CN105405249A - Anti-collision method and apparatus, range finding sensor and terminal - Google Patents
Anti-collision method and apparatus, range finding sensor and terminal Download PDFInfo
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- CN105405249A CN105405249A CN201510863966.2A CN201510863966A CN105405249A CN 105405249 A CN105405249 A CN 105405249A CN 201510863966 A CN201510863966 A CN 201510863966A CN 105405249 A CN105405249 A CN 105405249A
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Abstract
The embodiment of the disclosure discloses an anti-collision method and apparatus, a range finding sensor and a terminal. First type distances between a target object and all range finding sensors arranged on a target obstacle are obtained and a second type distance between any two range finding sensors on the target obstacle is obtained; according to the first type distances and the second type distances, distance information between the target object and the target obstacle is obtained, wherein the distance information includes a distance between the target object and the target obstacle; when the distance information between the target object and the target obstacle meets a preset condition, an alarm signal is sent out, wherein the preset condition includes that the distance between the target object and the target obstacle is less than or equal to a preset distance. When the distance information meets the preset condition, an alarm signal is sent out automatically. Therefore, a user can be prompted to prevent collision with an obstacle; and thus the damage on people by the low structure in a living environment can be substantially reduced.
Description
Technical field
The disclosure relates to field of computer technology, particularly relates to a kind of collision-proof method, device, distance measuring sensor and terminal.
Background technology
In daily life environment, often can there are some lower furniture or building structure, such as, the hanging cupboard in family, the sash etc. opened, when people probably encounters hanging cupboard or sash through out-of-date from hanging cupboard or sash, damages people.And for example, when child plays under desk, stand up suddenly and may damage by the head of desk to child, in order to avoid people are injured by this type of structural collision, need a kind of collision-proof method badly to remind people.
Summary of the invention
For overcoming Problems existing in correlation technique, the disclosure provides a kind of collision-proof method, device, distance measuring sensor and terminal.
In order to solve the problems of the technologies described above, disclosure embodiment discloses following technical scheme:
According to the first aspect of disclosure embodiment, provide a kind of collision-proof method, barrier arrange multiple distance measuring sensor, comprising:
Obtain the first kind distance between each distance measuring sensor in target object and target obstacle;
Obtain Equations of The Second Kind distance between any two distance measuring sensors in target obstacle;
Equations of The Second Kind distance according to described first kind Distance geometry, obtains the range information between described target object and described target obstacle, and described range information comprises the distance between described target object and described target obstacle;
When range information between described target object and described target obstacle meets pre-conditioned, send alerting signal, the described pre-conditioned distance comprised between described target object and described target obstacle is less than or equal to predeterminable range.
The collision-proof method that first aspect provides, utilizes the distance measuring sensor that is arranged in target obstacle, the first kind distance between each distance measuring sensor in measurement target object and target obstacle, and obtains the Equations of The Second Kind distance between each distance measuring sensor; Then, calculate the distance between target object and target obstacle according to first kind Distance geometry Equations of The Second Kind distance, when this distance meets pre-conditioned, automatically send alerting signal, reminding user collision free barrier, to greatly reduce in living environment lower structure to the injury of people.
Alternatively, the described range information moving direction that comprises between described target object and described target obstacle described in Distance geometry target object;
Described method also comprises: according to the first kind distance between target object described in preset time period and each distance measuring sensor, obtain the moving direction of described target object;
When described range information between described target object and described target obstacle meets pre-conditioned, send alerting signal, comprising:
Distance between described target object and described target obstacle is less than or equal to described predeterminable range, and the moving direction of described target object towards described target obstacle time, send described alerting signal.
The collision-proof method that the present embodiment provides, distance between target object and target obstacle is less than or equal to predeterminable range, and during the moving direction head for target barrier of target object, sending alerting signal has barrier collision free on barrier with reminding user front.Distance between the present embodiment combining target object and target obstacle, and target object is relative to the moving direction of target obstacle, sends alerting signal, improves the accuracy rate sending alerting signal.
Alternatively, if described target obstacle is parallel with described target object place plane, the plane that described target obstacle is parallel with described target object at least arranges the first distance measuring sensor and the second distance measuring sensor, and described range information is the distance between described target object and described target obstacle;
Then described according to the described first kind Distance geometry Equations of The Second Kind distance, obtain the distance between described target object and described target obstacle, comprising:
Utilize the cosine law, first kind distance between described target obstacle and described first distance measuring sensor, first kind distance between described target obstacle and described second distance measuring sensor, and the distance between described first distance measuring sensor and described second distance measuring sensor, calculate the vertical range between described target obstacle and described target object.
Alternatively, if described target obstacle and described target object place plane orthogonal, described target obstacle and the perpendicular face of described target object are provided with the 3rd distance measuring sensor, the 4th distance measuring sensor and the 5th distance measuring sensor, and described range information is the distance between described target object and described target obstacle;
Then described according to the described first kind Distance geometry Equations of The Second Kind distance, obtain the range information between described target object and described target obstacle, comprising:
Utilize the cosine law, described 3rd distance measuring sensor, described 4th distance measuring sensor and the first kind distance of described 5th distance measuring sensor respectively and between described target obstacle, Equations of The Second Kind distance in described 3rd distance measuring sensor, the 4th distance measuring sensor and the 5th distance measuring sensor between any two distance measuring sensors, calculates the vertical range between described target object and three distance measuring sensor place planes.
Alternatively, described method also comprises: when described distance measuring sensor sends alerting signal, sends information to terminal device.
The collision-proof method that the present embodiment provides, while sending alerting signal, also send information to terminal device, reminding user may collide in several ways, thus improves the probability hiding collision obstacle.
Alternatively, described method also comprises:
Described distance measuring sensor stores the Equations of The Second Kind distance between self and each other distance measuring sensor, other distance measuring sensor described be in multiple distance measuring sensors that described target obstacle is arranged except described in send alerting signal distance measuring sensor except distance measuring sensor.
