CN110174644A - The method and apparatus and smart machine of ranging are carried out using more wireless sensing signals - Google Patents
The method and apparatus and smart machine of ranging are carried out using more wireless sensing signals Download PDFInfo
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- CN110174644A CN110174644A CN201910397551.9A CN201910397551A CN110174644A CN 110174644 A CN110174644 A CN 110174644A CN 201910397551 A CN201910397551 A CN 201910397551A CN 110174644 A CN110174644 A CN 110174644A
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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
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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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
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Abstract
Distance measuring method, device and smart machine are carried out using more wireless sensing signals the invention discloses a kind of, this method comprises: sending the first signal to each wireless sensor, so that each wireless sensor is reconverted into wireless sensing signal after being modulated using corresponding modulated signal to first signal, and emit the wireless sensing signal；The second signal of any wireless sensor feedback is received, the second signal is the signal after the reflected wireless sensing signal conversion of barrier, demodulated using corresponding demodulated signal that the wireless sensor will receive；When determining that the second signal is consistent with the first signal, according to the difference of the sending time of first signal and the receiving time of second signal, the distance between the wireless sensor and barrier are determined.The present invention improves the anti-interference of multiple wireless sensors, and the scan frequency for improving more wireless sensors is supported to carry out ranging.
Description
Technical field
The present invention relates to wireless sensing ranging technology field more particularly to it is a kind of utilize more wireless sensing signals carry out ranging
Method and apparatus and smart machine.
Background technique
Ultrasonic wave is the mechanical wave that a kind of sound wave beyond human hearing limit i.e. vibration frequency is higher than 20kHz.Ultrasonic wave
The course of work of sensor is exactly the mutual conversion process between voltage and ultrasonic wave, when ultrasonic sensor emits ultrasonic wave
When, the probe for emitting ultrasonic wave launches the ultrasonic wave that voltage converts, and when ultrasonic sensor receives ultrasonic wave, receives
The voltage of Ultrasonic transformation is transmitted back to microcontroller chip by the probe of ultrasonic wave.Ultrasonic wave have vibration frequency is high, wavelength is short, around
The advantages that phenomenon is small and good directionality can also be reflected ray direction propagation is penetrated, and the energy consumption of ultrasonic sensor is slow
Conducive to ranging.
Existing ultrasonic distance measurement scheme mainly uses two-way time detection method.Ultrasonic wave transmitting probe is sent out to a direction
Ultrasonic wave is penetrated, starts timing while emission time, ultrasonic wave is propagated in air, is encountered barrier on the way and is just returned immediately
Come, ultrasonic wave receiving transducer receives back wave and just stops timing immediately.It is assumed that s (rice) be testee between rangefinder away from
From timing duration is t (second), and ultrasonic propagation velocity is v (meter per second), then has relational expression s=vt/2.
Ultrasonic sensor ranging working principle is simple, is not interfered by ambient light, is usually selected as mobile machine
People's distance measuring sensor.Current robot application realizes positioning function towards different angle multiple ultrasonic sensors, in order to reduce
Interference between multiple ultrasonic sensors, timesharing sends ultrasonic wave and is scanned when multiple ultrasonic sensors, once can only be right
Single target point carries out ranging, if the interval of Time share scanning is smaller between multiple ultrasonic sensors, still can exist super
Signal interferes with each other between sound wave, needs further to increase sweep spacing to reduce interference, will reduce each ultrasound in this way
The scan frequency of wave sensor.
It needs a kind of more wireless sensing signals to carry out the scheme of ranging at present, solves wireless sensing as similar ultrasonic wave
The low problem of signal scanning frequency.
Summary of the invention
The present invention provides a kind of method and apparatus and smart machine that ranging is carried out using more wireless sensing signals, Ke Yipai
The case where except interfering with each other between multiple wireless sensor signals, carries out ranging using correct wireless sensor signal, thus
The scan frequency for improving multiple wireless sensors is supported to carry out ranging.
In a first aspect, the present invention provides a kind of method for carrying out ranging using more wireless sensing signals, set applied to intelligence
Standby, the smart machine includes multiple wireless sensors, comprising:
The first signal is sent to each wireless sensor, so that each wireless sensor is using corresponding modulated signal to described the
One signal is reconverted into wireless sensing signal after being modulated, and emits the wireless sensing signal；
The second signal of any wireless sensor feedback is received, the second signal is the quilt that the wireless sensor will receive
After barrier reflected wireless sensing signal conversion, the signal that recycles corresponding demodulated signal to be demodulated；
When determining that the second signal is consistent with the first signal, according to the sending time and second signal of first signal
Receiving time difference, determine the distance between the wireless sensor and barrier.
In one possible implementation, the wireless sensing signal is ultrasonic signal, infrared signal or laser letter
Number.
In one possible implementation, the corresponding modulated signal of different radio sensor is used for identical original wave
The signal modulation of shape is the signal of different voltages impulse waveform, the corresponding demodulated signal of different radio sensor, for that will correspond to
The signal of modulated different voltages impulse waveform revert to the signal of identical original waveform.
