CN105405249B - Collision-proof method, device, distance measuring sensor and terminal - Google Patents
Collision-proof method, device, distance measuring sensor and terminal Download PDFInfo
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- CN105405249B CN105405249B CN201510863966.2A CN201510863966A CN105405249B CN 105405249 B CN105405249 B CN 105405249B CN 201510863966 A CN201510863966 A CN 201510863966A CN 105405249 B CN105405249 B CN 105405249B
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- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
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Abstract
The embodiment of the present disclosure discloses a kind of collision-proof method, device, distance measuring sensor and terminal, the first kind distance between each distance measuring sensor in target object and target obstacle is obtained, and obtains the second class distance between any two distance measuring sensor in target obstacle；Then, according to first kind distance and the second class distance, the distance between target object and target obstacle information are obtained, the range information includes the distance between target object and target obstacle；When the distance between target object and target obstacle information meet preparatory condition, alarm signal is sent, wherein, preparatory condition is less than or equal to pre-determined distance including the distance between the target object and the target obstacle.When range information meets preparatory condition, alarm signal is sent automatically, is reminded user's collision free barrier, is greatly reduced injury of the relatively low structure to people in living environment.
Description
Technical field
This disclosure relates to field of computer technology, more particularly to a kind of collision-proof method, device, distance measuring sensor and end
End.
Background technology
In daily life environment, often in the presence of some than relatively low furniture or building structure, for example, in family
Hanging cupboard, the sash of opening etc., be likely to encounter hanging cupboard or sash when people passes through under hanging cupboard or sash, people caused to hinder
Evil.And for example, when child plays under desk, possible desk of standing up suddenly damages to the head of child, in order to
Avoid people injured by such structural collision, need a kind of collision-proof method badly to remind people.
The content of the invention
To overcome problem present in correlation technique, the disclosure provide a kind of collision-proof method, device, distance measuring sensor and
Terminal.
In order to solve the above-mentioned technical problem, the embodiment of the present disclosure discloses following technical scheme：
According to the first aspect of the embodiment of the present disclosure, there is provided a kind of collision-proof method, multiple rangings are set on barrier
Sensor, including：
Obtain the first kind distance between each distance measuring sensor in target object and target obstacle；
Second class distance between any two distance measuring sensor in acquisition target obstacle；
According to the first kind distance and the second class distance, obtain the target object and the target obstacle it
Between range information, the range information includes the distance between the target object and the target obstacle；
When the distance between the target object and the target obstacle information meet preparatory condition, alarm signal is sent
Number, the preparatory condition is less than or equal to pre-determined distance including the distance between the target object and the target obstacle.
The collision-proof method that first aspect provides, using the distance measuring sensor being arranged in target obstacle, measure target
The first kind distance between each distance measuring sensor on object and target obstacle, and obtain between each distance measuring sensor
Second class distance；Then, according to first kind distance and the second class distance calculate between target object and target obstacle away from
From when the distance meets preparatory condition, sending alarm signal automatically, remind user's collision free barrier, greatly reduce
Injury of the relatively low structure to people in living environment.
Alternatively, the range information includes the distance between the target object and the target obstacle and the mesh
Mark the moving direction of object；
Methods described also includes：According in preset time period between the target object and each distance measuring sensor first
Class distance, obtain the moving direction of the target object；
It is described when the distance between the target object and the target obstacle information meet preparatory condition, send report
Alert signal, including：
When the distance between the target object and the target obstacle are less than or equal to the pre-determined distance, and it is described
When the moving direction of target object is towards the target obstacle, the alarm signal is sent.
The collision-proof method that the present embodiment provides, when the distance between target object and target obstacle are less than or equal in advance
If distance, and when the moving direction of target object is towards target obstacle, send alarm signal has obstacle to remind in front of user
Thing collision free is on barrier.The distance between the present embodiment combining target object and target obstacle, and target object
Relative to the moving direction of target obstacle, alarm signal is sent, improves the accuracy rate for sending alarm signal.
Alternatively, if plane where the target obstacle and the target object is parallel, the target obstacle with
It is at least provided with the first distance measuring sensor and the second distance measuring sensor, the range information in the parallel plane of the target object
The distance between the target object and the target obstacle；
It is then described according to the first kind distance and the second class distance, obtain the target object and hinder with the target
Hinder the distance between thing, including：
Using the cosine law, the first kind distance between the target obstacle and first distance measuring sensor is described
First kind distance between target obstacle and second distance measuring sensor, and first distance measuring sensor and described the
The distance between two distance measuring sensors, the vertical range between the target obstacle and the target object is calculated.
Alternatively, if plane where the target obstacle and the target object is vertical, the target obstacle with
The target object is provided with the 3rd distance measuring sensor, the 4th distance measuring sensor and the 5th distance measuring sensor on perpendicular face,
The range information is the distance between the target object and the target obstacle；
It is then described according to the first kind distance and the second class distance, obtain the target object and hinder with the target
Hinder the distance between thing information, including：
Using the cosine law, the 3rd distance measuring sensor, the 4th distance measuring sensor and the 5th ranging sensing
The device first kind distance between the target obstacle respectively, the 3rd distance measuring sensor, the 4th distance measuring sensor and
The second class distance in five distance measuring sensors between any two distance measuring sensor, the target object and three surveys is calculated
Away from the vertical range between plane where sensor.
Alternatively, methods described also includes：When the distance measuring sensor sends alarm signal, send and carry to terminal device
Show information.
The collision-proof method that the present embodiment provides, while alarm signal is sent, also send prompting letter to terminal device
Breath, user is reminded to collide in several ways, so as to improve the probability for hiding collision obstacle.
Alternatively, methods described also includes：
The distance measuring sensor stores itself the second class distance between each other distance measuring sensors, other surveys
It is except the ranging sensing for sending alarm signal in the multiple distance measuring sensors set in the target obstacle away from sensor
Distance measuring sensor outside device.