According to the second aspect of disclosure embodiment, provide a kind of collision prevention device, barrier arrange multiple distance measuring sensor, comprising:
First acquisition module, for obtaining the first kind distance between each distance measuring sensor in target object and target obstacle;
Second acquisition module, for obtaining Equations of The Second Kind distance between any two distance measuring sensors in target obstacle;
3rd acquisition module, for the Equations of The Second Kind distance that the second acquisition module according to the first kind Distance geometry of described first acquisition module acquisition obtains, obtain the range information between described target object and described target obstacle, described range information comprises the distance between described target object and described target obstacle;
Alarm module, for when the described 3rd acquisition module range information obtained between described target object and described target obstacle meets pre-conditioned, send alerting signal, the described pre-conditioned distance comprised between described target object and described target obstacle is less than or equal to predeterminable range.
Alternatively, the described range information moving direction that comprises between described target object and described target obstacle described in Distance geometry target object;
Described device also comprises: the 4th acquisition module, for according to the first kind distance between target object described in preset time period and each distance measuring sensor, obtains the moving direction of described target object;
Described alarm module, described predeterminable range is less than or equal to for the distance between the target object and described target obstacle of described 3rd acquisition module acquisition, and described 4th acquisition module is when obtaining the moving direction of target object towards described target obstacle, send described alerting signal.
Alternatively, if described target obstacle is parallel with described target object place plane, the face that described target obstacle is parallel with described target object at least arranges the first distance measuring sensor and the second distance measuring sensor, and described range information is the distance between described target object and described target obstacle;
Then described 3rd acquisition module, for utilizing the cosine law, first kind distance between described target obstacle and described first distance measuring sensor, first kind distance between described target obstacle and described second distance measuring sensor, and the distance between described first distance measuring sensor and described second distance measuring sensor, calculate the vertical range between described target obstacle and described target object.
Alternatively, if described target obstacle and described target object place plane orthogonal, described target obstacle and the perpendicular face of described target object are provided with the 3rd distance measuring sensor, the 4th distance measuring sensor and the 5th distance measuring sensor, and described range information is the distance between described target object and described target obstacle;
Then described 3rd acquisition module, for utilizing the cosine law, described 3rd distance measuring sensor, described 4th distance measuring sensor and the first kind distance of described 5th distance measuring sensor respectively and between described target obstacle, Equations of The Second Kind distance in described 3rd distance measuring sensor, the 4th distance measuring sensor and the 5th distance measuring sensor between any two distance measuring sensors, calculates the vertical range between described target obstacle and three distance measuring sensor place planes.
Alternatively, described device also comprises:
Sending module, for when described distance measuring sensor sends alerting signal, sends information to terminal device.
Alternatively, described device also comprises:
Memory module, for making the Equations of The Second Kind distance between described distance measuring sensor storage self and other each distance measuring sensor.
According to the third aspect of disclosure embodiment, provide a kind of distance measuring sensor, described distance measuring sensor is arranged in target obstacle, and described distance measuring sensor comprises: range finder module, communication module, computing module and alarm module;
Described range finder module, for the first kind distance between measurement target object and described range finder module place distance measuring sensor, and measure Equations of The Second Kind distance between any one other distance measuring sensor in described range finder module place distance measuring sensor and described target obstacle; Other distance measuring sensor described is the distance measuring sensor in multiple distance measuring sensors that described target obstacle is arranged except the distance measuring sensor of described range finder module place;
Described communication module, for receiving described first kind distance between other distance measuring sensor and described target object, and receives the Equations of The Second Kind distance described in any two between other distance measuring sensor;
Described computing module, for Equations of The Second Kind distance according to described first kind Distance geometry, obtain the range information between described target object and described target obstacle, described range information comprises the distance between described target object and described target obstacle;
Alarm module, when meeting pre-conditioned for the range information between described target object and described target obstacle, sends alerting signal, and the described pre-conditioned distance comprised between described target object and described target obstacle is less than or equal to predeterminable range.
Alternatively, described communication module, also for when sending alerting signal, sends information to terminal device.
Alternatively, also comprise memory module, for storing Equations of The Second Kind distance between any two distance measuring sensors in described target obstacle.
According to the fourth aspect of disclosure embodiment, a kind of terminal device is provided, comprises:
Processor;
For the storer of storage of processor executable instruction;
Wherein, described processor is configured to:
Obtain the first kind distance between each distance measuring sensor in target object and target obstacle;
Obtain Equations of The Second Kind distance between any two distance measuring sensors in target obstacle;
Equations of The Second Kind distance according to described first kind Distance geometry, obtains the range information between described target object and described target obstacle, and described range information comprises the distance between described target object and described target obstacle;
When range information between described target object and described target obstacle meets pre-conditioned, send alerting signal, the described pre-conditioned distance comprised between described target object and described target obstacle is less than or equal to predeterminable range.
The technical scheme that embodiment of the present disclosure provides can comprise following beneficial effect: can obtain the first kind distance between each distance measuring sensor in target object and target obstacle, and obtains Equations of The Second Kind distance between any two distance measuring sensors in target obstacle; Then, according to first kind Distance geometry Equations of The Second Kind distance, obtain the range information between target object and target obstacle, this range information comprises the distance between target object and target obstacle; When range information between target object and target obstacle meets pre-conditioned, send alerting signal, wherein, the pre-conditioned distance comprised between described target object and described target obstacle is less than or equal to predeterminable range.Utilize the collision-proof method that the disclosure provides, be arranged on distance measuring sensor in target obstacle in measurable range, distance between Active measuring target object and distance measuring sensor, and according to the distance between distance measuring sensor, obtain the range information between target object and target obstacle, when range information meets pre-conditioned, automatically send alerting signal, reminding user collision free barrier, to greatly reduce in living environment lower structure to the injury of people.
Should be understood that, it is only exemplary that above general description and details hereinafter describe, and can not limit the disclosure.
Accompanying drawing explanation
Accompanying drawing to be herein merged in instructions and to form the part of this instructions, shows embodiment according to the invention, and is used from instructions one and explains principle of the present invention.