In one possible implementation, the different voltages impulse waveform includes following any or appoints multiple and different:
The amplitude of identical sequence code is different in the corresponding sequence code of different voltages impulse waveform；
The value of same position sequence code is different in the corresponding sequence code of different voltages impulse waveform；
The duration of identical sequence code is different in the corresponding sequence code of different voltages impulse waveform.
In one possible implementation, this method further include:
According to presetting, modulated signal/demodulated signal corresponding with each wireless sensor is determined, and be sent to corresponding
Wireless sensor；Or
The modulated signal distribution request for carrying smart machine location information is reported to network side, receives each of network side distribution
Corresponding modulated signal/the demodulated signal of wireless sensor, and it is sent to corresponding wireless sensor.
In one possible implementation, each wireless sensor of multiple smart machines in presumptive area point
Modulated signal/demodulated signal that Shi Yong be not different.
In one possible implementation, the first signal is sent to each wireless sensor, comprising:
It is set at least one wireless sensor for the first predeterminated position relationship that meets in the first preset time period with first
Determine frequency while sending the first signal；
It is set at least one wireless sensor for the second predeterminated position relationship that meets in the second preset time period with second
Determine frequency while sending the first signal.
Second aspect, the present invention provide a kind of smart machine, including processor, memory and multiple wireless sensors,
Described in computer program is stored in memory, the processor is for executing program in the memory and executing:
The first signal is sent to each wireless sensor, so that each wireless sensor is using corresponding modulated signal to described the
One signal is reconverted into wireless sensing signal after being modulated, and emits the wireless sensing signal；
The second signal of any wireless sensor feedback is received, the second signal is the quilt that the wireless sensor will receive
After barrier reflected wireless sensing signal conversion, the signal that recycles corresponding demodulated signal to be demodulated；
When determining that the second signal is consistent with the first signal, according to the sending time and second signal of first signal
Receiving time difference, determine the distance between the wireless sensor and barrier.
In one possible implementation, the wireless sensing signal is ultrasonic signal, infrared signal or laser letter
Number.
In one possible implementation, the corresponding modulated signal of different radio sensor is used for identical original wave
The signal modulation of shape is the signal of different voltages impulse waveform, the corresponding demodulated signal of different radio sensor, for that will correspond to
The signal of modulated different voltages impulse waveform revert to the signal of identical original waveform.
In one possible implementation, the different voltages impulse waveform includes following any or appoints multiple and different:
The amplitude of identical sequence code is different in the corresponding sequence code of different voltages impulse waveform；
The value of same position sequence code is different in the corresponding sequence code of different voltages impulse waveform；
The duration of identical sequence code is different in the corresponding sequence code of different voltages impulse waveform.
In one possible implementation, the processor is also used to:
According to presetting, modulated signal/demodulated signal corresponding with each wireless sensor is determined, and be sent to corresponding
Wireless sensor；Or
The modulated signal distribution request for carrying smart machine location information is reported to network side, receives each of network side distribution
Corresponding modulated signal/the demodulated signal of wireless sensor, and it is sent to corresponding wireless sensor.
In one possible implementation, each wireless sensor of multiple smart machines in presumptive area point
Modulated signal/demodulated signal that Shi Yong be not different.
In one possible implementation, the processor is specifically used for:
It is set at least one wireless sensor for the first predeterminated position relationship that meets in the first preset time period with first
Determine frequency while sending the first signal；
It is set at least one wireless sensor for the second predeterminated position relationship that meets in the second preset time period with second
Determine frequency while sending the first signal.
In one possible implementation, each wireless sensor is with annular spread and positioned at the side of same level
The arrangement of formula is on intelligent devices.
The third aspect, the present invention are provided a kind of device for being carried out ranging using more wireless sensing signals, set applied to intelligence
Standby, the smart machine includes multiple wireless sensors, comprising:
Signal transmitting unit, for sending the first signal to each wireless sensor, so that each wireless sensor utilizes correspondence
Modulated signal first signal is modulated after be reconverted into wireless sensing signal, and emit wireless sensing letter
Number；
Signal receiving unit, for receiving the second signal of any wireless sensor feedback, the second signal is the nothing
Line sensor will be received by after the reflected wireless sensing signal conversion of barrier, and corresponding demodulated signal is recycled to carry out
Demodulate obtained signal；
Distance determining unit, when for determining that the second signal is consistent with the first signal, according to first signal
The difference of the receiving time of sending time and second signal, determines the distance between the wireless sensor and barrier.
In one possible implementation, the corresponding modulated signal of different radio sensor is used for identical original wave
The signal modulation of shape is the signal of different voltages impulse waveform, the corresponding demodulated signal of different radio sensor, for that will correspond to
The signal of modulated different voltages impulse waveform revert to the signal of identical original waveform.
In one possible implementation, the different voltages impulse waveform includes following any or appoints multiple and different:
The amplitude of identical sequence code is different in the corresponding sequence code of different voltages impulse waveform；
The value of same position sequence code is different in the corresponding sequence code of different voltages impulse waveform；
The duration of identical sequence code is different in the corresponding sequence code of different voltages impulse waveform.
