CN107167769A - Unmanned vehicle indoor reception device searching method and device - Google Patents
Unmanned vehicle indoor reception device searching method and device Download PDFInfo
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- CN107167769A CN107167769A CN201710340092.1A CN201710340092A CN107167769A CN 107167769 A CN107167769 A CN 107167769A CN 201710340092 A CN201710340092 A CN 201710340092A CN 107167769 A CN107167769 A CN 107167769A
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- Radar, Positioning & Navigation (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention provides a kind of unmanned vehicle indoor reception device searching method and device.The receiver searching method comprises the following steps：S100 M ultrasonic receiver of the interior setting of plane indoors, wherein M is the integer more than or equal to 3；S200 filters out effective ultrasonic receiver from M ultrasonic receiver, and coverage value of effective ultrasonic receiver apart from unmanned vehicle can be obtained by effective ultrasonic receiver；Can S300 judge construct at least one rectangle using effective ultrasonic receiver as summit；If S400 can, according to each rectangle apex coordinate and unmanned vehicle apart from each ultrasonic receiver distance, range equation group of the unmanned vehicle apart from each ultrasonic receiver is built respectively, and the current positional information of unmanned vehicle is obtained according to range equation group.The unmanned vehicle indoor reception device searching method and device of the present invention, it is not only with low cost, and the advantage that also fast search is to receiver, the precision to unmanned vehicle positioning is high.
Description
Technical field
The present invention relates to unmanned vehicle technical field, more particularly to a kind of unmanned vehicle indoor reception device searcher
Method and device.
Background technology
Unmanned plane is that one kind is dynamic, controllable, can carry multiple-task equipment, performs multiple-task and can reuse
Aircraft.The not manned vehicle that can be controlled using wireless remote control device and the control device of itself, for example nobody
Helicopter, unmanned fixed-wing aircraft, unmanned parasol etc..The unmanned plane can be used for carry filming apparatus, for taking photo by plane, surveying
Paint, investigate etc..
At present, as unmanned plane application is increasingly popularized, occur in that more boats rapidly degree faster, flying height it is higher, more
The unmanned vehicle that add operation is flexible, volume is smaller.And being continuously increased with flying speed and flying height, add aircraft
Body is less and less, to the performance requirement of aircraft also more and more higher in itself.In the prior art, most unmanned vehicles are using complete
Ball global position system（GPS）To be positioned.GPS（GPS）Application be based on satellite emission signal to
Positioning end, after positioning end receives the satellite-signal of more than 4 simultaneously, its current institute is calculated further according to related location algorithm
Locate three-dimensional coordinate, speed and time of position etc..However, the premise of this positioning principle is to receive satellite-signal, this
Just the use of GPS module is limited in outdoor and in the environment of can receiving good satellite-signal.Satellite letter is waited indoors
Under number some bad environment, we can not receive satisfactory satellite-signal, or not receive signal completely, and
And the error of the GPS position information of this signal generation becomes very large, it is virtually impossible to use.
Specifically, the lifting of unmanned vehicle flying speed and height, will cause aircraft to be realized according to manipulation request
The difficulty of hovering is improved；Small aircraft indoors or space more hidden local flight when due to satellite fix can not be realized
Or satellite fix low precision, and the problems such as can not realize spot hover, avoiding obstacles, above mentioned problem will cause unmanned vehicle
In the presence of certain potential safety hazard, while for manipulator, can not also experience good flight manipulation effect.
Documents 1（CN104932523A）A kind of localization method of unmanned vehicle is disclosed, and this method is flown by nobody
Camera on row device obtains video streaming image information, obtains characteristic point information according to parsing video image information and height is believed
Breath and attitude information, obtain the drift bearing and drift distance of aircraft, are fused into video flowing location information, then defend by obtaining
Star positioning signal, satellite positioning signal and video flowing positioning signal are carried out after fusion treatment, the location information of precision is obtained.