Fig. 1 is the process flow diagram of a kind of collision-proof method according to an exemplary embodiment;
Fig. 2 is the process flow diagram of the another kind of collision-proof method according to an exemplary embodiment;
Fig. 3 is the process flow diagram of the another kind of collision-proof method according to an exemplary embodiment;
Fig. 4 is the schematic top plan view of the relative position relation between target object and target obstacle;
Fig. 5 is the process flow diagram of the another kind of collision-proof method according to an exemplary embodiment;
Fig. 6 is the schematic diagram arranging three distance measuring sensors in target obstacle according to an exemplary embodiment;
Fig. 7 is the process flow diagram of the another kind of collision-proof method according to an exemplary embodiment;
Fig. 8 is the block diagram of a kind of collision prevention device according to an exemplary embodiment;
Fig. 9 is the another kind of collision prevention device block diagram according to an exemplary embodiment;
Figure 10 is another the collision prevention device block diagram according to an exemplary embodiment;
Figure 11 is the block diagram of a kind of distance measuring sensor according to an exemplary embodiment;
The block diagram of a kind of device for collision-proof method of Figure 12 according to an exemplary embodiment.
By above-mentioned accompanying drawing, illustrate the embodiment that the disclosure is clear and definite more detailed description will be had hereinafter.These accompanying drawings be not in order to limited by any mode the disclosure design scope, but by reference to specific embodiment for those skilled in the art illustrate concept of the present disclosure.
Embodiment
Here will be described exemplary embodiment in detail, its sample table shows in the accompanying drawings.When description below relates to accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawing represents same or analogous key element.Embodiment described in following exemplary embodiment does not represent all embodiments consistent with the disclosure.On the contrary, they only with as in appended claims describe in detail, the example of apparatus and method that aspects more of the present disclosure are consistent.
Fig. 1 is the process flow diagram of a kind of collision-proof method according to an exemplary embodiment, and the method can be applied in distance measuring sensor or terminal device, and as shown in Figure 1, the method can comprise the following steps:
In S110, obtain the first kind distance between each distance measuring sensor in target object and target obstacle.
Target obstacle is the barrier easily damaged people in living environment, such as, easily collides the lower crossbeam class formation of people, easily collides child's desk.Target object is the object of the movement that can detect in sensing range of the distance measuring sensor that target obstacle is arranged, normally user.
By the first kind distance between distance measuring sensor measurement target object and distance measuring sensor.
If the executive agent of this step is distance measuring sensor, one is specified as Centroid from multiple distance measuring sensor, this Centroid measures the first kind distance between self and target object, and receives the first kind distance between other distance measuring sensor and target object.Each distance measuring sensor has unique identify label, by the identify label of the distance measuring sensor of the setting on barrier notice Centroid, so that Centroid only communicates with the distance measuring sensor on this barrier, and exclusive PCR.
If the executive agent of this step is terminal device, such as, smart mobile phone, terminal device receives the first kind distance between distance measuring sensor self and target object that each distance measuring sensor records.
In S120, obtain Equations of The Second Kind distance between any two distance measuring sensors in target obstacle.
Target obstacle can be provided with at least two distance measuring sensors.Any two distance measuring sensors can measure distance between the two, such as, distance measuring sensor A and distance measuring sensor B, the distance measuring signal that distance measuring sensor A sends, distance measuring signal is reflected by distance measuring sensor B, and received by range finding sensors A, by calculating distance measuring sensor A and send distance measuring signal and the mistiming received between distance measuring signal calculating distance between distance measuring sensor A and distance measuring sensor B.
If the executive agent of this step is distance measuring sensor, then by the Equations of The Second Kind distance between other distance measuring sensor in above-mentioned Centroid measurement self and target obstacle, and receive the Equations of The Second Kind distance between other distance measuring sensor.Such as, target obstacle is provided with distance measuring sensor A1, A2 and A3, and node centered by distance measuring sensor A1, A1 measures self and A2, and, the distance between self and A3, and receive the distance between A2 and A3.
If the executive agent of this step is terminal device, then receive the distance between any two distance measuring sensors that each distance measuring sensor records by terminal device.
In S130, Equations of The Second Kind distance according to described first kind Distance geometry, obtains the range information between described target object and described target obstacle; Described range information comprises the distance between described target object and described target obstacle.
Such as, target obstacle is provided with two distance measuring sensors, like this, target object and two distance measuring sensors form triangle, the first kind distance of target object respectively and between two distance measuring sensors can be obtained, and the Equations of The Second Kind distance between two distance measuring sensors, namely leg-of-mutton three length of sides are known, and the cosine law can be utilized to calculate the vertical range of target object to target obstacle.
If the executive agent of this step is distance measuring sensor, then computing module is set in Centroid, calculates distance between target object and target obstacle by this computing module according to first kind Distance geometry Equations of The Second Kind distance.
If the executive agent of this step is terminal device, then calculate distance between target object and target obstacle by terminal device according to the first kind Distance geometry Equations of The Second Kind distance received.
In S140, when the range information between described target object and described target obstacle meets pre-conditioned, send alerting signal; The described pre-conditioned distance comprised between described target object and described target obstacle is less than or equal to predeterminable range.
In an embodiment of the present disclosure, if when the distance between target object and target obstacle is less than or equal to predeterminable range, send alerting signal.
If the executive agent of this step is distance measuring sensor, then in distance measuring sensor, arrange alarm module, when the range information between target object and target obstacle meets pre-conditioned, alarm module sends alerting signal.
If the executive agent of this step is terminal device, in distance measuring sensor, alarm module is set, when the range information that terminal device is judged between target object and target obstacle meets pre-conditioned, the alarm module that terminal device triggers in distance measuring sensor sends alerting signal.
The collision-proof method that the present embodiment provides, can obtain the first kind distance between each distance measuring sensor in target object and target obstacle, and obtains Equations of The Second Kind distance between any two distance measuring sensors in target obstacle; Then, according to first kind Distance geometry Equations of The Second Kind distance, obtain the range information between target object and target obstacle, this range information comprises the distance between target object and target obstacle; When range information between target object and target obstacle meets pre-conditioned, send alerting signal, wherein, the pre-conditioned distance comprised between described target object and described target obstacle is less than or equal to predeterminable range.Utilize the collision-proof method that the disclosure provides, be arranged on distance measuring sensor in target obstacle in measurable range, distance between Active measuring target object and distance measuring sensor, and according to the distance between distance measuring sensor, obtain the range information between target object and target obstacle, when range information meets pre-conditioned, automatically send alerting signal, reminding user collision free barrier, to greatly reduce in living environment lower structure to the injury of people.
Fig. 2 is the process flow diagram of the another kind of collision-proof method according to an exemplary embodiment, and in the present embodiment, the range information between target object and target obstacle comprises the distance between target object and target obstacle, and the moving direction of target object.As shown in Figure 2, the method can comprise the following steps:
In S210, obtain the first kind distance between each distance measuring sensor in target object and target obstacle.