In one possible implementation, the smart machine further include:
First notification unit, for according to presetting, determining modulated signal corresponding with each wireless sensor/demodulation letter
Number, and it is sent to corresponding wireless sensor；Or
Second notification unit, for reporting the modulated signal distribution request for carrying smart machine location information to network side,
Corresponding modulated signal/the demodulated signal of each wireless sensor of network side distribution is received, and is sent to corresponding wireless sensor.
In one possible implementation, each wireless sensor of multiple smart machines in presumptive area point
Modulated signal/demodulated signal that Shi Yong be not different.
In one possible implementation, signal transmitting unit sends the first signal to each wireless sensor, comprising:
It is set at least one wireless sensor for the first predeterminated position relationship that meets in the first preset time period with first
Determine frequency while sending the first signal；
It is set at least one wireless sensor for the second predeterminated position relationship that meets in the second preset time period with second
Determine frequency while sending the first signal.
Fourth aspect, the present invention provide a kind of computer storage medium, are stored thereon with computer program, which is located
Reason device realizes the step of carrying out the method for ranging using more wireless sensing signals of above-mentioned first aspect offer when executing.
The embodiment of the present invention using more wireless sensing signals carry out ranging method and apparatus and smart machine, have with
It is lower the utility model has the advantages that
The embodiment of the present invention emits after being modulated to the transmitting signal of multiple wireless sensings, due to using different modulation
Signal modulation can use corresponding demodulated signal and determine whether to obtain correctly reflection signal, really when receiving reflection signal
Ranging is carried out when demodulating correct surely again, therefore ranging can be carried out to avoid using disturbed signal, improves while emitting more
The anti-interference degree of a wireless sensor signal can support the scan frequency for improving wireless sensor to carry out ranging.
Detailed description of the invention
Fig. 1 is the method flow diagram that ranging is carried out using more wireless sensing signals that the embodiment of the present invention one provides；
Fig. 2 is a kind of waveform diagram of the modulated signal of possible embodiment provided in an embodiment of the present invention；
Fig. 3 is the waveform diagram of the modulated signal of alternatively possible embodiment provided in an embodiment of the present invention；
Fig. 4 is the detailed process of the method provided by Embodiment 2 of the present invention that ranging is carried out using more wireless sensing signals
Figure；
Fig. 5 is a kind of smart machine structure chart provided in an embodiment of the present invention；
Fig. 6 is a kind of structure drawing of device that ranging is carried out using more wireless sensing signals that the embodiment of the present invention improves.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
Embodiment one
The embodiment of the present invention provides a kind of method for carrying out ranging using more wireless sensing signals, is applied to smart machine,
The smart machine includes multiple wireless sensors, and ranging is realized in the processor of smart machine and the cooperation of multiple wireless sensors, on
Method is stated to be executed by processor, as shown in Figure 1, this method comprises:
Step 101, the first signal is sent to each wireless sensor, so that wireless sensor utilizes corresponding modulated signal pair
Above-mentioned first signal is reconverted into wireless sensing signal after being modulated, and emits above-mentioned wireless sensing signal；
Above-mentioned wireless sensor can be, but not limited to be ultrasonic sensor, infrared sensor or laser sensor, above-mentioned
Wireless sensing signal corresponds to ultrasonic signal, infrared signal or laser signal.
Above-mentioned each wireless sensor is counted as a node, possesses wireless communication ability, while also having certain letter
Number processing capacity, generally will include sensing module, data processing module and radio-frequency module, radio-frequency module can play one it is simple
The effect of transmitter or transceiver (TX/RX), sensing module is for incuding/detecting wireless sensing signal.
The corresponding modulated signal of different radio sensor is different, and each wireless sensor is handled by data processing module reception
The first signal that device is sent, after being modulated using corresponding modulated signal to above-mentioned first signal, again with sensing module cooperation
Wireless sensing signal is converted to, such as the first signal of current forms is converted into ultrasonic signal, infrared signal or laser and is believed
Number etc., and emitted by radio-frequency module.
Step 102, the second signal of any wireless sensor feedback is received, above-mentioned second signal will for the wireless sensor
The letter after the reflected wireless sensing signal conversion of barrier, demodulated using corresponding demodulated signal received
Number；
The corresponding demodulated signal of different radio sensor is different, after each wireless sensor transmitting wireless sensing signal, wirelessly
Transducing signal, which encounters, to be received after barrier is reflected back by the radio-frequency module in wireless sensor, is obtained by sensing module
Corresponding wireless sensing signal is converted to the signal of current forms with data processing module cooperation, and is believed using corresponding demodulation
Second signal is obtained after number being modulated to above-mentioned signal, by obtained second signal feedback to processor.
Step 103, when determining that above-mentioned second signal is consistent with the first signal, according to the sending time of the first signal and second
The difference of the receiving time of signal determines the distance between the wireless sensor and barrier.
The characteristics of wireless sensing signal is to encounter barrier to reflect, and determines above-mentioned second signal and the first signal
When consistent, illustrate not interfere, utilizes the biography of the wireless sensor launch time and receiving time difference and wireless sensing signal
Speed is broadcast, determines the distance between wireless sensor and corresponding barrier.