In addition, also having some on unmanned plane indoor positioning technologies, such as light stream location technology, inertial equipment are surveyed with excusing from death ripple
Location technology is contrasted away from location technology, camera image combination radar obstacle avoidance system location technology and camera image is combined
Deng.Although these methods can preferably be used for unmanned plane indoor positioning to a certain extent, but still having some limitations property.Such as
Using light stream or camera image location technology, not only cost is higher, and also needs to the image processing algorithm of complexity；And use
Inertia measurement device etc., then positioning precision can be subject to certain restrictions；Meanwhile, high-precision radar is then needed using radar avoidance
Scanning system, it is expensive, complicated.
Further, since the side such as current people rapidly spend to the boat of unmanned plane, flying height, operation flexibility ratio, volume size
Face proposes more and more higher requirement, and unmanned plane of the prior art more difficult takes into account positioning in the positioning devices using low cost
Precision, and positioning search is slow, it is difficult to meet above-mentioned requirements of the people to unmanned plane.
The content of the invention
The present invention is based on the one or more problems of the above, and there is provided a kind of inexpensive unmanned vehicle indoor reception device
Searching method and device, to solve the problem of positioning search is slowly present in prior art and positioning precision is low.
The present invention provides a kind of unmanned vehicle indoor reception device searching method, and the unmanned vehicle indoor reception device is searched
Suo Fangfa comprises the following steps：
S100 M ultrasonic receiver of the interior setting of plane indoors, wherein M is the integer more than or equal to 3；
S200 filters out effective ultrasonic receiver from the M ultrasonic receiver, is received by effective ultrasonic wave
Device can obtain coverage value of the effective ultrasonic receiver apart from the unmanned vehicle；
Can S300 judge construct at least one rectangle using effective ultrasonic receiver as summit；
If S400 energy, apex coordinate and the unmanned vehicle according to each rectangle are received apart from each ultrasonic wave
The distance of device, builds range equation group of the unmanned vehicle apart from each ultrasonic receiver respectively, according to it is described away from
The current positional information of the unmanned vehicle is obtained from equation group.
Preferably, the unmanned vehicle indoor reception device searching method further comprises after step S300：
If S500 can not, judge effective ultrasonic receiver quantity whether be more than or equal to 3；
If S600 is more than or equal to 3, judge that using effective ultrasonic receiver as summit right angle trigonometry can be constructed
Shape；
If S700 can construct right angled triangle, according to each right angled triangle apex coordinate and it is described nobody fly
Row device apart from the distance of each ultrasonic receiver, build the unmanned vehicle apart from each ultrasonic receiver away from
From equation group.
Preferably, the unmanned vehicle indoor reception device searching method further comprises after step S600：
If S800 can not build the right angled triangle, restart to position the position of the unmanned vehicle.
Preferably, the unmanned vehicle indoor reception device searching method further comprises after step S500：
If the quantity of S900 effective ultrasonic receivers is less than 3, restart to position the position of the unmanned vehicle
Put.
Preferably, step S400 further comprises：If the quantity of effective ultrasonic receiver is 9, and described in 9
When effective ultrasonic receiver is distributed at grade in sphere of movements for the elephants shape, then 9 rectangles are constructed, according to 9 rectangles
Apex coordinate and the unmanned vehicle to each ultrasonic receiver distance, build 9 unmanned vehicles
Apart from the range equation group of each ultrasonic receiver.
Preferably, step S400 further comprises：If the quantity of effective ultrasonic receiver is 6 or 7, structure
Build at most 3 rectangles, the apex coordinate and the unmanned vehicle according at most 3 rectangles are to each ultrasonic receiver
Distance, build at most 3 unmanned vehicles apart from each ultrasonic receiver range equation group；If or described
When the quantity of effective ultrasonic receiver is 4 or 5, at most 1 rectangle is built, when constructing a rectangle, according to institute
The apex coordinate and the unmanned vehicle of rectangle are stated to the distance of each ultrasonic receiver, build one it is described nobody
Range equation group of the aircraft apart from each ultrasonic receiver；If the quantity of effective ultrasonic receiver is 8,
At most 6 rectangles are built, when constructing 6 rectangles, apex coordinate and the unmanned vehicle according to 6 rectangles
To the distance of each ultrasonic receiver, distance of 6 unmanned vehicles apart from each ultrasonic receiver is built
Equation group.