According to the second aspect of the embodiment of the present disclosure, there is provided a kind of collision prevention device, multiple rangings are set on barrier
Sensor, including：
First acquisition module, for obtaining first between each distance measuring sensor on target object and target obstacle
Class distance；
Second acquisition module, for obtaining the second class distance between any two distance measuring sensor in target obstacle；
3rd acquisition module, mould is obtained for the first kind distance obtained according to first acquisition module and described second
The second class distance that block obtains, obtain the distance between the target object and the target obstacle information, the distance letter
Breath includes the distance between the target object and the target obstacle；
Alarm module, for being obtained when the 3rd acquisition module between the target object and the target obstacle
When range information meets preparatory condition, alarm signal is sent, the preparatory condition includes the target object and hindered with the target
The distance between thing is hindered to be less than or equal to pre-determined distance.
Alternatively, the range information includes the distance between the target object and the target obstacle and the mesh
Mark the moving direction of object；
Described device also includes：4th acquisition module, for according to the target object in preset time period and each survey
Away from the first kind distance between sensor, the moving direction of the target object is obtained；
The alarm module, between the target object obtained when the 3rd acquisition module and the target obstacle
Distance be less than or equal to the pre-determined distance, and the 4th acquisition module obtains the moving direction of target object described in
During target obstacle, the alarm signal is sent.
Alternatively, if plane where the target obstacle and the target object is parallel, the target obstacle with
At least provided with the first distance measuring sensor and the second distance measuring sensor on the parallel face of the target object, the range information is institute
State the distance between target object and the target obstacle；
Then the 3rd acquisition module, for being sensed using the cosine law, the target obstacle with first ranging
First kind distance between device, the first kind distance between the target obstacle and second distance measuring sensor, Yi Jisuo
The distance between the first distance measuring sensor and second distance measuring sensor are stated, the target obstacle and the mesh is calculated
Mark the vertical range between object.
Alternatively, if plane where the target obstacle and the target object is vertical, the target obstacle with
The target object is provided with the 3rd distance measuring sensor, the 4th distance measuring sensor and the 5th distance measuring sensor on perpendicular face,
The range information is the distance between the target object and the target obstacle；
Then the 3rd acquisition module, for being passed using the cosine law, the 3rd distance measuring sensor, the 4th ranging
The first kind distance between the target obstacle, the 3rd ranging sense respectively for sensor and the 5th distance measuring sensor
The second class distance in device, the 4th distance measuring sensor and the 5th distance measuring sensor between any two distance measuring sensor, is calculated
Vertical range between plane where the target obstacle and three distance measuring sensors.
Alternatively, described device also includes：
Sending module, for when the distance measuring sensor sends alarm signal, prompt message to be sent to terminal device.
Alternatively, described device also includes：
Memory module, for making the distance measuring sensor store itself the second class between other each distance measuring sensors
Distance.
According to the third aspect of the embodiment of the present disclosure, there is provided a kind of distance measuring sensor, the distance measuring sensor are arranged on mesh
Mark on barrier, the distance measuring sensor includes：Range finder module, communication module, computing module and alarm module；
The range finder module, for the first kind between distance measuring sensor where measuring target object and the range finder module
Distance, and measure the range finder module place distance measuring sensor and sensed with any one other ranging in the target obstacle
Second class distance between device；Other distance measuring sensors are removed in the multiple distance measuring sensors set in the target obstacle
Distance measuring sensor outside distance measuring sensor where the range finder module；
The communication module, for receive the first kind between other distance measuring sensors and the target object away from
From, and receive the second class distance between other distance measuring sensors described in any two；
The computing module, for according to the first kind distance and the second class distance, obtaining the target object
The distance between target obstacle information, the range information include the target object and the target obstacle it
Between distance；
Alarm module, for meeting preparatory condition when the distance between the target object and the target obstacle information
When, send alarm signal, the preparatory condition be less than including the distance between the target object and the target obstacle or
Equal to pre-determined distance.
Alternatively, the communication module, it is additionally operable to when sending alarm signal, prompt message is sent to terminal device.
Alternatively, in addition to memory module, for store any two distance measuring sensor in the target obstacle it
Between the second class distance.
According to the fourth aspect of the embodiment of the present disclosure, there is provided a kind of terminal device, including：
Processor；
For storing the memory of processor-executable instruction；
Wherein, the processor is configured as：
Obtain the first kind distance between each distance measuring sensor in target object and target obstacle；
Second class distance between any two distance measuring sensor in acquisition target obstacle；
According to the first kind distance and the second class distance, obtain the target object and the target obstacle it
Between range information, the range information includes the distance between the target object and the target obstacle；
When the distance between the target object and the target obstacle information meet preparatory condition, alarm signal is sent
Number, the preparatory condition is less than or equal to pre-determined distance including the distance between the target object and the target obstacle.
The technical scheme provided by this disclosed embodiment can include the following benefits：Target object and mesh can be obtained
The first kind distance between each distance measuring sensor on barrier is marked, and obtains the biography of any two ranging in target obstacle
Second class distance between sensor；Then, according to first kind distance and the second class distance, obtain target object and target obstacle it
Between range information, the range information includes the distance between target object and target obstacle；When target object and target hinder
When hindering the distance between thing information to meet preparatory condition, send alarm signal, wherein, preparatory condition include the target object with
The distance between described target obstacle is less than or equal to pre-determined distance.The collision-proof method provided using the disclosure, is arranged on
Distance measuring sensor in target obstacle in measurable range, actively measure between target object and distance measuring sensor away from
From, and according to the distance between distance measuring sensor, the distance between target object and target obstacle information are obtained, when distance is believed
When breath meets preparatory condition, alarm signal is sent automatically, is reminded user's collision free barrier, is greatly reduced in living environment
Injury of the relatively low structure to people.
It should be appreciated that the general description and following detailed description of the above are only exemplary, this can not be limited
It is open.
Brief description of the drawings
Accompanying drawing herein is merged in specification and forms the part of this specification, shows the implementation for meeting the present invention
Example, and for explaining principle of the invention together with specification.