The modulated signal that each wireless sensor uses with demodulated signal be it is corresponding, i.e., will be a certain original using modulated signal
After signal is modulated, demodulate to obtain above-mentioned original signal to modulated signal using demodulated signal, specific modulated signal and
This embodiment is not limited for the form of demodulated signal, it is all be able to achieve it is above-mentioned by same original signal modulation after obtain different letters
Number modulated signal, and signal after modulation is reverted to the demodulated signal of original signal, is accordingly to be regarded as difference described in the present embodiment
Modulated signal and corresponding demodulated signal.
Above-mentioned modulated signal and demodulated signal can be same signal, can also use different signals.
The embodiment of the present invention emits after being modulated to the transmitting signal of multiple wireless sensings, due to using different modulation
Signal modulation, therefore the wireless sensing signal emitted is different, when receiving wireless sensing signal reflected by barrier, by
It is demodulated in using corresponding demodulated signal, thus may determine that whether obtaining correctly reflecting signal, is received just in determination
When true reflection signal, the difference of the launch time and reflection signal reception time that utilize transmitting signal carry out ranging, determine solution
When adjusting mistake, illustrate that wireless sensing signal interferes, disturbed signal can not be used to carry out ranging, therefore improves same
When emit the anti-interference degree that multiple wireless sensor signals carry out rangings, the scan frequency that wireless sensor can be improved carries out
Ranging.
Above-mentioned first signal/second signal in the present embodiment is voltage pulse signal, and different radio sensor is corresponding
Modulated signal, for the voltage pulse signal of identical original waveform to be modulated to the signal of different voltages impulse waveform, different nothings
The corresponding demodulated signal of line sensor, for the signal of corresponding modulated different voltages impulse waveform to be reverted to original wave
The voltage pulse signal of shape.
The present embodiment is using the sending time of voltage pulse signal and connecing for modulated voltage pulse signal before modulation
The time difference is received, as the launch time of transmitting signal and the difference of reflection signal reception time, each wireless sensing can also be used
The time of device transmission wireless sensor signal and the time difference for receiving wireless sensor, as the launch time for emitting signal and instead
Penetrate the difference of signal reception time, i.e., by each wireless sensor by above-mentioned time feedbacking to processor, difference is determined by processor,
Or direct above-mentioned difference is fed back into processor by each wireless sensor.
Above-mentioned voltage pulse waveforms can with but be not limited to triangular wave or rectangular wave etc., if using rectangular wave, electricity
Pressure impulse waveform waveform parameter includes sequence code value, and sequence code value can use discrete 0,1 description, and such as 1 indicates high voltage
Pulse, 0 indicates low voltage pulse, in addition, in order to specifically limit waveform, waveform parameter further includes the amplitude of high voltage pulse, height
The duration of voltage pulse, the duration of the amplitude of low voltage pulse, low voltage pulse.If using triangle, electricity
Pressure impulse waveform waveform parameter includes sequence code value, and discrete 0,1 description of value of sequence code, such as 1 indicates ascending wave electricity
Pulse is pressed, 0 indicates decline wave voltage pulse, in addition, in order to specifically limit waveform, waveform parameter further includes ascending wave voltage pulse
Duration, decline duration of wave voltage pulse, the amplitude of ascending wave voltage waveform vertex distance the lowest point, decline wave electricity
Amplitude of the valley point of corrugating apart from vertex.It is, of course, also possible to be other shapes wave, such as trapezoidal wave, then corresponds to and specifically describe wave
The parameter of shape is also different.
Type of waveform difference such as triangular wave and rectangular wave are considered as different voltage pulse waveforms, same type waveform tool
There are the voltage pulse waveforms of different wave parameter, be considered as different voltage pulse waveforms, waveform parameter difference refers at least one wave
Shape parameter is different.As a kind of possible embodiment, the difference of above-mentioned different voltages impulse waveform includes such as in the present embodiment
Under it is any or appoint it is multiple and different:
1) amplitude of identical sequence code is different in the corresponding sequence code of different voltages impulse waveform；
The corresponding sequence code of different voltages impulse waveform is 0,1 yard of foregoing description waveform, and the amplitude of identical sequence code is not
Together, the amplitude for representing the corresponding voltage pulse of the sequence code is different, and such as rectangular wave, the amplitude of high voltage pulse is different, or
The amplitude of low voltage pulse is different, such as triangular wave, rises vertex amplitude difference or the paddy of failing edge pulse of wave impulse
Point amplitude is different.
Above-mentioned identical sequence code can be the sequence code of same time location in two voltage pulse waveforms, be also possible to
The sequence code of different time position.
2) value of same time position sequence code is different in the corresponding sequence code of different voltages impulse waveform；
In the corresponding sequence code of different voltages impulse waveform in same time position sequence code, if there is a time location
Sequence code value it is different, be considered as the value of same time position sequence code in the corresponding sequence code of different voltages impulse waveform
It is different.
Same time position in the corresponding sequence code of different voltages impulse waveform, for using the same time as when starting point, phase
Same time location.
Two sequence codes such as identical for the single sequence code duration, one of sequence code are 01001, another
Sequence code is 10111.
3) duration of identical sequence code is different in the corresponding sequence code of different voltages impulse waveform.