The present invention also provides a kind of unmanned vehicle indoor reception device searcher, it is characterised in that the unmanned flight
Device indoor reception device searcher includes：
Setup module, for setting M ultrasonic receiver in plane indoors, wherein M is the integer more than or equal to 3；
Coverage acquisition module, for filtering out effective ultrasonic receiver from the M ultrasonic receiver, passes through institute
Coverage value of the effective ultrasonic receiver apart from the unmanned vehicle can be obtained by stating effective ultrasonic receiver；
First judge module, for judging that using effective ultrasonic receiver as summit at least one square can be constructed
Shape；
First range equation group builds module, for that can construct at least one using effective ultrasonic receiver as summit
During individual rectangle, according to each rectangle apex coordinate and the unmanned vehicle apart from each ultrasonic receiver away from
From range equation group of the unmanned vehicle apart from each ultrasonic receiver being built respectively, according to the range equation
Group obtains the current positional information of the unmanned vehicle.
Preferably, the second judge module, for can not be constructed using effective ultrasonic receiver as summit to
During a few rectangle, then judge whether the quantity of effective ultrasonic receiver is more than or equal to 3；
3rd judge module, when the quantity of effective ultrasonic receiver is more than or equal to 3, judges with effective ultrasound
Ripple receiver is that can summit construct right angled triangle；
Second distance equation group builds module, if right angled triangle can be constructed, the summit according to each right angled triangle
Coordinate and the unmanned vehicle build the unmanned vehicle apart from each institute apart from the distance of each ultrasonic receiver
State the range equation group of ultrasonic receiver.
Preferably, the first range equation group builds module specifically for the quantity in effective ultrasonic receiver
For 9, and 9 effective ultrasonic receivers in sphere of movements for the elephants shape when being distributed at grade, constructs 9 rectangles, according to
According to the apex coordinate and the unmanned vehicle of 9 rectangles to the distance of each ultrasonic receiver, 9 institutes are built
State range equation group of the unmanned vehicle apart from each ultrasonic receiver.
The present invention also provides a kind of unmanned vehicle indoor reception device searcher, the unmanned vehicle indoor reception device
Searcher includes:Processor, memory；The processor controls the unmanned vehicle indoor reception device searcher, institute
One section of program code of memory storage is stated, the processor calls the program code stored in the memory to perform following step
Suddenly：
S100 M ultrasonic receiver of the interior setting of plane indoors, wherein M is the integer more than or equal to 3；
S200 filters out effective ultrasonic receiver from the M ultrasonic receiver, is received by effective ultrasonic wave
Device can obtain coverage value of the effective ultrasonic receiver apart from the unmanned vehicle；
Can S300 judge construct at least one rectangle using effective ultrasonic receiver as summit；
If S400 energy, apex coordinate and the unmanned vehicle according to each rectangle are received apart from each ultrasonic wave
The distance of device, builds range equation group of the unmanned vehicle apart from each ultrasonic receiver respectively, according to it is described away from
The current positional information of the unmanned vehicle is obtained from equation group.
Unmanned vehicle indoor reception device searching method and device that the present invention is provided, it is not only with low cost, and have
The beneficial effect that fast search is to receiver, the precision to unmanned vehicle positioning is high.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the unmanned vehicle indoor reception device searching method of embodiment of the present invention one；
Fig. 2 is shown in an embodiment of embodiment of the present invention one using in the schematic diagram by the way of sphere of movements for the elephants shape；
Fig. 3 shows the structural representation of the unmanned vehicle indoor reception device searcher of embodiment of the present invention two.
Embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.If it should be noted that do not conflicted, this hair
Each feature in bright embodiment and embodiment can be combined with each other, within protection scope of the present invention.