Fig. 1 is a kind of flow chart of collision-proof method according to an exemplary embodiment；
Fig. 2 is the flow chart of another collision-proof method according to an exemplary embodiment；
Fig. 3 is the flow chart of another collision-proof method according to an exemplary embodiment；
Fig. 4 is the schematic top plan view of the relative position relation between target object and target obstacle；
Fig. 5 is the flow chart of another collision-proof method according to an exemplary embodiment；
Fig. 6 is the signal that three distance measuring sensors are set in target obstacle according to an exemplary embodiment
Figure；
Fig. 7 is the flow chart of another collision-proof method according to an exemplary embodiment；
Fig. 8 is a kind of block diagram of collision prevention device according to an exemplary embodiment；
Fig. 9 is another collision prevention device block diagram according to an exemplary embodiment；
Figure 10 is another collision prevention device block diagram according to an exemplary embodiment；
Figure 11 is a kind of block diagram of distance measuring sensor according to an exemplary embodiment；
A kind of block diagram of devices for collision-proof method of the Figure 12 according to an exemplary embodiment.
Pass through above-mentioned accompanying drawing, it has been shown that the clear and definite embodiment of the disclosure, will hereinafter be described in more detail.These accompanying drawings
The scope for limiting the disclosure by any mode and conceiving is not intended to, but is art technology by reference to specific embodiment
Personnel illustrate the concept of the disclosure.
Embodiment
Here exemplary embodiment will be illustrated in detail, its example is illustrated in the accompanying drawings.Following description is related to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represent same or analogous key element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the disclosure.On the contrary, they be only with it is such as appended
The example of the consistent apparatus and method of some aspects be described in detail in claims, the disclosure.
Fig. 1 is a kind of flow chart of collision-proof method according to an exemplary embodiment, and this method can apply to
In distance measuring sensor or terminal device, as shown in figure 1, this method may comprise steps of：
In S110, the first kind distance between each distance measuring sensor in target object and target obstacle is obtained.
Target obstacle is the barrier easily damaged in living environment to people, for example, easily colliding people
Relatively low crossbeam class formation, easily collide child's desk.Target object is the distance measuring sensor set in target obstacle
The object of the movement detected in detectable scope, typically user.
First kind distance between target object and distance measuring sensor is measured by distance measuring sensor.
If the executive agent of the step is distance measuring sensor, specified one is used as centromere from multiple distance measuring sensors
Point, the Centroid measures itself first kind distance between target object, and receives other distance measuring sensors and object
First kind distance between body.Each distance measuring sensor has unique identity, by the ranging of the setting on barrier
The identity notice Centroid of sensor, so that Centroid is only communicated with the distance measuring sensor on the barrier,
Exclusive PCR.
If the executive agent of the step is terminal device, for example, smart mobile phone, terminal device receives each ranging sensing
First kind distance of the distance measuring sensor that device measures itself between target object.
In S120, the second class distance between any two distance measuring sensor in target obstacle is obtained.
At least two distance measuring sensors can be provided with target obstacle.Any two distance measuring sensor can measure two
The distance between person, for example, distance measuring sensor A and distance measuring sensor B, the distance measuring signal that distance measuring sensor A is sent, distance measuring signal
Reflected by distance measuring sensor B, and received by ranging sensors A, distance measuring signal is sent with receiving by calculating distance measuring sensor A
The distance between distance measuring sensor A and distance measuring sensor B is calculated in time difference between distance measuring signal.
If the executive agent of the step is distance measuring sensor, itself and target obstacle are measured by above-mentioned Centroid
On other distance measuring sensors between the second class distance, and receive the second class distance between other distance measuring sensors.For example,
Be provided with distance measuring sensor A1, A2 and A3, and node centered on distance measuring sensor A1 in target obstacle, A1 measure itself with
A2, and, the distance between itself and A3, and receive the distance between A2 and A3.
If the executive agent of the step is terminal device, appointed by what terminal device received that each distance measuring sensor measures
The distance between two distance measuring sensors of meaning.
In S130, according to the first kind distance and the second class distance, the target object and the mesh are obtained
Mark the distance between barrier information；The range information include between the target object and the target obstacle away from
From.
For example, two distance measuring sensors are provided with target obstacle, and so, target object and two distance measuring sensors
It is triangle, first kind distance of the target object respectively between two distance measuring sensors, and two rangings can be obtained
The second class distance between sensor, i.e. the three of the triangle length of side are, it is known that object can be calculated using the cosine law
Vertical range of the body to target obstacle.
If the executive agent of the step is distance measuring sensor, computing module is set in Centroid, passes through the meter
Calculate module and the distance between target object and target obstacle are calculated according to first kind distance and the second class distance.
If the executive agent of the step is terminal device, by terminal device according to the first kind distance received and
The distance between target object and target obstacle is calculated in two class distances.
In S140, when the distance between the target object and the target obstacle information meet preparatory condition,
Send alarm signal；The preparatory condition includes the distance between the target object and described target obstacle and is less than or equal to
Pre-determined distance.
In one embodiment of the disclosure, if the distance between target object and target obstacle are less than or equal in advance
If apart from when, send alarm signal.
If the executive agent of the step is distance measuring sensor, alarm module is set in distance measuring sensor, works as target
When the distance between object and target obstacle information meet preparatory condition, alarm module sends alarm signal.
If the executive agent of the step is terminal device, alarm module is set in distance measuring sensor, works as terminal device
When judging that the distance between target object and target obstacle information meet preparatory condition, terminal device triggering distance measuring sensor
Interior alarm module sends alarm signal.
The collision-proof method that the present embodiment provides, target object can be obtained and sensed with each ranging in target obstacle
First kind distance between device, and obtain the second class distance between any two distance measuring sensor in target obstacle；Then,
According to first kind distance and the second class distance, the distance between target object and target obstacle information, the range information are obtained
Including the distance between target object and target obstacle；When the distance between target object and target obstacle information meet in advance
If during condition, sending alarm signal, wherein, preparatory condition includes the distance between the target object and the target obstacle
Less than or equal to pre-determined distance.The collision-proof method provided using the disclosure, the distance measuring sensor being arranged in target obstacle
In measurable range, the distance between target object and distance measuring sensor are actively measured, and according between distance measuring sensor
Distance, the distance between target object and target obstacle information are obtained, when range information meets preparatory condition, sent automatically
Alarm signal, user's collision free barrier is reminded, greatly reduces injury of the relatively low structure to people in living environment.