In the corresponding sequence code of different voltages impulse waveform in identical sequence code, if there is the duration of a sequence code
Difference, the duration for being considered as identical sequence code in the corresponding sequence code of different voltages impulse waveform are different.
Such as two voltage pulse waveforms of identical sequence code, sequence code is 01001, wherein second sequence code
1 duration is different.
Each wireless sensor can use corresponding modulated signal, be that there are upper by same primary voltage pulse signal modulation
State any or multiple and different voltage pulse signal.
On the basis of the above embodiment, some changes can also be made, as using modulated signal by same waveform
After primary voltage pulse signal modulation, change the type of waveform, rectangular wave is such as modulated into triangular wave, or be by triangular modulation
Rectangle etc..
Several wireless sensors are given below using corresponding modulated signal, by the signal of identical primary voltage impulse waveform
It is modulated to the specific example of the signal of different voltages impulse waveform.
Example 1, using modulated signal by after the primary voltage pulse signal modulation of same waveform, different voltage pulse waves
The value of same time position sequence code is different in the corresponding sequence code of shape signal；
As shown in Fig. 2, the time span t0 in ranging period, the sweep time section within the ranging period send the first signal to
Each wireless sensor, each wireless sensor are modulated the first signal using different modulated signals, can make modulated hair
Signal is penetrated with different waveforms.If the first signal is 111111, obtained after carrying out or non-operation using modulated signal 010110
Sequence code 101001 obtains sequence code 100111 after carrying out or non-operation using modulated signal 011000.
Correspondingly, if after receiving wireless sensing signal is converted to 101001, using demodulated signal 010110 into
Row or non-operation demodulates to obtain 111111, illustrates to receive correct wireless sensing signal.
Correspondingly, if after receiving wireless sensing signal is converted to 100111, using demodulated signal 010110 into
Row or non-operation demodulates to obtain 011000, illustrates to receive correct wireless sensing signal.
Example 2, different voltage pulse waveforms signals consistent, voltage pulse waveforms shape for voltage pulse duration length
The different waveform signal of shape.
As shown in figure 3, the time span t0 in ranging period, the sweep time section within the ranging period send the first signal to
Each wireless sensor, each wireless sensor are modulated the first signal using different modulated signals, can make modulated hair
Signal is penetrated with different types of waveform.Such as be respectively adopted triangular wave or rectangular wave to transmitting signal be modulated after, obtain
The transmitting signal of different type waveform.
When receiving reflection signal, reflection signal is demodulated using each wireless sensor corresponding demodulated signal, root
It is whether consistent with before modulation according to signal after demodulation, judge whether to receive correctly reflection signal.
As a kind of possible embodiment, all wireless sensors send the first letter simultaneously in Xiang Shangshu smart machine
Number, then all wireless sensors send simultaneously it is modulated after obtained wireless sensing signal, since garbled-reception inspection can be carried out
It surveys, therefore even if being closer caused interference in the presence of due to wireless sensor, interference signal can also be rejected using correctly
Signal carries out ranging.
It as alternatively possible embodiment, can be configured from the distribution spatially to each wireless sensor, to the greatest extent
Amount is avoided the occurrence of since wireless sensor is closer caused interference, can be, but not limited to enterprising from space in the following way
Row isolation:
Arrangement of each wireless sensor by annular spread and in a manner of being located at same level is on intelligent devices.
Each wireless sensor by annular spread and be located at same level in a manner of arrangement on intelligent devices, Ke Yijin
One step realizes the smart machine positioning/barrier avoiding function mobile to all directions, and that is arranged in a manner of annular spread is multiple wireless
Sensor can be respectively facing angular range different on horizontal plane, to realize that 360 degree scan without dead angle.
It is, of course, also possible to be other shapes, and it is not limited to the space isolation mode that can be realized positioned at same level
Distribution.
As another possible embodiment, can from the time to the signal that each wireless sensor is sent carry out every
From can be, but not limited in the following way:
It is set at least one wireless sensor for the first predeterminated position relationship that meets in the first preset time period with first
Determine frequency while sending the first signal；
It is set at least one wireless sensor for the second predeterminated position relationship that meets in the second preset time period with second
Determine frequency while sending the first signal.
Above-mentioned first time period and second time period are the different periods, as previously mentioned, the ranging period is reached, in ranging
Sweep time section in period is scanned with certain frequency.First preset time period and the second preset time period can be simultaneously
In sweep time section within the same ranging period, the first preset time period and the second preset time period can adopt in time
Preceding half of the period for being sweep time section with alternatively distributed mode, such as the first preset time period, the second preset time period are
Rear half of period of sweep time section, the first preset time period and the second preset time period can be located in the different ranging periods
Sweep time section.
At least one wireless sensor of above-mentioned the first predeterminated position of satisfaction relationship, with the second predeterminated position relationship that meets
At least one wireless sensor, for the wireless sensor for being easy to happen inter-signal interference, such as the wireless sensor of adjacent position.
Such as two sensors relatively more similar for position, it can be isolated from the time and be scanned, it specifically can be right
Wireless sensor is numbered by distributing order, for the wireless sensor of odd-numbered, in the first preset time period, with
One setpoint frequency sends the first signal simultaneously, for the wireless sensor of even-numbered, in the second preset time period, with second
Setpoint frequency sends the first signal simultaneously.Above-mentioned is only that one kind of the first predeterminated position relationship and the second time location relationship is shown
Example, can also be the first predeterminated position relationship and the second time location relationship of other forms certainly.