Embodiment one
As shown in figure 1, embodiment of the present invention one provides a kind of unmanned vehicle indoor reception device searching method, described nobody flies
Row device indoor reception device searching method comprises the following steps：
S100 M ultrasonic receiver of the interior setting of plane indoors, wherein M is the integer more than or equal to 3；Here indoors
Plane can be on ceiling or ground, can also be on wall apart from the position of ground sustained height；
S200 filters out effective ultrasonic receiver from the M ultrasonic receiver, is received by effective ultrasonic wave
Device can obtain coverage value of the effective ultrasonic receiver apart from the unmanned vehicle；
Can S300 judge construct at least one rectangle using effective ultrasonic receiver as summit；
If S400 energy, apex coordinate and the unmanned vehicle according to each rectangle are received apart from each ultrasonic wave
The distance of device, builds range equation group of the unmanned vehicle apart from each ultrasonic receiver respectively, according to it is described away from
The current positional information of the unmanned vehicle is obtained from equation group.
The unmanned vehicle indoor reception device searching method that the present invention is provided, it is not only with low cost, and with quickly searching
The beneficial effect that rope is to receiver, the precision to unmanned vehicle positioning is high.
Further, the unmanned vehicle indoor reception device searching method further comprises after step S300：
If S500 can not, judge effective ultrasonic receiver quantity whether be more than or equal to 3；
If S600 is more than or equal to 3, judge that using effective ultrasonic receiver as summit right angle trigonometry can be constructed
Shape；
If S700 can construct right angled triangle, according to each right angled triangle apex coordinate and it is described nobody fly
Row device apart from the distance of each ultrasonic receiver, build the unmanned vehicle apart from each ultrasonic receiver away from
From equation group.
Preferably, the unmanned vehicle indoor reception device searching method further comprises after step S600：
If S800 can not build the right angled triangle, restart to position the position of the unmanned vehicle.
Preferably, the unmanned vehicle indoor reception device searching method further comprises after step S500：
If the quantity of S900 effective ultrasonic receivers is less than 3, restart to position the position of the unmanned vehicle
Put.
As shown in Fig. 2 in the unmanned vehicle indoor reception device searching method of the present invention, step S400 is further wrapped
Include：If the quantity of effective ultrasonic receiver is 9, and 9 effective ultrasonic receivers are distributed in sphere of movements for the elephants shape
When on same plane 101, then 9 rectangles are constructed, wherein a, b, c, d are four most basic rectangles, can be with by combination
Construct 9 rectangles, the apex coordinate and the unmanned vehicle according to 9 rectangles are to each ultrasonic receiver
Distance, build 9 unmanned vehicles apart from each ultrasonic receiver range equation group.
Specifically, when ultrasonic receiver number is 9, by 9 ultrasonic receivers（Sensor）It is placed on same
Plane, and laid according to the shape of a sphere of movements for the elephants so that the Z axis of each position is identical, the ultrasound on three longitudinal directions
The X-axis of ripple receiver is identical, and the Y-axis of the ultrasonic receiver on three horizontal directions is identical.This arrangement mode, can be greatly
Simplify the range equation group of three point coordinates.In measurement, 9 range data can be obtained, are represented with array Sarray [9], only
Needing to pick out three data (removing minimum data) wherein just can be with.
The method that the present invention is used is that array Sarray [9] is sorted according to the method for numerical value from small to large, according to solid
The distance between point in space geometrically, which becomes, turns to linear rule change, that is to say, that the distance value obtained in measurement passes through
After sequence, four minimum data must be quadrangle, thus just can according to 2 points of space range equation, list three
First quadratic equation, passes through the specific position of setting, you can the member that disappears drop time, solves the 3-dimensional coordinate of needs.
But, in practice, on the one hand due to ultrasonic receiver measurement error in itself and extraneous interference, measure
To distance there is 5cm or so error, on the other hand because the transmitting and reception of ultrasonic signal have angle limitation, cause
The problem of going out one group of active or several groups of data.These questionnaires can not be fully solved by filtering algorithm, and positioning number always occurs
It is excessive according to fluctuating so that the data obtained by sequence not meet the data of reality, i.e., four may not be in same quadrangle
On, but can be scattered on different quadrangles.