Fig. 2 is the flow chart of another collision-proof method according to an exemplary embodiment, in the present embodiment, target
The distance between object and target obstacle information include the distance between target object and target obstacle, and target object
Moving direction.As shown in Fig. 2 this method may comprise steps of：
In S210, the first kind distance between each distance measuring sensor in target object and target obstacle is obtained.
In S220, the second class distance between any two distance measuring sensor in target obstacle is obtained.
In S230, according to the first kind distance measured in preset time period, the moving direction of target object is obtained.
Preset time period can sets itself as needed, for example, can be set as 40s, 1min, 5min etc..According to pre-
If the variation tendency of the first kind distance between the target object and distance measuring sensor that are measured in the period, determines object body phase
For the moving direction of target obstacle.
In S240, according to first kind distance and the second class distance, obtain between target object and target obstacle away from
From.
In S250, when the distance between target object and target obstacle are less than or equal to pre-determined distance, and object
When the moving direction of body is towards target obstacle, alarm signal is sent.
The collision-proof method that the present embodiment provides, when the distance between target object and target obstacle are less than or equal in advance
If distance, and when the moving direction of target object is towards target obstacle, send alarm signal has obstacle to remind in front of user
Thing collision free is on barrier.The distance between the present embodiment combining target object and target obstacle, and target object
Relative to the moving direction of target obstacle, alarm signal is sent, improves the accuracy rate for sending alarm signal.
Fig. 3 is the flow chart of another collision-proof method according to an exemplary embodiment, and this method is applied to height
Spend in the isostructural application scenarios of relatively low crossbeam, two distance measuring sensors are provided with barrier, be the first ranging respectively
Sensor and the second distance measuring sensor, and the first distance measuring sensor is Centroid.As shown in figure 3, comprise the following steps：
In S310, the first kind distance between the first distance measuring sensor measurement target object and the first distance measuring sensor.
In S320, the first kind distance between the second distance measuring sensor measurement target object and the second distance measuring sensor,
And it is sent to the first distance measuring sensor.
In S330, the first distance measuring sensor obtains itself the second class distance between the second distance measuring sensor.
In S340, the first distance measuring sensor utilizes the cosine law, according to target object respectively with the first distance measuring sensor,
First kind distance between second distance measuring sensor, and, the second class between first kind sensor and the second class sensor away from
From target object is calculated to the vertical range between target obstacle.
Fig. 4 is the schematic top plan view of the relative position relation between target object and target obstacle, as shown in figure 4, figure
Include the first distance measuring sensor 101, the second distance measuring sensor 102 and target object 103.
To obtain the distance between the first distance measuring sensor 101 and the second distance measuring sensor 102 be a by measuring, object
The distance between distance measuring sensor 101 of body 103 and first is b, between the distance measuring sensor 101 of target object 103 and second away from
From for c, the vertical range of target object 103 to target obstacle 104 is h.
Cos α or cos β can be calculated according to the cosine law, it is then possible to calculate sin α or sin β, then h=b ×
Sin α, or, h=b × sin β.
In S350, when the distance between target object and target obstacle are less than or equal to pre-determined distance, first surveys
Alarm signal is sent away from sensor.
When the distance between target object and target obstacle are less than or equal to pre-determined distance, show that target object will
Target obstacle is collided, alarm signal is sent and reminds user, so that user's collision free is in target obstacle.
, can be according to the distance measuring sensor of target object in a period of time 103 and first in the other embodiments of the disclosure
101 or second the distance between distance measuring sensor 102 variation tendency, determine target object 103 relative to target obstacle 104
Moving direction.When the distance between target object 103 and target obstacle 104 c are less than or equal to pre-determined distance, and object
When the moving direction of body 103 is towards target obstacle, alarm signal is sent, so as to improve the accuracy rate of alarm signal.
The collision-proof method that the present embodiment provides, the range information of the target object measured using two distance measuring sensors,
The vertical range between target object and target obstacle is calculated, when the vertical range is less than or equal to pre-determined distance,
Alarm signal is sent, to remind user not collide target obstacle, so as to greatly reduce injury of the barrier to user.
Fig. 5 is the flow chart of another collision-proof method according to an exemplary embodiment, and the present embodiment is applied to
Target object avoids target object from moving up in the application scenarios of collision target barrier below target obstacle, for example,
When child plays under desk, desktop may be encountered when standing up.Under such a application scenarios, set in target obstacle
Three distance measuring sensors are put, are the 3rd distance measuring sensor, the 4th distance measuring sensor and the 5th distance measuring sensor respectively, wherein,
Three distance measuring sensors are Centroids.
As shown in figure 5, this method may comprise steps of：
In S410, the 3rd distance measuring sensor measures itself first kind distance between target object.
In S420, the 4th distance measuring sensor measures itself first kind distance between target object, and is sent to
Three distance measuring sensors.
In S430, the 5th distance measuring sensor measures itself first kind distance between target object, and is sent to
Three distance measuring sensors.
In S440, the 3rd distance measuring sensor measures itself between the 4th distance measuring sensor, the 5th distance measuring sensor
Second class distance.
In S450, the 4th distance measuring sensor measures itself the second class distance between the 5th sensor, and is sent to
3rd distance measuring sensor.
In S460, the 3rd distance measuring sensor utilizes the cosine law, each distance measuring sensor set in target obstacle
The second class distance between first kind distance between target object, and each distance measuring sensor in target obstacle,
Target object is calculated to the distance of plane where each distance measuring sensor.
Fig. 6 is the signal that three distance measuring sensors are set in target obstacle according to an exemplary embodiment
Figure, as shown in fig. 6, it is 201,202 and 203 respectively that three distance measuring sensors are provided with target obstacle 200.