The first setpoint frequency and the second setpoint frequency of above-mentioned the first signal sent within the different set period, can be with
It is identical frequency, it is of course also possible to use different frequencies.
As a kind of possible embodiment, the corresponding modulation letter of different radio sensor in said one smart machine
Number/demodulated signal difference, the anti-interference situation of the equipment can be improved, support the sweep speed for improving distance measuring signal.
As alternatively possible embodiment, each wireless sensor of multiple smart machines in presumptive area
Different modulated signal/demodulated signals is used respectively.
Above-mentioned presumptive area is the region of multiple smart machine joint activities, such as same indoor or same outer plaza
Deng.For the multiple smart machines being located in presumptive area, set all wireless sensors in multiple smart machines to pair
Answer different modulated signal/demodulated signals, not only can to avoid the signal interference between wireless sensor each between same smart machine,
It can also avoid the signal interference between multiple smart machines between wireless sensor.
All wireless sensors in multiple smart machines correspond to different modulated signal/demodulated signals, can specifically join
The description for seeing above-described embodiment, is no longer repeated here.
Different modulated signal/demodulated signal configurations is corresponded to for different radio sensor in said one equipment, and
Wireless sensors all in distinct device are corresponded to different modulated signal/demodulated signal configurations, can be appointed using following
One configuration mode combines implementation:
1) the corresponding modulated signal/demodulated signal of different radio sensor, can be matched in advance by the way of static configuration
It sets in each wireless sensor.
Specifically corresponding modulated signal/demodulation letter can be configured for different wireless sensor initializings when equipment is dispatched from the factory
Number.
2) the corresponding modulated signal/demodulated signal of different radio sensor, can be by the way of dynamic configuration, by handling
Corresponding modulated signal/the demodulated signal of different radio sensor is sent to corresponding wireless sensor by device；
It can be the different modulated signal/demodulation of each wireless sensor dynamic configuration by the processor in smart machine
Signal.
Specifically, processor can determine modulated signal corresponding with each wireless sensor/demodulation letter according to presetting
Number, and it is sent to corresponding wireless sensor, different radio can also be configured in processor by the application interface of smart machine
Corresponding modulated signal/the demodulated signal of sensor, is sent to wireless sensor by processor.
Alternatively, processor reports the modulated signal distribution request for carrying smart machine location information to network side, net is received
Corresponding modulated signal/the demodulated signal of each wireless sensor of network side distribution, and it is sent to corresponding wireless sensor.
It is each wireless biography of smart machine by network side since the location information of different intelligent equipment can be obtained
Sensor configures corresponding modulated signal/demodulated signal, when can support to judge that multiple smart machines are in same presumptive area,
Different modulated signal/demodulated signals is distributed for multiple wireless sensors in same presumptive area, is avoided same predetermined
It is interfered with each other when ranging between multiple wireless sensors in multiple smart machines in region, further improves the anti-dry of equipment room
Disturb degree；Judge that smart machine in other regions can be multiplexed there is only when a smart machine in same presumptive area
Modulated signal/demodulated signal improves the flexibility of modulated signal/demodulated signal.
As a kind of possible embodiment, above-mentioned smart machine is robot device, which is ultrasonic wave
Sensor.It, can be according to each after robot device is at a distance from determining each wireless sensor between corresponding barrier
The distance between a wireless sensor and corresponding barrier, carry out positioning/avoidance.Due to that can support to improve ranging frequency
Rate, therefore improve robot device's positioning/avoidance timeliness and accuracy.
According to the distance between each wireless sensor and corresponding barrier, robot device's positioning/avoidance is carried out
Process can use the prior art, and I will not elaborate.
According to the distance between each wireless sensor and corresponding barrier, robot device can also be further realized
Other function.
Embodiment two
The method provided in an embodiment of the present invention for carrying out ranging using more wireless sensing signals is applied to robot device, nothing
Line sensor signal is ultrasonic signal.
As shown in figure 4, using more wireless sensing signals carry out ranging method the following steps are included:
Step 401, when reaching the ranging period, interval setpoint frequency is sent out simultaneously to each wireless sensor in sweep time section
Send same voltage pulse signal；
Above-mentioned setpoint frequency is high scan frequency, to increase the frequency of ranging.
Step 402, after each wireless sensor is modulated received voltage pulse signal using corresponding modulated signal
It is reconverted into ultrasonic signal, and emits above-mentioned ultrasonic signal；
Step 403, when any wireless sensor receives ultrasonic signal reflected by barrier, the ultrasound that will receive
After wave signal is converted to voltage pulse signal, the relevant voltage pulse signal demodulated using corresponding demodulated signal is simultaneously
It is sent to processor；
Step 404, processor receives the voltage pulse signal of any wireless sensor feedback, determines and is sent to this wirelessly
It is poor according to corresponding sending time and receiving time when the voltage pulse signal of sensor is consistent, determine the wireless sensor with
The distance between barrier；
Step 405, according to the distance between each wireless sensor and corresponding barrier, it is fixed to carry out robot device
Position/avoidance.
