Anti-interference method of perception sensor

Abstract

The application discloses an anti-interference method for a perception sensor, and has the characteristics that it comprises the following steps: S1, grouping the carriers according to a positioning system and selecting a head carrier; S2, acquiring a control signal according to preset frequency data; S3, the perception sensor sending end of the head carrier emits a sending signal of a corresponding frequency according to the control signal; S4, real-time detection is performed on the receiving signal acquired by the perception sensor receiving end of the head carrier, frequency analysis is performed on the receiving signal, comparison is performed between the frequency analysis result and the preset frequency data, interference signals are removed, and real signals are reserved; and S5, the head carrier is driven to make actions for the reserved real signals, and action information is sent to the remaining carriers; the application avoids the problem that the perception sensor is interfered by the environment, avoids the problem that multiple perception sensors interfere with each other during cluster operation, and realizes centralized control of the unmanned vehicles during cluster operation.

Description

Technical Field

[0001] This invention relates to the field of sensor technology, and more specifically to an anti-interference method for sensing sensors. Background Technology

[0002] With the continuous development of science and technology, various self-driving cars have emerged. Current self-driving technology typically uses various perception sensors to detect obstacles and avoid them during operation. However, although the signals sent and received by the perception sensors are emitted by themselves, similar signals may exist in various environments. When these signals are received, they can easily lead to misjudgments by the perception sensors. This interference is extremely dangerous for self-driving cars in the working environment, and can easily lead to crashes and economic losses.

[0003] Existing technologies for anti-interference methods for sensing sensors mainly involve using fixed frequencies for each sensor. However, autonomous vehicles require numerous sensing sensors, and when operating in swarms, they are prone to receiving signals of the same frequency that are not emitted by themselves, which also fails to solve the interference problem. Therefore, how to solve the mutual interference between sensing sensors of autonomous vehicles operating in swarms has become a technical problem that needs to be solved. Summary of the Invention

[0004] The purpose of this application is to solve the problem of mutual interference between the perception sensors of unmanned vehicles in cluster operations, and to achieve centralized control of unmanned vehicles.

[0005] To address the above problems, the present invention provides the following technical solution:

[0006] An anti-interference method for a sensing sensor includes the following steps:

[0007] S1, group the carriers according to the positioning system and select the leader carrier;

[0008] S2, acquire control signals based on preset frequency data;

[0009] S3, the sensing sensor transmitting end of the head carrier transmits a transmission signal of a corresponding frequency according to the control signal;

[0010] S4, Real-time detection of the received signal acquired by the sensing sensor receiver of the head carrier, and frequency analysis of the received signal; Comparison of the frequency analysis result with preset frequency data, elimination of interference signals, and retention of real signals;

[0011] S5, the head carrier is driven to perform actions based on the retained real signals, and the action information is sent to the other carriers;

[0012] The carrier of the sensing sensor is equipped with a plurality of sensing sensors, each of which includes a transmitting end and a receiving end; the transmitting end and the receiving end are connected to a central control module for controlling the transmission and reception of signals.

[0013] Preferably, in the above-described anti-interference method for a sensing sensor, the step of grouping the carriers according to the positioning system and selecting the leader carrier includes the following steps:

[0014] Step 1: Each of the carrier positioning systems has a preset coverage area, and the area is limited according to the carrier positioning system;

[0015] Step 2: Data connections are established between the carriers within a preset coverage area of ​​each carrier, and the carriers that have established connections form a group;

[0016] Step 3: Obtain the direction of travel of the carrier according to the positioning system, and select the carrier at the foremost position as the head carrier according to the direction of travel;

[0017] Step four: Connect the central control modules of each of the carriers in the same group to a central control module via a dedicated network.

[0018] Preferably, in the above-described anti-interference method for a sensing sensor, the step of acquiring the control signal based on preset frequency data includes:

[0019] Step 1: Set up a database in the central control module of the carrier and store the preset frequency data in the database;

[0020] Step two: Once the head carrier is selected, the central control module of the head carrier obtains the preset frequency data from the database and encodes it into the control signal.

[0021] Preferably, in the above-described anti-interference method for a sensing sensor, the sensing sensor transmitting end of the head carrier transmitting a transmission signal of a corresponding frequency according to the control signal includes:

[0022] Step 1: Transmit the control signal to the transmitting end of the sensing sensor to decode the encoded signal;

[0023] Step two: According to the decoding and restoration instructions, control the number of times the transmitting end completes the periodic changes of the transmitted signal per unit time.

[0024] Preferably, in the above-mentioned anti-interference method for a sensing sensor, the step of real-time detection of the received signal acquired by the sensing sensor receiver of the head carrier, performing frequency analysis on the received signal, comparing the frequency analysis result with preset frequency data, eliminating interference signals, and retaining the true signal includes the following steps:

[0025] Step 1: Send the multiple received signals acquired by the receiving end to the central control module;

[0026] Step two, the central control module acquires the frequency data of the multiple received signals;

[0027] Step 3: Compare the acquired frequency data with the preset frequency data to obtain the comparison results;

[0028] Step four: The central control module selects signals that match the comparison results as real signals and stores them in the database, and reacts according to the real signals; signals that do not match the comparison results are deleted from the database.