Three distance measuring sensors measure itself to the first kind distance between target object, and measurement any two respectively
The second class distance between distance measuring sensor.
Utilize the geometrical relationship in the cosine law and pyramid, and above-mentioned first kind distance and the second class distance, meter
Calculate the vertical range between plane where obtaining target object 204 and three distance measuring sensors.
In S470, when hanging down between the 3rd distance measuring sensor plane according to where target object and three distance measuring sensors
When straight distance is less than or equal to pre-determined distance, alarm signal is sent.
, can be according between target object in a period of time 204 and distance measuring sensor in the other embodiments of the disclosure
The variation tendency of distance, determine moving direction of the target object 204 relative to target obstacle 200.When target object 204 and mesh
Mark the distance between barrier k is less than or equal to pre-determined distance, and target object towards target obstacle 200 move when, send
Alarm signal, so as to improve the accuracy rate of alarm signal.
The present embodiment provide collision-proof method, three distance measuring sensors are provided with target obstacle, using this three
The range information for the target object that individual distance measuring sensor measures, it is calculated between target object and distance measuring sensor place plane
Vertical range, when the vertical range is less than or equal to pre-determined distance, alarm signal is sent, to remind user not collide
Target object, so as to greatly reduce injury of the barrier to user.
Fig. 7 is the flow chart of another collision-proof method according to an exemplary embodiment, and this method is at above-mentioned
Increase following steps on the basis of a kind of embodiment of the method, the present embodiment can also include on the basis of embodiment illustrated in fig. 1
Following steps：
In S510, distance measuring sensor stores itself the second class distance between each other distance measuring sensors.
The present embodiment is not construed as limiting to S510 execution sequence, as long as S510 meets to perform after step S120.
Other distance measuring sensors are to be sent in the multiple distance measuring sensors set in the target obstacle except described
Distance measuring sensor outside the distance measuring sensor of alarm signal.
Position of the distance measuring sensor in target obstacle generally no longer changes, therefore, between each distance measuring sensor
Distance also just immobilizes, and can store the distance between each distance measuring sensor into Centroid, so, it is only necessary to survey
Once the distance between each sensor is measured, subsequently, Centroid can directly read each distance measuring sensor from memory
The distance between.
In S520, when the distance measuring sensor sends alarm signal, prompt message is sent to terminal device.
While distance measuring sensor sends alarm signal, distance measuring sensor sends prompt message to terminal device.
For example, when child plays under desk, when distance measuring sensor monitors that child may collide desk, hair
Go out alarm signal, meanwhile, prompt message is sent to the terminal device that is associated with the distance measuring sensor, so that remind can under family's long table
Can be collided phenomenon, so that parent guides child's avoiding barrier in time.
User is reminded to collide in several ways, so as to improve the probability for hiding collision obstacle.
Corresponding to above-mentioned collision-proof method embodiment, the disclosure additionally provides collision prevention device embodiment.
Fig. 8 is a kind of collision prevention device block diagram according to an exemplary embodiment, and the device senses applied to ranging
In device or terminal device, wherein it is desired to set multiple distance measuring sensors in target obstacle.As shown in figure 8, the device includes
First acquisition module 810, the second acquisition module 820, the 3rd acquisition module 830 and alarm module 840.
First acquisition module 810, for obtaining between each distance measuring sensor on target object and target obstacle
First kind distance.
Target obstacle is the barrier easily damaged in living environment to people, for example, easily colliding people
Relatively low crossbeam class formation, easily collide child's desk.Target object is the distance measuring sensor set in target obstacle
The object of the movement detected in detectable scope, typically user.
Target object measures the distance between itself and target object respectively with the distance measuring sensor in target obstacle, remembers
For first kind distance.
Second acquisition module 820, for obtain between any two distance measuring sensor in target obstacle the second class away from
From.
Distance measuring sensor in target obstacle is measured between other distance measuring sensors in itself and target obstacle
Distance, it is designated as the second class distance.
3rd acquisition module 830, for the first kind distance obtained according to the first acquisition module 810 and the second acquisition module
820 the second class distances obtained, obtain the distance between target object and target obstacle information.Range information includes object
The distance between body and target obstacle.
The distance between target object and target obstacle can be calculated using geometrical relationship.
In disclosure one embodiment, if the target obstacle is parallel with plane where the target object, in institute
State on the target obstacle face parallel with the target object at least provided with the first distance measuring sensor and the second distance measuring sensor, institute
It is the distance between the target object and the target obstacle to state range information.
3rd acquisition module 830, for being sensed using the cosine law, the target obstacle with first ranging
First kind distance between device, the first kind distance between the target obstacle and second distance measuring sensor, Yi Jisuo
The distance between the first distance measuring sensor and second distance measuring sensor are stated, the target obstacle and the mesh is calculated
Mark the vertical range between object.
In another embodiment of the disclosure, if the target obstacle is vertical with plane where the target object,
The 3rd distance measuring sensor, the 4th distance measuring sensor are provided with the target obstacle and the perpendicular face of the target object
With the 5th distance measuring sensor, the range information is the distance between the target object and the target obstacle；
3rd acquisition module 830, for utilizing the cosine law, the 3rd distance measuring sensor, the 4th ranging sensing
The first kind distance between the target obstacle, the 3rd ranging sense respectively for device and the 5th distance measuring sensor
The second class distance in device, the 4th distance measuring sensor and the 5th distance measuring sensor between any two distance measuring sensor, is calculated
Vertical range between plane where the target obstacle and three distance measuring sensors.
Alarm module 840, for obtaining the distance between target object and target obstacle letter when the 3rd acquisition module 830
Breath is when meeting preparatory condition, sends alarm signal, the preparatory condition include the target object and the target obstacle it
Between distance be less than or equal to pre-determined distance.