In S220, obtain Equations of The Second Kind distance between any two distance measuring sensors in target obstacle.
In S230, according to the first kind distance recorded in preset time period, obtain the moving direction of target object.
Preset time period can sets itself as required, such as, can be set as 40s, 1min, 5min etc.According to the variation tendency of the first kind distance between the target object recorded in preset time period and distance measuring sensor, determine the moving direction of target object relative to target obstacle.
In S240, according to first kind Distance geometry Equations of The Second Kind distance, obtain the distance between target object and target obstacle.
In S250, the distance between target object and target obstacle is less than or equal to predeterminable range, and during the moving direction head for target barrier of target object, sends alerting signal.
The collision-proof method that the present embodiment provides, distance between target object and target obstacle is less than or equal to predeterminable range, and during the moving direction head for target barrier of target object, sending alerting signal has barrier collision free on barrier with reminding user front.Distance between the present embodiment combining target object and target obstacle, and target object is relative to the moving direction of target obstacle, sends alerting signal, improves the accuracy rate sending alerting signal.
Fig. 3 is the process flow diagram of the another kind of collision-proof method according to an exemplary embodiment, the method is applied in the isostructural application scenarios of highly lower crossbeam, barrier is provided with two distance measuring sensors, be the first distance measuring sensor and the second distance measuring sensor respectively, and the first distance measuring sensor is Centroid.As shown in Figure 3, comprise the following steps:
In S310, the first kind distance between the first distance measuring sensor measurement target object and the first distance measuring sensor.
In S320, the first kind distance between the second distance measuring sensor measurement target object and the second distance measuring sensor, and send to the first distance measuring sensor.
In S330, the first distance measuring sensor obtains the Equations of The Second Kind distance between self and the second distance measuring sensor.
In S340, first distance measuring sensor utilizes the cosine law, according to target object respectively and the first distance measuring sensor, first kind distance between the second distance measuring sensor, and, Equations of The Second Kind distance between first kind sensor and Equations of The Second Kind sensor, calculates the vertical range between target object to target obstacle.
Fig. 4 is the schematic top plan view of the relative position relation between target object and target obstacle, and as shown in Figure 4, figure comprises the first distance measuring sensor 101, second distance measuring sensor 102 and target object 103.
Be a by the distance measured between acquisition first distance measuring sensor 101 and the second distance measuring sensor 102, distance between target object 103 and the first distance measuring sensor 101 is b, distance between target object 103 and the second distance measuring sensor 101 is c, and target object 103 is h to the vertical range of target obstacle 104.
Cos α or cos β can be calculated according to the cosine law, then, sin α or sin β can be calculated, then h=b × sin α, or, h=b × sin β.
In S350, when the distance between target object and target obstacle is less than or equal to predeterminable range, the first distance measuring sensor sends alerting signal.
When distance between target object and target obstacle is less than or equal to predeterminable range, shows that target object is about to collide target obstacle, send alerting signal reminding user, thus make user's collision free in target obstacle.
In other embodiment of the present disclosure, according to the variation tendency of the distance between a period of time internal object object 103 and the first distance measuring sensor 101 or the second distance measuring sensor 102, the moving direction of target object 103 relative to target obstacle 104 can be determined.Distance c between target object 103 and target obstacle 104 is less than or equal to predeterminable range, and during the moving direction head for target barrier of target object 103, sends alerting signal, thus improves the accuracy rate of alerting signal.
The collision-proof method that the present embodiment provides, the range information of the target object utilizing two distance measuring sensors to measure, calculate the vertical range between target object and target obstacle, when this vertical range is less than or equal to predeterminable range, send alerting signal, keep off with reminding user and bump against target obstacle, thus greatly reduce the injury of barrier to user.
Fig. 5 is the process flow diagram of the another kind of collision-proof method according to an exemplary embodiment, the present embodiment is applied to target object below target obstacle, target object is avoided to move up in the application scenarios of collision target barrier, such as, when child plays under desk, when standing up, desktop may be encountered.Under this kind of application scenarios, target obstacle arranges three distance measuring sensors, be the 3rd distance measuring sensor, the 4th distance measuring sensor and the 5th distance measuring sensor respectively, wherein, the 3rd distance measuring sensor is Centroid.
As shown in Figure 5, the method can comprise the following steps:
In S410, the 3rd distance measuring sensor measures the first kind distance between self and target object.
In S420, the 4th distance measuring sensor measures the first kind distance between self and target object, and sends to the 3rd distance measuring sensor.
In S430, the 5th distance measuring sensor measures the first kind distance between self and target object, and sends to the 3rd distance measuring sensor.
In S440, the 3rd distance measuring sensor measures the Equations of The Second Kind distance between self and the 4th distance measuring sensor, the 5th distance measuring sensor.
In S450, the 4th distance measuring sensor measures the Equations of The Second Kind distance between self and the 5th sensor, and sends to the 3rd distance measuring sensor.
In S460,3rd distance measuring sensor utilizes the cosine law, the first kind distance between each distance measuring sensor and target object that target obstacle is arranged, and the Equations of The Second Kind distance between each distance measuring sensor in target obstacle, calculate the distance of target object to each distance measuring sensor place plane.
Fig. 6 is the schematic diagram arranging three distance measuring sensors in target obstacle according to an exemplary embodiment, and as shown in Figure 6, it is 201,202 and 203 respectively that target obstacle 200 is provided with three distance measuring sensors.
Three distance measuring sensors measure self respectively to the first kind distance between target object, and measure the Equations of The Second Kind distance between any two distance measuring sensors.
Utilize the geometric relationship in the cosine law and pyramid, and above-mentioned first kind Distance geometry Equations of The Second Kind distance, calculate the vertical range between target object 204 and three distance measuring sensor place planes.
In S470, when the 3rd distance measuring sensor is less than or equal to predeterminable range according to the vertical range between target object and three distance measuring sensor place planes, send alerting signal.
In other embodiment of the present disclosure, according to the variation tendency of a period of time internal object object 204 with the spacing of distance measuring sensor, the moving direction of target object 204 relative to target obstacle 200 can be determined.Distance k between target object 204 and target obstacle is less than or equal to predeterminable range, and when target object head for target barrier 200 moves, sends alerting signal, thus improves the accuracy rate of alerting signal.
