CN110119492A - A kind of three-dimensional collision prevention method based on echo stream - Google Patents
A kind of three-dimensional collision prevention method based on echo stream Download PDFInfo
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- CN110119492A CN110119492A CN201910450398.1A CN201910450398A CN110119492A CN 110119492 A CN110119492 A CN 110119492A CN 201910450398 A CN201910450398 A CN 201910450398A CN 110119492 A CN110119492 A CN 110119492A
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Abstract
The present invention provides a kind of three-dimensional collision prevention method based on echo stream.This method comprises: distance range formula of the computing system course to barrier；Projection of the computing system speed on course；Computing system echo flow equation；To system echo flow equation derivation, system echo flow equation derivative is setThen system stops before barrier, can collide to avoid with barrier.The present invention in complex environment can bat avoidance mode in natural imitation circle, can control the form of collision by adjusting τ ' or avoid collision.This provides a simple but powerful Research foundation for many applications.
Description
Technical field
The present invention relates to echo sensing and control technology fields, more particularly to a kind of three-dimensional collision prevention side based on echo stream
Method.
Background technique
Gibson proposes light stream concept, and Lee and his colleague have developed light stream, explained how humans and animals are not needing
In the case where the position and the self-position that calculate and recalculate all objects and barrier, it can be led in complex environment
Boat.On this basis, Graeme E.Smith by this concept expand to echo sensing field, propose by control collision time and
The method that its derivative is just avoided that collision.
Research finds that Communication in Bats control echo stream is capable of the method for avoidance as one kind.Bat uses a kind of plan
Slightly, the function (time that τ indicates object collision in relative motion) of τ and its derivative as range and angle is calculated, wherein range
A particular value is taken with the value of the derivative of angle τ, this meeting is changed in a just function of execution task.Therefore, τ is controlled
And its derivative can provide basis to avoid or controlling collision.
Summary of the invention
In view of this, the present invention provides a kind of three-dimensional collision prevention method based on echo stream.
The technical solution adopted by the present invention to solve the technical problems is: a kind of three-dimensional collision prevention method based on echo stream,
It include: distance range formula of the computing system course to barrier；Projection of the computing system speed on course；Computing system is returned
Acoustic streaming equation；To system echo flow equation derivation, system echo flow equation derivative is setThen system exists
Stop before barrier, can collide to avoid with barrier.
The beneficial effects of the present invention are: a kind of three-dimensional collision prevention method based on echo stream of the present invention, complete in complex environment
When at different movements, can bat avoidance mode in natural imitation circle, can control the form of collision by adjusting τ ' or avoid
Collision.This provides a simple but powerful Research foundation for many applications.
To enable above-mentioned purpose of the invention, feature and technical solution to be clearer and more comprehensible, preferred embodiment is cited below particularly, and
Cooperate appended attached drawing, is described in detail below.
Detailed description of the invention
Fig. 1 is that the present invention is based on the three-dimensional collision prevention method coordinate schematic diagrames that echo is flowed.
Specific embodiment
To keep the purpose, feature and technical solution of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
Middle attached drawing, technical solution in the embodiment of the present invention are clearly described, it is clear that described embodiment is only the present invention one
Section Example, instead of all the embodiments.The embodiment of the present invention for usually describing and showing in attached drawing here can be with
It arranges and designs with a variety of different configurations.Therefore, the detailed of the embodiment of the present invention provided in the accompanying drawings is retouched below
The range for being not intended to limit claimed invention is stated, but is merely representative of selected embodiment of the invention.
Bat uses a kind of strategy, calculates the function (object in τ expression relative motion of τ and its derivative as range and angle
The time of body collision), wherein the value of the derivative of range and angle τ takes a particular value, this meeting is in positive one for executing task
Function and be changed.τ is given by:
τ (r)=r/r '
Wherein r is the range of test object, and r ' is the range of object between current and previous measurement.τ (r) is to crash
The direct measurement of time is hit, there is chronomere.The time-derivative of echo stream is:
It enablesIt can be obtained by solving above-mentioned second order differential equation:
Here r is used0With r '0Indicate the distance and speed when time t=0s, τ0=r0/r′0, the case where k takes different value are as follows:
If k < 1/2, system stops before barrier；If the system of k > 1/2 collides with barrier；If k=1/2 is so
System will stop in the position of barrier.Therefore, it can control the form of collision by adjusting k or avoid collision.