The collision prevention device that the present embodiment provides, target object can be obtained and sensed with each ranging in target obstacle
First kind distance between device；And obtain the second class distance between any two distance measuring sensor in target obstacle；Then,
According to first kind distance and the second class distance, the distance between target object and target obstacle information, the range information are obtained
Including the distance between target object and target obstacle；When the distance between target object and target obstacle information meet in advance
If during condition, sending alarm signal, wherein, preparatory condition includes the distance between the target object and the target obstacle
Less than or equal to pre-determined distance.When range information meets preparatory condition, alarm signal is sent automatically, reminds user's collision free
Barrier, greatly reduce injury of the relatively low structure to people in living environment.
Fig. 9 is another collision prevention device block diagram according to an exemplary embodiment, and the device is in implementation shown in Fig. 8
Also include on the basis of example：4th acquisition module 910.
4th acquisition module 910, for according in preset time period between the target object and each distance measuring sensor
First kind distance, obtain the moving direction of the target object.
Preset time period can sets itself as needed, for example, can be set as 40s, 1min, 5min etc..According to pre-
If the variation tendency of the first kind distance between the target object and distance measuring sensor that are measured in the period, determines object body phase
For the moving direction of target obstacle.
Alarm module 840 is used for when between the target object and the target obstacle that the 3rd acquisition module 830 obtains
Distance is less than or equal to the pre-determined distance, and the moving direction of the 4th acquisition module 910 acquisition target object is towards institute
When stating target obstacle, the alarm signal is sent.
The collision prevention device that the present embodiment provides, when the distance between target object and target obstacle are less than or equal in advance
If distance, and when the moving direction of target object is towards target obstacle, send alarm signal has obstacle to remind in front of user
Thing collision free is on barrier.The distance between the present embodiment combining target object and target obstacle, and target object
Relative to the moving direction of target obstacle, alarm signal is sent, improves the accuracy rate for sending alarm signal.
Figure 10 is another collision prevention device block diagram according to an exemplary embodiment, and the device can be in Fig. 8 institutes
Also include sending module 1010 and memory module 1020 on the basis of showing device embodiment.
Sending module 1010, for when the distance measuring sensor sends alarm signal, prompting letter to be sent to terminal device
Breath.
When distance measuring sensor sends alarm signal, prompt message is sent to terminal device by sending module 1010, so as to
User is reminded, remind prevents from encountering target obstacle in time.
While distance measuring sensor sends alarm signal, distance measuring sensor sends prompt message to terminal device.
For example, when child plays under desk, when distance measuring sensor monitors that child may collide desk, hair
Go out alarm signal, meanwhile, prompt message is sent to the terminal device that is associated with the distance measuring sensor, so that remind can under family's long table
Can be collided phenomenon, so that parent guides child's avoiding barrier in time.
Memory module 1020, for making the distance measuring sensor store itself between other each distance measuring sensors
Two class distances.
After storing the second class distance between distance measuring sensor and other each distance measuring sensors, it is not necessary to every time again
Measurement.
The collision prevention device that the present embodiment provides, can also be by transmission mould while alarm module sends alarm signal
Block sends prompt message to terminal device, reminds user to collide target obstacle in several ways, improves and hide
The probability of collision obstacle.
Figure 11 is a kind of block diagram of distance measuring sensor according to an exemplary embodiment, and distance measuring sensor is arranged on mesh
Mark on barrier, as shown in figure 11, distance measuring sensor includes range finder module 1110, communication module 1120, the and of computing module 1130
Alarm module 1140.
Range finder module 1110, for the first kind between distance measuring sensor where measuring target object and the range finder module
Distance, and measure the range finder module place distance measuring sensor and sensed with any one other ranging in the target obstacle
Second class distance between device；Other distance measuring sensors are removed in the multiple distance measuring sensors set in the target obstacle
Distance measuring sensor outside distance measuring sensor where the range finder module.
Communication module 1120, for receive the first kind between other distance measuring sensors and the target object away from
From, and receive the second class distance between other distance measuring sensors described in any two.
In one embodiment of the disclosure, the communication module 1120 is additionally operable to when sending alarm signal, to terminal
Equipment sends prompt message.
The computing module 1130, for according to the first kind distance and the second class distance, obtaining the target
The distance between object and the target obstacle information, the range information include the target object and the target disorders
The distance between thing；
Alarm module 1140, for meeting to preset when the distance between the target object and the target obstacle information
During condition, alarm signal is sent, the preparatory condition includes the target object and the distance between the target obstacle is small
In or equal to pre-determined distance.
The distance measuring sensor provided using the present embodiment, target object and each ranging in target obstacle can be obtained
First kind distance between sensor, and obtain the second class distance between any two distance measuring sensor in target obstacle；
Then, according to first kind distance and the second class distance, the distance between target object and target obstacle information, the distance are obtained
Information includes the distance between target object and target obstacle；When target object and the distance between target obstacle information are expired
During sufficient preparatory condition, alarm signal is sent, wherein, preparatory condition is included between the target object and the target obstacle
Distance is less than or equal to pre-determined distance, when range information meets preparatory condition, sends alarm signal automatically, reminds user to avoid
Collision obstacle, greatly reduce injury of the relatively low structure to people in living environment.
Also include memory module on the basis of Figure 11 shows embodiment, the memory module is used to store the target obstacle
On any two distance measuring sensor between the second class distance.This way it is not necessary to distance measuring sensor obtains any two every time
The second class distance between distance measuring sensor.
On the device in above-described embodiment, wherein modules perform the concrete mode of operation in relevant this method
Embodiment in be described in detail, explanation will be not set forth in detail herein.
A kind of block diagram of devices 1200 for collision-proof method of the Figure 12 according to an exemplary embodiment.For example,
Device 1200 can be mobile phone, computer, digital broadcast terminal, messaging devices, game console, tablet device,
Medical Devices, body-building equipment, personal digital assistant etc..
As shown in figure 12, device 1200 can include following one or more assemblies：Processing component 1202, memory
1204, power supply module 1206, multimedia groupware 1208, audio-frequency assembly 1210, the interface 1212 of input/output (I/O), sensor
Component 1214, and communication component 1216.