The collision-proof method that the present embodiment provides, target obstacle is provided with three distance measuring sensors, the range information of the target object utilizing these three distance measuring sensors to record, calculate the vertical range between target object and distance measuring sensor place plane, when this vertical range is less than or equal to predeterminable range, send alerting signal, keep off with reminding user and bump against target object, thus greatly reduce the injury of barrier to user.
Fig. 7 is the process flow diagram of the another kind of collision-proof method according to an exemplary embodiment, and the method increases following steps on the basis of any one embodiment of the method above-mentioned, and the present embodiment can also comprise the following steps on basis embodiment illustrated in fig. 1:
In S510, distance measuring sensor stores the Equations of The Second Kind distance between self and each other distance measuring sensor.
The execution sequence of the present embodiment to S510 is not construed as limiting, and performs after step S120 as long as S510 meets.
Other distance measuring sensor described be in multiple distance measuring sensors that described target obstacle is arranged except described in send alerting signal distance measuring sensor except distance measuring sensor.
The position of distance measuring sensor in target obstacle no longer changes usually, therefore, distance between each distance measuring sensor also just immobilizes, distance between each distance measuring sensor can be stored in Centroid, like this, only need to measure the distance once between each sensor, follow-up, Centroid directly can read the distance between each distance measuring sensor from storer.
In S520, when described distance measuring sensor sends alerting signal, send information to terminal device.
While distance measuring sensor sends alerting signal, distance measuring sensor sends information to terminal device.
Such as, when child plays under desk, distance measuring sensor monitors child when may collide desk, send alerting signal, simultaneously, send information to the terminal device associated with this distance measuring sensor, with the phenomenon that may collide under reminding a long table, thus make the head of a family guide child's avoiding barrier in time.
Reminding user may collide in several ways, thus improves the probability hiding collision obstacle.
Corresponding to above-mentioned collision-proof method embodiment, the disclosure additionally provides collision prevention device embodiment.
Fig. 8 is a kind of collision prevention device block diagram according to an exemplary embodiment, and this application of installation, in distance measuring sensor or terminal device, wherein, needs in target obstacle, arrange multiple distance measuring sensor.As shown in Figure 8, this device comprises the first acquisition module 810, second acquisition module 820, the 3rd acquisition module 830 and alarm module 840.
First acquisition module 810, for obtaining the first kind distance between each distance measuring sensor in target object and target obstacle.
Target obstacle is the barrier easily damaged people in living environment, such as, easily collides the lower crossbeam class formation of people, easily collides child's desk.Target object is the object of the movement that can detect in sensing range of the distance measuring sensor that target obstacle is arranged, normally user.
Distance measuring sensor in target object and target obstacle measures the distance between self and target object respectively, is designated as first kind distance.
Second acquisition module 820, for obtaining Equations of The Second Kind distance between any two distance measuring sensors in target obstacle.
Distance measuring sensor in target obstacle measures the distance between other distance measuring sensor in self and target obstacle, is designated as Equations of The Second Kind distance.
3rd acquisition module 830, the Equations of The Second Kind distance that first kind Distance geometry second acquisition module 820 for obtaining according to the first acquisition module 810 obtains, obtains the range information between target object and target obstacle.Range information comprises the distance between target object and target obstacle.
Geometric relationship can be utilized to calculate distance between target object and target obstacle.
In disclosure embodiment, if described target obstacle is parallel with described target object place plane, the face that described target obstacle is parallel with described target object at least arranges the first distance measuring sensor and the second distance measuring sensor, and described range information is the distance between described target object and described target obstacle.
Described 3rd acquisition module 830, for utilizing the cosine law, first kind distance between described target obstacle and described first distance measuring sensor, first kind distance between described target obstacle and described second distance measuring sensor, and the distance between described first distance measuring sensor and described second distance measuring sensor, calculate the vertical range between described target obstacle and described target object.
In another embodiment of the present disclosure, if described target obstacle and described target object place plane orthogonal, described target obstacle and the perpendicular face of described target object are provided with the 3rd distance measuring sensor, the 4th distance measuring sensor and the 5th distance measuring sensor, and described range information is the distance between described target object and described target obstacle;
3rd acquisition module 830, for utilizing the cosine law, described 3rd distance measuring sensor, described 4th distance measuring sensor and the first kind distance of described 5th distance measuring sensor respectively and between described target obstacle, Equations of The Second Kind distance in described 3rd distance measuring sensor, the 4th distance measuring sensor and the 5th distance measuring sensor between any two distance measuring sensors, calculates the vertical range between described target obstacle and three distance measuring sensor place planes.
Alarm module 840, for when the 3rd acquisition module 830 range information obtained between target object and target obstacle meets pre-conditioned, send alerting signal, the described pre-conditioned distance comprised between described target object and described target obstacle is less than or equal to predeterminable range.
The collision prevention device that the present embodiment provides, can obtain the first kind distance between each distance measuring sensor in target object and target obstacle; And obtain Equations of The Second Kind distance between any two distance measuring sensors in target obstacle; Then, according to first kind Distance geometry Equations of The Second Kind distance, obtain the range information between target object and target obstacle, this range information comprises the distance between target object and target obstacle; When range information between target object and target obstacle meets pre-conditioned, send alerting signal, wherein, the pre-conditioned distance comprised between described target object and described target obstacle is less than or equal to predeterminable range.When range information meets pre-conditioned, automatically send alerting signal, reminding user collision free barrier, to greatly reduce in living environment lower structure to the injury of people.
Fig. 9 is the another kind of collision prevention device block diagram according to an exemplary embodiment, and this device also comprises on basis embodiment illustrated in fig. 8: the 4th acquisition module 910.
4th acquisition module 910, for according to the first kind distance between target object described in preset time period and each distance measuring sensor, obtains the moving direction of described target object.
Preset time period can sets itself as required, such as, can be set as 40s, 1min, 5min etc.According to the variation tendency of the first kind distance between the target object recorded in preset time period and distance measuring sensor, determine the moving direction of target object relative to target obstacle.
Alarm module 840 is less than or equal to described predeterminable range for the distance between the target object and described target obstacle of the 3rd acquisition module 830 acquisition, and described 4th acquisition module 910 obtain target object moving direction towards described target obstacle time, send described alerting signal.