The scan frequency of robot can be improved in the embodiment of the present invention, is timely and effectively determined in jamproof situation
Position/avoidance.
Embodiment three
The embodiment of the present invention provides a kind of smart machine, as shown in Figure 5, comprising:
Including processor 501, memory 502 and multiple wireless sensors 503, calculating wherein is stored in memory 502
Machine program, processor 501 is for executing program in the memory and executing:
The first signal is sent to each wireless sensor, so that each wireless sensor is using corresponding modulated signal to described the
One signal is reconverted into wireless sensing signal after being modulated, and emits the wireless sensing signal；
The second signal of any wireless sensor feedback is received, the second signal is the quilt that the wireless sensor will receive
After barrier reflected wireless sensing signal conversion, the signal that recycles corresponding demodulated signal to be demodulated；
When determining that the second signal is consistent with the first signal, according to the sending time and second signal of first signal
Receiving time difference, determine the distance between the wireless sensor and barrier.
The wireless sensing signal is ultrasonic signal, infrared signal or laser signal.
The corresponding modulated signal of different radio sensor, for being different voltages arteries and veins by the signal modulation of identical original waveform
The signal of waveform is rushed, the corresponding demodulated signal of different radio sensor is used for corresponding modulated different voltages impulse wave
The signal of shape reverts to the signal of identical original waveform.
The different voltages impulse waveform includes following any or appoints multiple and different:
The amplitude of identical sequence code is different in the corresponding sequence code of different voltages impulse waveform；
The value of same position sequence code is different in the corresponding sequence code of different voltages impulse waveform；
The duration of identical sequence code is different in the corresponding sequence code of different voltages impulse waveform.
Above-mentioned processor is also used to:
According to presetting, modulated signal/demodulated signal corresponding with each wireless sensor is determined, and be sent to corresponding
Wireless sensor；Or
The modulated signal distribution request for carrying smart machine location information is reported to network side, receives each of network side distribution
Corresponding modulated signal/the demodulated signal of wireless sensor, and it is sent to corresponding wireless sensor.
Each wireless sensor of multiple smart machines in presumptive area uses different modulated signal/solutions respectively
Adjust signal.
Above-mentioned processor is specifically used for:
It is set at least one wireless sensor for the first predeterminated position relationship that meets in the first preset time period with first
Determine frequency while sending the first signal；
It is set at least one wireless sensor for the second predeterminated position relationship that meets in the second preset time period with second
Determine frequency while sending the first signal.
Arrangement of the above-mentioned each wireless sensor by annular spread and in a manner of being located at same level is on intelligent devices.
It is above-mentioned a kind of mostly wireless to be referred to the embodiment of the present application for the performed specific implementation operated of the above processor
Transducing signal carries out specific implementation when processor in distance measuring method executes respective operations, and above each wireless sensor is held
The specific implementation of row operation is referred to a kind of above-mentioned more wireless sensing signals of the embodiment of the present application and carries out in distance measuring methods
Each wireless sensor executes specific implementation when respective operations, and the embodiment of the present application repeats no more.
The embodiment of the present invention also provides a kind of device that ranging is carried out using more wireless sensing signals, sets applied to intelligence
Standby, the smart machine includes multiple wireless sensors, as shown in Figure 6, comprising:
Signal transmitting unit 601, for sending the first signal to each wireless sensor, so that the utilization pair of each wireless sensor
The modulated signal answered is reconverted into wireless sensing signal after being modulated to first signal, and emits the wireless sensing letter
Number；
Signal receiving unit 602, for receiving the second signal of any wireless sensor feedback, the second signal is should
Wireless sensor will receive after the reflected wireless sensing signal conversion of barrier, recycled corresponding demodulated signal into
The signal that row demodulation obtains；
Distance determining unit 603, when for determining that the second signal is consistent with the first signal, according to first signal
Sending time and second signal receiving time difference, determine the distance between the wireless sensor and barrier.
In one possible implementation, the corresponding modulated signal of different radio sensor is used for identical original wave
The signal modulation of shape is the signal of different voltages impulse waveform, the corresponding demodulated signal of different radio sensor, for that will correspond to
The signal of modulated different voltages impulse waveform revert to the signal of original waveform.
In one possible implementation, the different voltages impulse waveform includes following any or appoints multiple and different:
The amplitude of identical sequence code is different in the corresponding sequence code of different voltages impulse waveform；
The value of same position sequence code is different in the corresponding sequence code of different voltages impulse waveform；
The duration of identical sequence code is different in the corresponding sequence code of different voltages impulse waveform.
In one possible implementation, the smart machine further include:
First notification unit, for according to presetting, determining modulated signal corresponding with each wireless sensor/demodulation letter
Number, and it is sent to corresponding wireless sensor；Or
Second notification unit, for reporting the modulated signal distribution request for carrying smart machine location information to network side,
Corresponding modulated signal/the demodulated signal of each wireless sensor of network side distribution is received, and is sent to corresponding wireless sensor.
In one possible implementation, each wireless sensor of multiple smart machines in presumptive area point
Modulated signal/demodulated signal that Shi Yong be not different.