The integrated operation of the usual control device 1200 of processing component 1202, such as communicated with display, call, data,
The operation that camera operation and record operation are associated.Processing component 1202 can include one or more processors 1220 to perform
Instruction, to complete all or part of step of above-mentioned method.In addition, processing component 1202 can include one or more moulds
Block, the interaction being easy between processing component 1202 and other assemblies.For example, processing component 1202 can include multi-media module,
To facilitate the interaction between multimedia groupware 1208 and processing component 1202.
Memory 1204 is configured as storing various types of data to support the operation in device 1200.These data
Example includes being used for the instruction of any application program or method operated on device 1200, contact data, telephone book data,
Message, picture, video etc..Memory 1204 can by any kind of volatibility or non-volatile memory device or they
Combination is realized, such as static RAM (SRAM), Electrically Erasable Read Only Memory (EEPROM), it is erasable can
Program read-only memory (EPROM), programmable read only memory (PROM), read-only storage (ROM), magnetic memory, flash memory
Reservoir, disk or CD.
Power supply module 1206 provides electric power for the various assemblies of device 1200.Power supply module 1206 can include power management
System, one or more power supplys, and other components associated with generating, managing and distributing electric power for device 1200.
Multimedia groupware 1208 is included in the screen of one output interface of offer between described device 1200 and user.
In some embodiments, screen can include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel,
Screen may be implemented as touch-screen, to receive the input signal from user.Touch panel includes one or more touch and passed
Sensor is with the gesture on sensing touch, slip and touch panel.The touch sensor can not only sensing touch or slip be dynamic
The border of work, but also detect the duration and pressure related to the touch or slide.In certain embodiments, it is more
Media component 1208 includes a front camera and/or rear camera.When device 1200 is in operator scheme, mould is such as shot
When formula or video mode, front camera and/or rear camera can receive outside multi-medium data.Each preposition shooting
Head and rear camera can be a fixed optical lens system or have focusing and optical zoom capabilities.
Audio-frequency assembly 1210 is configured as output and/or input audio signal.For example, audio-frequency assembly 1210 includes a wheat
Gram wind (MIC), when device 1200 is in operator scheme, during such as call model, logging mode and speech recognition mode, microphone quilt
It is configured to receive external audio signal.The audio signal received can be further stored in memory 1204 or via communication
Component 1216 is sent.In certain embodiments, audio-frequency assembly 1210 also includes a loudspeaker, for exports audio signal.
I/O interfaces 1212 provide interface, above-mentioned peripheral interface module between processing component 1202 and peripheral interface module
Can be keyboard, click wheel, button etc..These buttons may include but be not limited to：Home button, volume button, start button and
Locking press button.
Sensor cluster 1214 includes one or more sensors, and the state for providing various aspects for device 1200 is commented
Estimate.For example, sensor cluster 1214 can detect opening/closed mode of device 1200, the relative positioning of component, such as institute
The display and keypad that component is device 1200 are stated, sensor cluster 1214 can be with detection means 1200 or device 1,200 1
The position of individual component changes, the existence or non-existence that user contacts with device 1200, the orientation of device 1200 or acceleration/deceleration and dress
Put 1200 temperature change.Sensor cluster 1214 can include proximity transducer, be configured in no any physics
The presence of object nearby is detected during contact.Sensor cluster 1214 can also include optical sensor, as CMOS or ccd image are sensed
Device, for being used in imaging applications.In certain embodiments, the sensor cluster 1214 can also include acceleration sensing
Device, gyro sensor, Magnetic Sensor, pressure sensor or temperature sensor.
Communication component 1216 is configured to facilitate the communication of wired or wireless way between device 1200 and other equipment.Dress
The wireless network based on communication standard, such as WiFi, 2G or 3G, or combinations thereof can be accessed by putting 1200.It is exemplary at one
In embodiment, communication component 1216 receives broadcast singal or broadcast correlation from external broadcasting management system via broadcast channel
Information.In one exemplary embodiment, the communication component 1216 also includes near-field communication (NFC) module, to promote short distance
Communication.For example, radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band can be based in NFC module
(UWB) technology, bluetooth (BT) technology and other technologies are realized.
In the exemplary embodiment, device 1200 can be by one or more application specific integrated circuits (ASIC), numeral
Signal processor (DSP), digital signal processing appts (DSPD), PLD (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for performing the above method.
In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instructing, example are additionally provided
Such as include the memory 1204 of instruction, above-mentioned instruction can be performed to complete the above method by the processor 1220 of device 1200.Example
Such as, the non-transitorycomputer readable storage medium can be ROM, it is random access memory (RAM), CD-ROM, tape, soft
Disk and optical data storage devices etc..
A kind of non-transitorycomputer readable storage medium, when the instruction in the storage medium is by the processing of mobile terminal
When device performs so that terminal device is able to carry out a kind of collision-proof method, and methods described includes：
Obtain the first kind distance between each distance measuring sensor in target object and target obstacle；
Second class distance between any two distance measuring sensor in acquisition target obstacle；
According to the first kind distance and the second class distance, obtain the target object and the target obstacle it
Between range information, the range information includes the distance between the target object and the target obstacle；
When the distance between the target object and the target obstacle information meet preparatory condition, alarm signal is sent
Number, the preparatory condition is less than or equal to pre-determined distance including the distance between the target object and the target obstacle.
Those skilled in the art will readily occur to the present invention its after considering specification and putting into practice invention disclosed herein
Its embodiment.The application be intended to the present invention any modification, purposes or adaptations, these modifications, purposes or
Person's adaptations follow the general principle of the present invention and including the undocumented common knowledges in the art of the disclosure
Or conventional techniques.Description and embodiments are considered only as exemplary, and true scope and spirit of the invention are by following
Claim is pointed out.
It should be appreciated that the invention is not limited in the precision architecture for being described above and being shown in the drawings, and
And various modifications and changes can be being carried out without departing from the scope.The scope of the present invention is only limited by appended claim.