The collision prevention device that the present embodiment provides, distance between target object and target obstacle is less than or equal to predeterminable range, and during the moving direction head for target barrier of target object, sending alerting signal has barrier collision free on barrier with reminding user front.Distance between the present embodiment combining target object and target obstacle, and target object is relative to the moving direction of target obstacle, sends alerting signal, improves the accuracy rate sending alerting signal.
Figure 10 is another the collision prevention device block diagram according to an exemplary embodiment, and this device can also comprise sending module 1010 and memory module 1020 on the basis of Fig. 8 shown device embodiment.
Sending module 1010, for when described distance measuring sensor sends alerting signal, sends information to terminal device.
When distance measuring sensor sends alerting signal, send information by sending module 1010 to terminal device, thus reminding user, remind in time and prevent from encountering target obstacle.
While distance measuring sensor sends alerting signal, distance measuring sensor sends information to terminal device.
Such as, when child plays under desk, distance measuring sensor monitors child when may collide desk, send alerting signal, simultaneously, send information to the terminal device associated with this distance measuring sensor, with the phenomenon that may collide under reminding a long table, thus make the head of a family guide child's avoiding barrier in time.
Memory module 1020, for making the Equations of The Second Kind distance between described distance measuring sensor storage self and other each distance measuring sensor.
After storing the Equations of The Second Kind distance between distance measuring sensor and other each distance measuring sensor, do not need all to remeasure at every turn.
The collision prevention device that the present embodiment provides, while alarm module sends alerting signal, can also send information by sending module to terminal device, reminding user may collide target obstacle in several ways, improves the probability hiding collision obstacle.
Figure 11 is the block diagram of a kind of distance measuring sensor according to an exemplary embodiment, distance measuring sensor is arranged in target obstacle, as shown in figure 11, distance measuring sensor comprises range finder module 1110, communication module 1120, computing module 1130 and alarm module 1140.
Range finder module 1110, for the first kind distance between measurement target object and described range finder module place distance measuring sensor, and measure Equations of The Second Kind distance between any one other distance measuring sensor in described range finder module place distance measuring sensor and described target obstacle; Other distance measuring sensor described is the distance measuring sensor in multiple distance measuring sensors that described target obstacle is arranged except the distance measuring sensor of described range finder module place.
Communication module 1120, for receiving described first kind distance between other distance measuring sensor and described target object, and receives the Equations of The Second Kind distance described in any two between other distance measuring sensor.
In an embodiment of the present disclosure, described communication module 1120, also for when sending alerting signal, sends information to terminal device.
Described computing module 1130, for Equations of The Second Kind distance according to described first kind Distance geometry, obtain the range information between described target object and described target obstacle, described range information comprises the distance between described target object and described target obstacle;
Alarm module 1140, when meeting pre-conditioned for the range information between described target object and described target obstacle, send alerting signal, the described pre-conditioned distance comprised between described target object and described target obstacle is less than or equal to predeterminable range.
Utilize the distance measuring sensor that the present embodiment provides, the first kind distance between each distance measuring sensor in target object and target obstacle can be obtained, and obtain Equations of The Second Kind distance between any two distance measuring sensors in target obstacle; Then, according to first kind Distance geometry Equations of The Second Kind distance, obtain the range information between target object and target obstacle, this range information comprises the distance between target object and target obstacle; When range information between target object and target obstacle meets pre-conditioned, send alerting signal, wherein, the pre-conditioned distance comprised between described target object and described target obstacle is less than or equal to predeterminable range, when range information meets pre-conditioned, automatically send alerting signal, reminding user collision free barrier, to greatly reduce in living environment lower structure to the injury of people.
The basis showing embodiment at Figure 11 also comprises memory module, and this memory module is for storing Equations of The Second Kind distance between any two distance measuring sensors in described target obstacle.Like this, do not need distance measuring sensor all to obtain Equations of The Second Kind distance between any two distance measuring sensors at every turn.
About the device in above-described embodiment, wherein the concrete mode of modules executable operations has been described in detail in about the embodiment of the method, will not elaborate explanation herein.
The block diagram of a kind of device 1200 for collision-proof method of Figure 12 according to an exemplary embodiment.Such as, device 1200 can be mobile phone, computing machine, digital broadcast terminal, messaging devices, game console, tablet device, Medical Devices, body-building equipment, personal digital assistant etc.
As shown in figure 12, device 1200 can comprise following one or more assembly: processing components 1202, storer 1204, power supply module 1206, multimedia groupware 1208, audio-frequency assembly 1210, the interface 1212 of I/O (I/O), sensor module 1214, and communications component 1216.
The integrated operation of the usual control device 1200 of processing components 1202, such as with display, call, data communication, camera operation and record operate the operation be associated.Processing components 1202 can comprise one or more processor 1220 to perform instruction, to complete all or part of step of above-mentioned method.In addition, processing components 1202 can comprise one or more module, and what be convenient between processing components 1202 and other assemblies is mutual.Such as, processing components 1202 can comprise multi-media module, mutual with what facilitate between multimedia groupware 1208 and processing components 1202.
Storer 1204 is configured to store various types of data to be supported in the operation of device 1200.The example of these data comprises for any application program of operation on device 1200 or the instruction of method, contact data, telephone book data, message, picture, video etc.Storer 1204 can be realized by the volatibility of any type or non-volatile memory device or their combination, as static RAM (SRAM), Electrically Erasable Read Only Memory (EEPROM), Erasable Programmable Read Only Memory EPROM (EPROM), programmable read only memory (PROM), ROM (read-only memory) (ROM), magnetic store, flash memory, disk or CD.
The various assemblies that power supply module 1206 is device 1200 provide electric power.Power supply module 1206 can comprise power-supply management system, one or more power supply, and other and the assembly generating, manage and distribute electric power for device 1200 and be associated.