The present invention for avoid due to interference and measurement unsuccessfully cause the data entanglement of sort algorithm the problem of, first, from setting
9 ultrasonic receivers of the distribution in sphere of movements for the elephants type are selected in the plane for there are multiple ultrasonic receivers, can to construct nine kinds
The quadrangle of energy.Due to that can receive nine distance values, each distance value can find corresponding plane coordinates position, also
It is to say, if the data received are at 4 or more than 4, the combination for the quadrangle that is just bound to produce, and in this quadrangle
In, we, which only need to three groups of data, can just complete the resolving of space coordinate.And when data are more than more than 6 groups, Wo Menke
To obtain multiple space coordinates by calculate multigroup quadrangle, after being filtered and being smooth, space coordinate can become more accurate
Really.
The computational methods finally used are：According to the combination of nine kinds of quadrangles, list nine kinds and combine the plane each needed
Coordinate, by the coordinate of every kind of combination needs and apart from substituting into range equation group, if lacking corresponding distance, is not just calculated,
So calculate 9 times, data are then subjected to the disposal of gentle filter, sat so as to obtain the current accurately space of the unmanned vehicle
Mark.It is pretty troublesome for people although needing to carry out nine calculating, instantly from the point of view of processor processing speed, nine times
Simple amount of calculation is very small.
In addition, in other embodiments, the quantity of effective ultrasonic receiver can be other numbers for being more than or equal to 3
According to such as 4,5,6,7 or 8, step S400 further comprises：If the quantity of effective ultrasonic receiver is 6
It is individual or at 7, at most 3 rectangles are built, the apex coordinate and the unmanned vehicle according at most 3 rectangles are to each described
The distance of ultrasonic receiver, builds range equation of at most 3 unmanned vehicles apart from each ultrasonic receiver
Group；If or the quantity of effective ultrasonic receiver is when being 4 or 5, at most 1 rectangle is built, when constructing one
During rectangle, the apex coordinate and the unmanned vehicle according to the rectangle are to the distance of each ultrasonic receiver, structure
Build range equation group of the unmanned vehicle apart from each ultrasonic receiver；If effective ultrasonic receiver
Quantity when being 8, build at most 6 rectangles, when constructing 6 rectangles, according to 6 rectangles apex coordinate and
The unmanned vehicle builds 6 unmanned vehicles apart from each ultrasound to the distance of each ultrasonic receiver
The range equation group of ripple receiver.
Embodiment two
Fig. 3 is referred to, embodiment of the present invention two also provides a kind of unmanned vehicle room on the basis of above-mentioned embodiment one
Interior receiver searcher, the unmanned vehicle indoor reception device searcher includes：
Setup module 100, for setting M ultrasonic receiver in plane indoors, wherein M is the integer more than or equal to 3；
Coverage acquisition module 200, for filtering out effective ultrasonic receiver from the M ultrasonic receiver, leads to
Coverage of the effective ultrasonic receiver apart from the unmanned vehicle can be obtained by crossing effective ultrasonic receiver
Value；
First judge module 300, for judging that using effective ultrasonic receiver as summit at least one can be constructed
Rectangle；
First range equation group build module 400, for can be constructed using effective ultrasonic receiver as summit to
During a few rectangle, the apex coordinate and the unmanned vehicle according to each rectangle are apart from each ultrasonic receiver
Distance, range equation group of the unmanned vehicle apart from each ultrasonic receiver is built respectively, according to the distance
Equation group obtains the current positional information of the unmanned vehicle.
The unmanned vehicle indoor reception device searcher that the present invention is provided, it is not only with low cost, and with quickly searching
The beneficial effect that rope is to receiver, the precision to unmanned vehicle positioning is high.
