with receive hyperacoustic mistiming, hyperacoustic velocity of propagation, calculate the distance between emitter and each receiving body, stationary obstruction;
This kind of distance-finding method can detect that system realm has the barrier except moving body.
(2) in measured zone, only have multiple moving body, there is no other barriers; Range finding ordering chart as shown in Figure 2;
(2-1) select a moving body to send electromagnetic wave signal, be broadcast to other moving body, this moving body obtains the power of preferential range finding; After other moving bodys receive electromagnetic wave signal, no longer outwards send ultrasound wave, be all in reception ultrasound mode; Transmit moving body called after emitter, Received signal strength moving body called after receiving body;
(2-2) emitter electromagnetic signals again, makes all moving body time synchronized in radio-frequency region;
(2-3) emitter sends electromagnetic wave and ultrasonic signal simultaneously; Electromagnetic wave signal record ultrasound wave launch time is so that follow-up distance calculates;
(2-4) after each receiving body receives the electromagnetic wave and ultrasonic signal that emitter sends, according to transmitting sonication times with receive hyperacoustic mistiming, ultrasonic propagation velocity, calculate the distance between emitter and each receiving body;
This kind of distance-finding method can measure the distance between moving body sooner, more accurately.
(2) moving body range finding right distribution part, as shown in Figure 1, comprises the following steps:
The first step, multiple moving body forms a peer-to-peer network, and each moving body is called network node and has unique number, obtains the moving body quantity in radio frequency covering in network and numbering;
Second step, according to the moving body quantity obtained and numbering, give each moving body successively once to find range right, each moving body obtains the distance between its nearest moving body, and each moving body sets up the minor increment table of this moving body and other moving bodys in real time;
Moving body minor increment table is that each moving body is measured the distance apart from oneself nearest object thus sets up moving body minor increment form corresponding with it, and predict with this probability that moving body collides, the moving body that minor increment is little preferentially obtains range finding right.
3rd step, peer-to-peer network, according to moving body minor increment table, carries out priority allocation to moving body acquisition request range finding right after this;
4th step, according to the frequency of failure of the moving body of acquisition request range finding right failure, peer-to-peer network sets up a refusal frequency table, and sets predetermined value;
Described refusal frequency table is rejected according to moving body and it a kind of form that the relation that obtains right number of times of finding range sets up, owing to not getting range finding right for a long time, may great variety be there is in movable body position information, when being rejected number of times and reaching predetermined value number of times, need to give this moving body range finding right.
5th step; peer-to-peer network obtains range finding right according to moving body minor increment table and refusal frequency table to moving body and distributes; preferentially with moving body minor increment table as a reference; only just go as a reference to distribute moving body acquisition range finding right, to strengthen the security of the preventing collision protection of moving body to refuse frequency table when the unaccepted number of times of certain moving body is greater than predetermined value.
The preventing collision protection method being in mobile status object provided by the invention can be applied to the fields such as tourist bus, automobile, aviation, steamer and robot, has very large application space and market outlook widely.
Above-described embodiment is only be described the preferred embodiment of the present invention; not scope of the present invention is limited; under not departing from the present invention and designing the prerequisite of spirit; the various distortion that those of ordinary skill in the art make technical scheme of the present invention and improvement, all should fall in protection domain that claims of the present invention determines.