Multimedia groupware 1208 is included in the screen providing an output interface between described device 1200 and user.In certain embodiments, screen can comprise liquid crystal display (LCD) and touch panel (TP).If screen comprises touch panel, screen may be implemented as touch-screen, to receive the input signal from user.Touch panel comprises one or more touch sensor with the gesture on sensing touch, slip and touch panel.Described touch sensor can the border of not only sensing touch or sliding action, but also detects the duration relevant to described touch or slide and pressure.In certain embodiments, multimedia groupware 1208 comprises a front-facing camera and/or post-positioned pick-up head.When device 1200 is in operator scheme, during as screening-mode or video mode, front-facing camera and/or post-positioned pick-up head can receive outside multi-medium data.Each front-facing camera and post-positioned pick-up head can be fixing optical lens systems or have focal length and optical zoom ability.
Audio-frequency assembly 1210 is configured to export and/or input audio signal.Such as, audio-frequency assembly 1210 comprises a microphone (MIC), and when device 1200 is in operator scheme, during as call model, logging mode and speech recognition mode, microphone is configured to receive external audio signal.The sound signal received can be stored in storer 1204 further or be sent via communications component 1216.In certain embodiments, audio-frequency assembly 1210 also comprises a loudspeaker, for output audio signal.
I/O interface 1212 is for providing interface between processing components 1202 and peripheral interface module, and above-mentioned peripheral interface module can be keyboard, some striking wheel, button etc.These buttons can include but not limited to: home button, volume button, start button and locking press button.
Sensor module 1214 comprises one or more sensor, for providing the state estimation of various aspects for device 1200.Such as, sensor module 1214 can detect the opening/closing state of device 1200, the relative positioning of assembly, such as described assembly is display and the keypad of device 1200, the position of all right pick-up unit 1200 of sensor module 1214 or device 1200 assemblies changes, the presence or absence that user contacts with device 1200, the temperature variation of device 1200 orientation or acceleration/deceleration and device 1200.Sensor module 1214 can comprise proximity transducer, be configured to without any physical contact time detect near the existence of object.Sensor module 1214 can also comprise optical sensor, as CMOS or ccd image sensor, for using in imaging applications.In certain embodiments, this sensor module 1214 can also comprise acceleration transducer, gyro sensor, Magnetic Sensor, pressure transducer or temperature sensor.
Communications component 1216 is configured to the communication being convenient to wired or wireless mode between device 1200 and other equipment.Device 1200 can access the wireless network based on communication standard, as WiFi, 2G or 3G, or their combination.In one exemplary embodiment, communications component 1216 receives from the broadcast singal of external broadcasting management system or broadcast related information via broadcast channel.In one exemplary embodiment, described communications component 1216 also comprises near-field communication (NFC) module, to promote junction service.Such as, can based on radio-frequency (RF) identification (RFID) technology in NFC module, Infrared Data Association (IrDA) technology, ultra broadband (UWB) technology, bluetooth (BT) technology and other technologies realize.
In the exemplary embodiment, device 1200 can be realized, for performing said method by one or more application specific integrated circuit (ASIC), digital signal processor (DSP), digital signal processing appts (DSPD), programmable logic device (PLD) (PLD), field programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic components.
In the exemplary embodiment, additionally provide a kind of non-transitory computer-readable recording medium comprising instruction, such as, comprise the storer 1204 of instruction, above-mentioned instruction can perform said method by the processor 1220 of device 1200.Such as, described non-transitory computer-readable recording medium can be ROM, random access memory (RAM), CD-ROM, tape, floppy disk and optical data storage devices etc.
A kind of non-transitory computer-readable recording medium, when the instruction in described storage medium is performed by the processor of mobile terminal, make terminal device can perform a kind of collision-proof method, described method comprises:
Obtain the first kind distance between each distance measuring sensor in target object and target obstacle;
Obtain Equations of The Second Kind distance between any two distance measuring sensors in target obstacle;
Equations of The Second Kind distance according to described first kind Distance geometry, obtains the range information between described target object and described target obstacle, and described range information comprises the distance between described target object and described target obstacle;
When range information between described target object and described target obstacle meets pre-conditioned, send alerting signal, the described pre-conditioned distance comprised between described target object and described target obstacle is less than or equal to predeterminable range.
Those skilled in the art, at consideration instructions and after putting into practice invention disclosed herein, will easily expect other embodiment of the present invention.The application is intended to contain any modification of the present invention, purposes or adaptations, and these modification, purposes or adaptations are followed general principle of the present invention and comprised the undocumented common practise in the art of the disclosure or conventional techniques means.Instructions and embodiment are only regarded as exemplary, and true scope of the present invention and spirit are pointed out by claim below.
Should be understood that, the present invention is not limited to precision architecture described above and illustrated in the accompanying drawings, and can carry out various amendment and change not departing from its scope.Scope of the present invention is only limited by appended claim.
Claims (16)
1. a collision-proof method, is characterized in that, barrier arranges multiple distance measuring sensor, comprising:
Obtain the first kind distance between each distance measuring sensor in target object and target obstacle;
Obtain Equations of The Second Kind distance between any two distance measuring sensors in target obstacle;
Equations of The Second Kind distance according to described first kind Distance geometry, obtains the range information between described target object and described target obstacle, and described range information comprises the distance between described target object and described target obstacle;
When range information between described target object and described target obstacle meets pre-conditioned, send alerting signal, the described pre-conditioned distance comprised between described target object and described target obstacle is less than or equal to predeterminable range.
2. method according to claim 1, is characterized in that, described range information comprises the moving direction of target object described in the Distance geometry between described target object and described target obstacle;
Described method also comprises: according to the first kind distance between target object described in preset time period and each distance measuring sensor, obtain the moving direction of described target object;
When described range information between described target object and described target obstacle meets pre-conditioned, send alerting signal, comprising:
Distance between described target object and described target obstacle is less than or equal to described predeterminable range, and the moving direction of described target object towards described target obstacle time, send described alerting signal.
3. method according to claim 1 and 2, it is characterized in that, if described target obstacle is parallel with described target object place plane, the plane that described target obstacle is parallel with described target object at least arranges the first distance measuring sensor and the second distance measuring sensor, and described range information is the distance between described target object and described target obstacle;
Then described according to the described first kind Distance geometry Equations of The Second Kind distance, obtain the distance between described target object and described target obstacle, comprising:
Utilize the cosine law, first kind distance between described target obstacle and described first distance measuring sensor, first kind distance between described target obstacle and described second distance measuring sensor, and the distance between described first distance measuring sensor and described second distance measuring sensor, calculate the vertical range between described target obstacle and described target object.