Preferably, the second judge module, for can not be constructed using effective ultrasonic receiver as summit to
During a few rectangle, then judge whether the quantity of effective ultrasonic receiver is more than or equal to 3；
3rd judge module, when the quantity of effective ultrasonic receiver is more than or equal to 3, judges with effective ultrasound
Ripple receiver is that can summit construct right angled triangle；
Second distance equation group builds module, if right angled triangle can be constructed, the summit according to each right angled triangle
Coordinate and the unmanned vehicle build the unmanned vehicle apart from each institute apart from the distance of each ultrasonic receiver
State the range equation group of ultrasonic receiver.
Preferably, the first range equation group builds module specifically for the quantity in effective ultrasonic receiver
For 9, and 9 effective ultrasonic receivers in sphere of movements for the elephants shape when being distributed at grade, constructs 9 rectangles, according to
According to the apex coordinate and the unmanned vehicle of 9 rectangles to the distance of each ultrasonic receiver, 9 institutes are built
State range equation group of the unmanned vehicle apart from each ultrasonic receiver.
Embodiment three
Embodiment of the present invention three is also provided in a kind of unmanned vehicle indoor reception device searcher, the unmanned vehicle room
Receiver searcher includes：Processor, memory；The processor controls the unmanned vehicle indoor reception device search dress
Put, described one section of program code of memory storage, the processor calls the program code stored in the memory to perform
Following steps：
S100 M ultrasonic receiver of the interior setting of plane indoors, wherein M is the integer more than or equal to 3；
S200 filters out effective ultrasonic receiver from the M ultrasonic receiver, is received by effective ultrasonic wave
Device can obtain coverage value of the effective ultrasonic receiver apart from the unmanned vehicle；
Can S300 judge construct at least one rectangle using effective ultrasonic receiver as summit；
If S400 energy, apex coordinate and the unmanned vehicle according to each rectangle are received apart from each ultrasonic wave
The distance of device, builds range equation group of the unmanned vehicle apart from each ultrasonic receiver respectively, according to it is described away from
The current positional information of the unmanned vehicle is obtained from equation group.
The unmanned vehicle indoor reception device searcher that the present invention is provided, it is not only with low cost, and with quickly searching
The beneficial effect that rope is to receiver, the precision to unmanned vehicle positioning is high.
Preferably, the unmanned vehicle indoor reception device searching method further comprises after step S300：
If S500 can not, judge effective ultrasonic receiver quantity whether be more than or equal to 3；
If S600 is more than or equal to 3, judge that using effective ultrasonic receiver as summit right angle trigonometry can be constructed
Shape；
If S700 can construct right angled triangle, according to each right angled triangle apex coordinate and it is described nobody fly
Row device apart from the distance of each ultrasonic receiver, build the unmanned vehicle apart from each ultrasonic receiver away from
From equation group.
Preferably, the unmanned vehicle indoor reception device searching method further comprises after step S600：
If S800 can not build the right angled triangle, restart to position the position of the unmanned vehicle.
Preferably, the unmanned vehicle indoor reception device searching method further comprises after step S500：
If the quantity of S900 effective ultrasonic receivers is less than 3, restart to position the position of the unmanned vehicle
Put.
Preferably, step S400 further comprises：If the quantity of effective ultrasonic receiver is 9, and described in 9
When effective ultrasonic receiver is distributed at grade in sphere of movements for the elephants shape, then 9 rectangles are constructed, according to 9 rectangles
Apex coordinate and the unmanned vehicle to each ultrasonic receiver distance, build 9 unmanned vehicles
Apart from the range equation group of each ultrasonic receiver.