Claims (3)
1. the anticollision range finding right distribution method of moving body more than a kind, comprise multiple moving body, each moving body is all equipped with electromagnetic transceiver and ultrasonic distance-measuring sensor module, it is characterized in that: described range finding right distribution method is made up of moving body ultrasonic ranging part and moving body range finding right distribution part;
(1) moving body ultrasonic ranging part, is divided into the following two kinds situation
(1) in measured zone, comprise multiple moving body and stationary obstruction, distance-finding method is as follows;
(1-1) select a moving body to send electromagnetic wave signal, be broadcast to other moving body, this moving body obtains the power of preferential range finding; The moving body called after emitter of electromagnetic signals, receives the moving body called after receiving body of electromagnetic wave signal;
(1-2) all receiving body are after receiving electromagnetic wave signal, no longer outwards send ultrasound wave;
(1-3) emitter utilizes the ultrasonic distance-measuring sensor module of self to launch ultrasound wave to each receiving body and stationary obstruction;
(1-4) emitter utilizes the ultrasonic distance-measuring sensor module of self to receive the ultrasound wave of each receiving body and stationary obstruction reflection, according to transmitting ultrasound wave with receive hyperacoustic mistiming, hyperacoustic velocity of propagation, calculate the distance between emitter and each receiving body, stationary obstruction;
(2) in measured zone, only have multiple moving body, there is no other barriers;
(2-1) select a moving body to send electromagnetic wave signal, be broadcast to other moving body, this moving body obtains the power of preferential range finding; After other moving bodys receive electromagnetic wave signal, no longer outwards send ultrasound wave, be all in reception ultrasound mode; Transmit moving body called after emitter, Received signal strength moving body called after receiving body;
(2-2) emitter electromagnetic signals again, makes all moving body time synchronized in radio-frequency region;
(2-3) emitter sends electromagnetic wave and ultrasonic signal simultaneously; Electromagnetic wave signal record ultrasound wave launch time is so that follow-up distance calculates;
(2-4) after each receiving body receives the electromagnetic wave and ultrasonic signal that emitter sends, according to transmitting sonication times with receive hyperacoustic mistiming, ultrasonic propagation velocity, calculate the distance between emitter and each receiving body;
(2) moving body range finding right distribution part, comprises the following steps:
The first step, multiple moving body forms a peer-to-peer network, and each moving body is called network node and has unique number, obtains the moving body quantity in radio frequency covering in network and numbering;
Second step, according to the moving body quantity obtained and numbering, give each moving body successively once to find range right, each moving body obtains the distance between its nearest moving body, and each moving body sets up the minor increment table of this moving body and other moving bodys in real time;
3rd step, peer-to-peer network, according to moving body minor increment table, carries out priority allocation to moving body acquisition request range finding right after this;
4th step, according to the frequency of failure of the moving body of acquisition request range finding right failure, peer-to-peer network sets up a refusal frequency table, and sets predetermined value;
5th step, peer-to-peer network obtains range finding right according to moving body minor increment table and refusal frequency table to moving body and distributes, preferentially with moving body minor increment table as a reference, only just go as a reference to distribute moving body acquisition range finding right to refuse frequency table when the unaccepted number of times of a certain moving body is greater than predetermined value.
2. the anticollision range finding right distribution method of a kind of many moving bodys according to claim 1, it is characterized in that: in the second step of the moving body range finding right distribution part of described method, moving body minor increment table is that each moving body is measured the distance apart from oneself nearest object thus sets up moving body minor increment form corresponding with it, predict with this probability that moving body collides, the moving body that minor increment is little preferentially obtains range finding right.
3. the anticollision range finding right distribution method of a kind of many moving bodys according to claim 1, it is characterized in that: in the 4th step of the moving body range finding right distribution part of described method, described refusal frequency table is rejected according to moving body and it a kind of form that the relation that obtains right number of times of finding range sets up, owing to not getting range finding right for a long time, may great variety be there is in movable body position information, when being rejected number of times and reaching predetermined value number of times, need to give this moving body range finding right.
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| CN102782600A (en) * | 2009-11-27 | 2012-11-14 | 丰田自动车株式会社 | Autonomous moving object and control method |
| CN104569993A (en) * | 2015-01-05 | 2015-04-29 | 哈尔滨工程大学 | Omnidirectional ultrasonic obstacle detector for quadcopter |
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- 2015-11-30 CN CN201510855926.3A patent/CN105353379B/en active Active
Patent Citations (4)
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| CN1572597A (en) * | 2003-05-30 | 2005-02-02 | 丰田自动车株式会社 | Collision prediction apparatus |
| US20100226544A1 (en) * | 2007-12-25 | 2010-09-09 | Toyota Jidosha Kabushiki Kaisha | Moving state estimating device |
| CN102782600A (en) * | 2009-11-27 | 2012-11-14 | 丰田自动车株式会社 | Autonomous moving object and control method |
| CN104569993A (en) * | 2015-01-05 | 2015-04-29 | 哈尔滨工程大学 | Omnidirectional ultrasonic obstacle detector for quadcopter |
Non-Patent Citations (2)
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| IAN F A ET.AL: "《A survey on sensor networks[J]》", 《IEEE COMMUNICATIONS MAGAZINE》 * |
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