In one possible implementation, signal transmitting unit sends the first signal to each wireless sensor, comprising:
It is set at least one wireless sensor for the first predeterminated position relationship that meets in the first preset time period with first
Determine frequency while sending the first signal；
It is set at least one wireless sensor for the second predeterminated position relationship that meets in the second preset time period with second
Determine frequency while sending the first signal.
It is how wireless that the performed specific implementation operated of the above each unit is referred to the above-mentioned utilization of the embodiment of the present application
Transducing signal carries out specific implementation when processor in distance measuring method executes respective operations, and this embodiment is not repeated.
The present invention provides a kind of computer storage medium, is stored thereon with computer program, which is executed by processor
The step of carrying out the method for ranging using more wireless sensing signals of the offer of Shi Shixian above-described embodiment one, the present embodiment is no longer superfluous
It states.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The shape for the computer program product implemented in usable storage medium (including but not limited to magnetic disk storage and optical memory etc.)
Formula.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of method for carrying out ranging using more wireless sensing signals, is applied to smart machine, the smart machine includes more
A wireless sensor characterized by comprising
The first signal is sent to each wireless sensor, so that each wireless sensor is using corresponding modulated signal to first letter
It is reconverted into wireless sensing signal after number being modulated, and emits the wireless sensing signal；
The second signal of any wireless sensor feedback is received, the second signal is that the wireless sensor will be received by obstacle
After object reflected wireless sensing signal conversion, the signal that recycles corresponding demodulated signal to be demodulated；
When determining that the second signal is consistent with the first signal, according to connecing for the sending time of first signal and second signal
Difference between time receiving determines the distance between the wireless sensor and barrier.
2. the method according to claim 1, wherein the wireless sensing signal is ultrasonic signal, infrared letter
Number or laser signal.
3. being used for will the method according to claim 1, wherein the corresponding modulated signal of different radio sensor
Signal of the signal modulation of identical original waveform for different voltages impulse waveform, the corresponding demodulated signal of different radio sensor,
For the signal of corresponding modulated different voltages impulse waveform to be reverted to the signal of identical original waveform.
4. according to the method described in claim 3, it is characterized in that, the different voltages impulse waveform includes following any or appoints
It is multiple and different:
The amplitude of identical sequence code is different in the corresponding sequence code of different voltages impulse waveform；
The value of same position sequence code is different in the corresponding sequence code of different voltages impulse waveform；
The duration of identical sequence code is different in the corresponding sequence code of different voltages impulse waveform.
5. the method according to claim 1, wherein further include:
According to presetting, modulated signal/demodulated signal corresponding with each wireless sensor is determined, and be sent to corresponding wireless
Sensor；Or
The modulated signal distribution request for carrying smart machine location information is reported to network side, receives each wireless of network side distribution
Corresponding modulated signal/the demodulated signal of sensor, and it is sent to corresponding wireless sensor.
6. the method according to claim 1, wherein each nothing for the multiple smart machines being located in presumptive area
Line sensor uses different modulated signal/demodulated signals respectively.
7. the method according to claim 1, wherein sending the first signal to each wireless sensor, comprising:
To at least one wireless sensor for the first predeterminated position relationship that meets, in the first preset time period, with the first setting frequency
Rate sends the first signal simultaneously；
To at least one wireless sensor for the second predeterminated position relationship that meets, in the second preset time period, with the second setting frequency
Rate sends the first signal simultaneously.
8. a kind of smart machine, which is characterized in that including processor, memory and multiple wireless sensors, wherein the storage
Computer program is stored in device, the processor is for executing program in the memory and executing:
The first signal is sent to each wireless sensor, so that each wireless sensor is using corresponding modulated signal to first letter
It is reconverted into wireless sensing signal after number being modulated, and emits the wireless sensing signal；
The second signal of any wireless sensor feedback is received, the second signal is that the wireless sensor will be received by obstacle
After object reflected wireless sensing signal conversion, the signal that recycles corresponding demodulated signal to be demodulated；
When determining that the second signal is consistent with the first signal, according to connecing for the sending time of first signal and second signal
Difference between time receiving determines the distance between the wireless sensor and barrier.
9. a kind of device for carrying out ranging using more wireless sensing signals, is applied to smart machine, the smart machine includes more
A wireless sensor characterized by comprising
Signal transmitting unit, for sending the first signal to each wireless sensor, so that each wireless sensor utilizes corresponding tune
Signal processed is reconverted into wireless sensing signal after being modulated to first signal, and emits the wireless sensing signal；
Signal receiving unit, for receiving the second signal of any wireless sensor feedback, the second signal is the wireless biography
Sensor will be received by after the reflected wireless sensing signal conversion of barrier, and corresponding demodulated signal is recycled to be demodulated
Obtained signal；
Distance determining unit, when for determining that the second signal is consistent with the first signal, according to the transmission of first signal
The difference of the receiving time of time and second signal, determines the distance between the wireless sensor and barrier.
10. a kind of computer storage medium, is stored thereon with computer program, which is characterized in that the program is executed by processor
The step of Shi Shixian such as claim 1~7 any the method.
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