Preferably, step S400 further comprises：If the quantity of effective ultrasonic receiver is 6 or 7, structure
Build at most 3 rectangles, the apex coordinate and the unmanned vehicle according at most 3 rectangles are to each ultrasonic receiver
Distance, build at most 3 unmanned vehicles apart from each ultrasonic receiver range equation group；If or described
When the quantity of effective ultrasonic receiver is 4 or 5, at most 1 rectangle is built, when constructing a rectangle, according to institute
The apex coordinate and the unmanned vehicle of rectangle are stated to the distance of each ultrasonic receiver, build one it is described nobody
Range equation group of the aircraft apart from each ultrasonic receiver；If the quantity of effective ultrasonic receiver is 8,
At most 6 rectangles are built, when constructing 6 rectangles, apex coordinate and the unmanned vehicle according to 6 rectangles
To the distance of each ultrasonic receiver, distance of 6 unmanned vehicles apart from each ultrasonic receiver is built
Equation group.
Above to a kind of unmanned vehicle indoor reception device searching method and device provided by the present invention, carry out in detail
Introduce, specific case used herein is set forth to the principle and embodiment of the present invention, the explanation of above example
It is only intended to the method and its core concept for helping to understand the present invention；Simultaneously for those of ordinary skill in the art, according to this
The thought of invention, will change in specific embodiments and applications, in summary, and this specification content is only
Embodiments of the present invention, are not intended to limit the scope of the invention, every utilization description of the invention and accompanying drawing content
The equivalent structure or equivalent flow conversion made, or other related technical fields are directly or indirectly used in, similarly include
In the scope of patent protection of the present invention.It should not be construed as limiting the invention.
Claims (10)
1. a kind of unmanned vehicle indoor reception device searching method, it is characterised in that the unmanned vehicle indoor reception device is searched
Suo Fangfa comprises the following steps：
S100 M ultrasonic receiver of the interior setting of plane indoors, wherein M is the integer more than or equal to 3；
S200 filters out effective ultrasonic receiver from the M ultrasonic receiver, is received by effective ultrasonic wave
Device can obtain coverage value of the effective ultrasonic receiver apart from the unmanned vehicle；
Can S300 judge construct at least one rectangle using effective ultrasonic receiver as summit；
If S400 energy, apex coordinate and the unmanned vehicle according to each rectangle are received apart from each ultrasonic wave
The distance of device, builds range equation group of the unmanned vehicle apart from each ultrasonic receiver respectively, according to it is described away from
The current positional information of the unmanned vehicle is obtained from equation group.
2. unmanned vehicle indoor reception device searching method as claimed in claim 1, it is characterised in that the unmanned vehicle
Indoor reception device searching method further comprises after step S300：
If S500 can not, judge effective ultrasonic receiver quantity whether be more than or equal to 3；
If S600 is more than or equal to 3, judge that using effective ultrasonic receiver as summit right angle trigonometry can be constructed
Shape；
If S700 can construct right angled triangle, according to each right angled triangle apex coordinate and it is described nobody fly
Row device apart from the distance of each ultrasonic receiver, build the unmanned vehicle apart from each ultrasonic receiver away from
From equation group.
3. unmanned vehicle indoor reception device searching method as claimed in claim 2, it is characterised in that the unmanned vehicle
Indoor reception device searching method further comprises after step S600：
If S800 can not build the right angled triangle, restart to position the position of the unmanned vehicle.
4. unmanned vehicle indoor reception device searching method as claimed in claim 2, it is characterised in that the unmanned vehicle
Indoor reception device searching method further comprises after step S500：
If the quantity of S900 effective ultrasonic receivers is less than 3, restart to position the position of the unmanned vehicle
Put.
5. unmanned vehicle indoor reception device searching method as claimed in claim 1, it is characterised in that step S400 is further
Including：If the quantity of effective ultrasonic receiver is 9, and 9 effective ultrasonic receivers are in sphere of movements for the elephants shape point
Cloth at grade when, then construct 9 rectangles, apex coordinate and the unmanned vehicle according to 9 rectangles
To the distance of each ultrasonic receiver, distance of 9 unmanned vehicles apart from each ultrasonic receiver is built
Equation group.