4. method according to claim 1 and 2, it is characterized in that, if described target obstacle and described target object place plane orthogonal, described target obstacle and the perpendicular face of described target object are provided with the 3rd distance measuring sensor, the 4th distance measuring sensor and the 5th distance measuring sensor, and described range information is the distance between described target object and described target obstacle;
Then described according to the described first kind Distance geometry Equations of The Second Kind distance, obtain the range information between described target object and described target obstacle, comprising:
Utilize the cosine law, described 3rd distance measuring sensor, described 4th distance measuring sensor and the first kind distance of described 5th distance measuring sensor respectively and between described target obstacle, Equations of The Second Kind distance in described 3rd distance measuring sensor, the 4th distance measuring sensor and the 5th distance measuring sensor between any two distance measuring sensors, calculates the vertical range between described target object and three distance measuring sensor place planes.
5. method according to claim 1 and 2, is characterized in that, described method also comprises:
When described distance measuring sensor sends alerting signal, send information to terminal device.
6. method according to claim 1 and 2, is characterized in that, described method also comprises:
Described distance measuring sensor stores the Equations of The Second Kind distance between self and each other distance measuring sensor, other distance measuring sensor described be in multiple distance measuring sensors that described target obstacle is arranged except described in send alerting signal distance measuring sensor except distance measuring sensor.
7. a collision prevention device, is characterized in that, barrier arranges multiple distance measuring sensor, comprising:
First acquisition module, for obtaining the first kind distance between each distance measuring sensor in target object and target obstacle;
Second acquisition module, for obtaining Equations of The Second Kind distance between any two distance measuring sensors in target obstacle;
3rd acquisition module, for the Equations of The Second Kind distance that the second acquisition module according to the first kind Distance geometry of described first acquisition module acquisition obtains, obtain the range information between described target object and described target obstacle, described range information comprises the distance between described target object and described target obstacle;
Alarm module, for when the described 3rd acquisition module range information obtained between described target object and described target obstacle meets pre-conditioned, send alerting signal, the described pre-conditioned distance comprised between described target object and described target obstacle is less than or equal to predeterminable range.
8. device according to claim 7, is characterized in that, described range information comprises the moving direction of target object described in the Distance geometry between described target object and described target obstacle;
Described device also comprises: the 4th acquisition module, for according to the first kind distance between target object described in preset time period and each distance measuring sensor, obtains the moving direction of described target object;
Described alarm module, described predeterminable range is less than or equal to for the distance between the target object and described target obstacle of described 3rd acquisition module acquisition, and described 4th acquisition module is when obtaining the moving direction of target object towards described target obstacle, send described alerting signal.
9. the device according to claim 7 or 8, it is characterized in that, if described target obstacle is parallel with described target object place plane, the face that described target obstacle is parallel with described target object at least arranges the first distance measuring sensor and the second distance measuring sensor, and described range information is the distance between described target object and described target obstacle;
Then described 3rd acquisition module, for utilizing the cosine law, first kind distance between described target obstacle and described first distance measuring sensor, first kind distance between described target obstacle and described second distance measuring sensor, and the distance between described first distance measuring sensor and described second distance measuring sensor, calculate the vertical range between described target obstacle and described target object.
10. the device according to claim 7 or 8, it is characterized in that, if described target obstacle and described target object place plane orthogonal, described target obstacle and the perpendicular face of described target object are provided with the 3rd distance measuring sensor, the 4th distance measuring sensor and the 5th distance measuring sensor, and described range information is the distance between described target object and described target obstacle;
Then described 3rd acquisition module, for utilizing the cosine law, described 3rd distance measuring sensor, described 4th distance measuring sensor and the first kind distance of described 5th distance measuring sensor respectively and between described target obstacle, Equations of The Second Kind distance in described 3rd distance measuring sensor, the 4th distance measuring sensor and the 5th distance measuring sensor between any two distance measuring sensors, calculates the vertical range between described target obstacle and three distance measuring sensor place planes.
11. devices according to claim 7, is characterized in that, described device also comprises:
Sending module, for when described distance measuring sensor sends alerting signal, sends information to terminal device.
12. devices according to claim 7, is characterized in that, described device also comprises:
Memory module, for making the Equations of The Second Kind distance between described distance measuring sensor storage self and other each distance measuring sensor.
13. 1 kinds of distance measuring sensors, it is characterized in that, described distance measuring sensor is arranged in target obstacle, described distance measuring sensor comprises: range finder module, communication module, computing module and alarm module;
Described range finder module, for the first kind distance between measurement target object and described range finder module place distance measuring sensor, and measure Equations of The Second Kind distance between any one other distance measuring sensor in described range finder module place distance measuring sensor and described target obstacle; Other distance measuring sensor described is the distance measuring sensor in multiple distance measuring sensors that described target obstacle is arranged except the distance measuring sensor of described range finder module place;
Described communication module, for receiving described first kind distance between other distance measuring sensor and described target object, and receives the Equations of The Second Kind distance described in any two between other distance measuring sensor;
Described computing module, for Equations of The Second Kind distance according to described first kind Distance geometry, obtain the range information between described target object and described target obstacle, described range information comprises the distance between described target object and described target obstacle;
Described alarm module, when meeting pre-conditioned for the range information between described target object and described target obstacle, send alerting signal, the described pre-conditioned distance comprised between described target object and described target obstacle is less than or equal to predeterminable range.
14. distance measuring sensors according to claim 13, is characterized in that, described communication module, also for when sending alerting signal, send information to terminal device.
15. distance measuring sensors according to claim 13, is characterized in that, also comprise memory module, for storing Equations of The Second Kind distance between any two distance measuring sensors in described target obstacle.
16. 1 kinds of terminal devices, is characterized in that, comprising:
Processor;
For the storer of storage of processor executable instruction;
Wherein, described processor is configured to:
Obtain the first kind distance between each distance measuring sensor in target object and target obstacle;
Obtain Equations of The Second Kind distance between any two distance measuring sensors in target obstacle;
Equations of The Second Kind distance according to described first kind Distance geometry, obtains the range information between described target object and described target obstacle, and described range information comprises the distance between described target object and described target obstacle;
When range information between described target object and described target obstacle meets pre-conditioned, send alerting signal, the described pre-conditioned distance comprised between described target object and described target obstacle is less than or equal to predeterminable range.
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