Fig. 1 is the present invention is based on the three-dimensional collision prevention method coordinate schematic diagram that echo is flowed, as shown in Figure 1, system is to barrier M
The shortest distance be D；Barrier M is α in the projection in the face xoy and the angle of y-axis；System has initial velocity υ, θ1For initial velocity υ and z
Axis forward direction angle,For initial velocity υ with from the point of view of z-axis x-axis by the positive angle turned over counterclockwise；System course angle is θ2Withθ2For course and z-axis forward direction angle,For course with from the point of view of z-axis x-axis by the positive angle turned over counterclockwise；System arrives
The azimuth of the shortest distance D of barrier M is θ3Withθ3For D and z-axis forward direction angle,For D with from the point of view of z-axis x-axis by inverse
The positive angle that hour hands turn over.In order to keep formula more succinct, α=90 ° are assumed in the present embodiment, the present invention is a kind of to be based on echo
The three-dimensional collision prevention method of stream can be divided into following steps:
Step S1: the distance range formula in computing system course to barrier；
It by sine and cosine theorem, triangular transformation etc., can calculate in graphical three-dimensional coordinate system, course angle θ2WithAway from
From range formulaAre as follows:
Step S2: projection of the computing system speed on course；
Similarly, projection of the system speed on course can be calculatedAre as follows:
Step S3: computing system echo flow equation；
Above-mentioned steps S1 and step S2 has calculated system course to the distance range of barrier, system speed along course
Projection formula, then echo flow equationIt can be described as:
Step S4: to system echo flow equation derivation, system echo flow equation derivative is setThen
System stops before barrier, can collide to avoid with barrier.
In practice,The case where taking different value are as follows: ifThen system is before barrier
Stop；IfSo system will stop in the position of barrier；IfSystem
System collides with barrier.Therefore, it is arrangedIt can be to avoid collision.
The above description is merely a specific embodiment, and the present invention can also have other various embodiments, but the present invention
Protection scope be not limited thereto, anyone skilled in the art in the technical scope disclosed by the present invention,
It can easily think of the change or the replacement, should be covered by the protection scope of the present invention.
Claims (4)
1. a kind of three-dimensional collision prevention method based on echo stream characterized by comprising
Distance range formula of the computing system course to barrier；
Projection of the computing system speed on course；
Computing system echo flow equation；
To system echo flow equation derivation, system echo flow equation derivative is setThen system is in barrier
Preceding stopping can collide to avoid with barrier.
2. the method according to claim 1, wherein the distance range of the computing system course to barrier is public
The projection of formula, computing system speed on course, comprising:
By sine and cosine theorem, triangular transformation etc., the course angle θ in graphical three-dimensional coordinate system is calculated2WithDistance range it is public
FormulaProjection of the system speed on course
3. the method according to claim 1, wherein the meter computing system echo flow equation, comprising:
On the basis of having calculated the projection formula of distance range of the system course to barrier, system speed on course,
Echo flow equation can be described as
4. setting system is returned the method according to claim 1, wherein described to system echo flow equation derivation
Acoustic streaming equation derivativeThen system stops before barrier, can collide to avoid with barrier, packet
It includes:
The case where taking different value are as follows: ifThen system stops before barrier；IfSo system will stop in the position of barrier；IfSystem and barrier
It collides.Therefore, it is arrangedIt can be to avoid collision.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910450398.1A CN110119492A (en) | 2019-05-28 | 2019-05-28 | A kind of three-dimensional collision prevention method based on echo stream |
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| CN201910450398.1A CN110119492A (en) | 2019-05-28 | 2019-05-28 | A kind of three-dimensional collision prevention method based on echo stream |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016008026A1 (en) * | 2014-07-16 | 2016-01-21 | Her Majesty The Queen Of Canada, As Represented By The Minister Of National Defence | Obstacle avoidance system for stabilized aerial vehicle and method of controlling same |
| CN106526598A (en) * | 2016-12-30 | 2017-03-22 | 上海达华测绘有限公司 | Side-scan sonar underwater high-precision positioning system and method |
| CN108829134A (en) * | 2018-07-03 | 2018-11-16 | 中国船舶重工集团公司第七〇九研究所 | A kind of real-time automatic obstacle avoiding method of deepwater robot |
-
2019
- 2019-05-28 CN CN201910450398.1A patent/CN110119492A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016008026A1 (en) * | 2014-07-16 | 2016-01-21 | Her Majesty The Queen Of Canada, As Represented By The Minister Of National Defence | Obstacle avoidance system for stabilized aerial vehicle and method of controlling same |
| CN106526598A (en) * | 2016-12-30 | 2017-03-22 | 上海达华测绘有限公司 | Side-scan sonar underwater high-precision positioning system and method |
| CN108829134A (en) * | 2018-07-03 | 2018-11-16 | 中国船舶重工集团公司第七〇九研究所 | A kind of real-time automatic obstacle avoiding method of deepwater robot |
Non-Patent Citations (2)
| Title |
|---|
| 麦若绵等: "自适应无人艇测量系统架构设计与验证", 《机电设备》 * |
| 黄培等: "小型移动水质在线监测船避障方法研究", 《办公自动化》 * |
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