6. unmanned vehicle indoor reception device searching method as claimed in claim 1, it is characterised in that step S400 is further
Including：If the quantity of effective ultrasonic receiver is 6 or 7, at most 3 rectangles are built, according at most 3 rectangles
Apex coordinate and the unmanned vehicle to each ultrasonic receiver distance, build at most 3 it is described nobody fly
Range equation group of the row device apart from each ultrasonic receiver；If or the quantity of effective ultrasonic receiver is 4
Or at 5, build at most 1 rectangle, when constructing a rectangle, according to the rectangle apex coordinate and it is described nobody
Aircraft builds a unmanned vehicle apart from each ultrasonic receiver to the distance of each ultrasonic receiver
Range equation group；If the quantity of effective ultrasonic receiver is 8, at most 6 rectangles are built, when constructing 6
During rectangle, according to 6 rectangles apex coordinate and the unmanned vehicle to each ultrasonic receiver distance,
Build range equation group of 6 unmanned vehicles apart from each ultrasonic receiver.
7. a kind of unmanned vehicle indoor reception device searcher, it is characterised in that the unmanned vehicle indoor reception device is searched
Rope device includes：
Setup module, for setting M ultrasonic receiver in plane indoors, wherein M is the integer more than or equal to 3；
Coverage acquisition module, for filtering out effective ultrasonic receiver from the M ultrasonic receiver, passes through institute
Coverage value of the effective ultrasonic receiver apart from the unmanned vehicle can be obtained by stating effective ultrasonic receiver；
First judge module, for judging that using effective ultrasonic receiver as summit at least one square can be constructed
Shape；
First range equation group builds module, for that can construct at least one using effective ultrasonic receiver as summit
During individual rectangle, according to each rectangle apex coordinate and the unmanned vehicle apart from each ultrasonic receiver away from
From range equation group of the unmanned vehicle apart from each ultrasonic receiver being built respectively, according to the range equation
Group obtains the current positional information of the unmanned vehicle.
8. unmanned vehicle indoor reception device searcher as claimed in claim 7, it is characterised in that
Second judge module, at least one rectangle can not to be constructed using effective ultrasonic receiver as summit
When, then judge whether the quantity of effective ultrasonic receiver is more than or equal to 3；
3rd judge module, when the quantity of effective ultrasonic receiver is more than or equal to 3, judges with effective ultrasound
Ripple receiver is that can summit construct right angled triangle；
Second distance equation group builds module, if right angled triangle can be constructed, the summit according to each right angled triangle
Coordinate and the unmanned vehicle build the unmanned vehicle apart from each institute apart from the distance of each ultrasonic receiver
State the range equation group of ultrasonic receiver.
9. unmanned vehicle indoor reception device searcher as claimed in claim 8, it is characterised in that the first distance side
Journey group builds module specifically for being 9 in the quantity of effective ultrasonic receiver, and 9 effective ultrasonic waves are received
When device is distributed at grade in sphere of movements for the elephants shape, 9 rectangles, the apex coordinate of 9 rectangles of foundation and institute are constructed
Unmanned vehicle is stated to the distance of each ultrasonic receiver, 9 unmanned vehicles are built apart from each ultrasonic wave
The range equation group of receiver.
10. a kind of unmanned vehicle indoor reception device searcher, it is characterised in that the unmanned vehicle indoor reception device is searched
Rope device includes：Processor, memory；The processor controls the unmanned vehicle indoor reception device searcher, described
One section of program code of memory storage, the processor calls the program code stored in the memory to perform following step
Suddenly：
S100 M ultrasonic receiver of the interior setting of plane indoors, wherein M is the integer more than or equal to 3；
S200 filters out effective ultrasonic receiver from the M ultrasonic receiver, is received by effective ultrasonic wave
Device can obtain coverage value of the effective ultrasonic receiver apart from the unmanned vehicle；
Can S300 judge construct at least one rectangle using effective ultrasonic receiver as summit；
If S400 energy, apex coordinate and the unmanned vehicle according to each rectangle are received apart from each ultrasonic wave
The distance of device, builds range equation group of the unmanned vehicle apart from each ultrasonic receiver respectively, according to it is described away from
The current positional information of the unmanned vehicle is obtained from equation group.
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