Claims (12)
- A kind of 1. collision-proof method, it is characterised in that multiple distance measuring sensors are set on barrier, including：Obtain the first kind distance between each distance measuring sensor in target object and target obstacle；Second class distance between any two distance measuring sensor in acquisition target obstacle；According to the first kind distance and the second class distance, obtain between the target object and the target obstacle Range information, the range information include the distance between the target object and the target obstacle；When the distance between the target object and the target obstacle information meet preparatory condition, alarm signal is sent, The preparatory condition is less than or equal to pre-determined distance including the distance between the target object and the target obstacle.
- 2. according to the method for claim 1, it is characterised in that the range information includes the target object and the mesh Mark the moving direction of the distance between barrier and the target object；Methods described also includes：According to the first kind in preset time period between the target object and each distance measuring sensor away from From obtaining the moving direction of the target object；It is described when the distance between the target object and the target obstacle information meet preparatory condition, send alarm signal Number, including：When the distance between the target object and the target obstacle are less than or equal to the pre-determined distance, and the target When the moving direction of object is towards the target obstacle, the alarm signal is sent.
- 3. method according to claim 1 or 2, it is characterised in that methods described also includes：When the distance measuring sensor sends alarm signal, prompt message is sent to terminal device.
- 4. method according to claim 1 or 2, it is characterised in that methods described also includes：The distance measuring sensor stores itself the second class distance between each other distance measuring sensors, and other rangings pass Sensor be in the multiple distance measuring sensors set in the target obstacle except the distance measuring sensor for sending alarm signal it Outer distance measuring sensor.
- A kind of 5. collision prevention device, it is characterised in that multiple distance measuring sensors are set on barrier, including：First acquisition module, for obtain the first kind between each distance measuring sensor on target object and target obstacle away from From；Second acquisition module, for obtaining the second class distance between any two distance measuring sensor in target obstacle；3rd acquisition module, first kind distance and second acquisition module for being obtained according to first acquisition module obtain The the second class distance obtained, obtains the distance between the target object and the target obstacle information, the range information bag Include the distance between the target object and the target obstacle；Alarm module, for obtaining the distance between the target object and the target obstacle when the 3rd acquisition module When information meets preparatory condition, alarm signal is sent, the preparatory condition includes the target object and the target obstacle The distance between be less than or equal to pre-determined distance.
- 6. device according to claim 5, it is characterised in that the range information includes the target object and the mesh Mark the moving direction of the distance between barrier and the target object；Described device also includes：4th acquisition module, for being passed according to the target object in preset time period and each ranging First kind distance between sensor, obtain the moving direction of the target object；The alarm module, between the target object obtained when the 3rd acquisition module and the target obstacle away from From less than or equal to the pre-determined distance, and the 4th acquisition module obtains the moving direction of target object towards the target During barrier, the alarm signal is sent.
- 7. device according to claim 5, it is characterised in that described device also includes：Sending module, for when the distance measuring sensor sends alarm signal, prompt message to be sent to terminal device.
- 8. device according to claim 5, it is characterised in that described device also includes：Memory module, for make the distance measuring sensor store itself the second class between other each distance measuring sensors away from From.
- 9. a kind of distance measuring sensor, it is characterised in that the distance measuring sensor is arranged in target obstacle, the ranging sensing Device includes：Range finder module, communication module, computing module and alarm module；The range finder module, for the first kind between distance measuring sensor where measuring target object and the range finder module away from From, and measure the range finder module place distance measuring sensor and any one other distance measuring sensor in the target obstacle Between the second class distance；Other distance measuring sensors are that institute is removed in the multiple distance measuring sensors set in the target obstacle Distance measuring sensor outside distance measuring sensor where stating range finder module；The communication module, for receiving the first kind distance between other distance measuring sensors and the target object, and Receive the second class distance between other distance measuring sensors described in any two；The computing module, for according to the first kind distance and the second class distance, obtaining the target object and institute The distance between target obstacle information is stated, the range information is included between the target object and the target obstacle Distance；The alarm module, for meeting preparatory condition when the distance between the target object and the target obstacle information When, send alarm signal, the preparatory condition be less than including the distance between the target object and the target obstacle or Equal to pre-determined distance.
- 10. distance measuring sensor according to claim 9, it is characterised in that the communication module, be additionally operable to that alarm ought be sent During signal, prompt message is sent to terminal device.
- 11. distance measuring sensor according to claim 9, it is characterised in that also including memory module, for storing the mesh Second class distance between any two distance measuring sensor on mark barrier.
- A kind of 12. terminal device, it is characterised in that including：Processor；For storing the memory of processor-executable instruction；Wherein, the processor is configured as：Obtain the first kind distance between each distance measuring sensor in target object and target obstacle；Second class distance between any two distance measuring sensor in acquisition target obstacle；According to the first kind distance and the second class distance, obtain between the target object and the target obstacle Range information, the range information include the distance between the target object and the target obstacle；When the distance between the target object and the target obstacle information meet preparatory condition, alarm signal is sent, The preparatory condition is less than or equal to pre-determined distance including the distance between the target object and the target obstacle.
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| CN106965198B (en) * | 2017-03-30 | 2019-07-12 | 上海木木聚枞机器人科技有限公司 | Robot control method and device |
| CN106991786B (en) * | 2017-06-07 | 2023-06-23 | 泰州飞帆船舶科技有限公司 | Communication sensing glass anti-collision early warning method and device |
| JP7192275B2 (en) * | 2017-10-24 | 2022-12-20 | セイコーエプソン株式会社 | Program, terminal device, warning system and warning notification method |
| CN108858211A (en) * | 2018-09-26 | 2018-11-23 | 珠海格力智能装备有限公司 | anti-collision mechanism, robot and anti-collision method |
| CN111413701B (en) * | 2018-12-18 | 2022-06-28 | 驭势科技（北京）有限公司 | Method and device for determining distance between obstacles, vehicle-mounted equipment and storage medium |
| CN109668556A (en) * | 2019-01-23 | 2019-04-23 | 广州中石科技有限公司 | Collision avoidance system and method |
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