[0029] Preferably, in the above-described anti-interference method for a sensing sensor, the step of driving the head carrier to perform an action based on the retained real signal and sending the action information to the other carriers includes the following steps:

[0030] Step 1: Send the action information and location information of the head carrier to the central control module;

[0031] Step two, the receiving end of the central control module sends the action information and location information to the other carriers via a private network;

[0032] Step 3: The remaining carriers compare the degree of deviation between their own set arrival location information and the received location information. If there is no deviation, they take action at the designated location; if there is a deviation, they leave the group and explore on their own.

[0033] Preferably, in the above-mentioned anti-interference method for a sensing sensor, the method is applied to autonomous vehicles operating in swarms.

[0034] As can be seen from the above technical solution, the beneficial effects of this application compared with the prior art are as follows:

[0035] 1. It avoids the problem of environmental interference affecting the sensing sensors;

[0036] 2. It avoids the problem of mutual interference among multiple sensing sensors during cluster operations;

[0037] 3. Centralized control of unmanned vehicles during cluster operations has been achieved. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0039] Figure 1 This is a flowchart of the present invention. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] In this invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0042] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0043] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0044] In one embodiment, see Figure 1 An anti-interference method for a sensing sensor, wherein a carrier of the sensing sensor is equipped with a plurality of sensing sensors, each of which includes a transmitting end and a receiving end; the transmitting end and the receiving end are connected to a central control module for controlling the transmission and reception of signals; the method includes the following steps:

[0045] S1, group the carriers according to the positioning system and select the chief carrier;

[0046] S2, acquire control signals based on preset frequency data;

[0047] S3, the sensing sensor transmitter of the head carrier transmits a signal at a corresponding frequency according to the control signal;

[0048] S4, Real-time detection of the received signal acquired by the sensor receiver of the head carrier, and frequency analysis of the received signal; Comparison of the frequency analysis results with preset frequency data, elimination of interference signals, and retention of real signals;

[0049] S5 drives the leader's carrier to take action based on the preserved real signals and sends the action information to the other carriers.

[0050] The principle of the above embodiment is as follows: the sensing sensor includes existing technology equipment such as lidar, visible light camera, millimeter wave radar and ultrasonic bed sensor; it is used to detect distance and obstacle information; due to adverse weather interference and mutual interference, the sensor is prone to failure; in this embodiment, the vehicle with the foremost position is set as the main detection vehicle, interference signals are eliminated by setting a frequency, and the information it obtains is shared with the vehicles in the same group;

[0051] The beneficial effects of the above embodiments are: reducing interference caused by external factors and avoiding mutual interference during cluster operations.

[0052] In one embodiment, see Figure 1 An anti-interference method for sensing sensors, S1, grouping carriers according to the positioning system and selecting the leader carrier includes:

[0053] S11, Each carrier positioning system has a preset coverage area, and the area is limited according to the carrier positioning system;

[0054] S12, data connections are established between carriers within the preset coverage area of ​​each carrier, and the carriers that have established connections become a group;

[0055] S13, obtain the direction of travel of the carrier according to the positioning system, and select the carrier at the foremost position as the head carrier according to the direction of travel;

[0056] S14 enables the central control modules of each carrier in the same group to be connected to a central control module via a dedicated network;

[0057] The positioning system is preferably implemented using global satellite positioning and inertial measurement sensors; the preset coverage area is manually set and can be changed according to different working scenarios; for example, the preset coverage area of ​​unmanned trucks working in mines should be small, as the environment is too complex and there is little signal contact between trucks, so interference can still be reduced even without establishing a group; the central control module is connected to each central control module through a private network, which can be replaced by a wireless local area network, virtual local area network or other wireless network, and the central control module should have strong computing and storage capabilities, and there should be enough of them to support fast data transmission and fast storage.

[0058] The beneficial effects of the above embodiments are: they enable the aggregation of various carriers, facilitating unified control.

[0059] In one embodiment, see Figure 1 An anti-interference method for a sensing sensor, S2, includes acquiring a control signal based on preset frequency data, comprising:

[0060] S21, A database is set up in the central control module of the carrier, and preset frequency data is stored in the database;

[0061] S22, Once the leader carrier is selected, the central control module of the leader carrier obtains the preset frequency data from the database and encodes it into a control signal;

[0062] Different frequency types are set for different types of sensing sensors, and different preset frequencies can be set for the same sensing sensor on different carriers; the leader carrier takes the lead in detection and limits the frequency of the transmission signals of each sensing sensor to the preset frequency.

[0063] The beneficial effect of the above embodiments is that setting signals of different frequencies reduces mutual interference.

[0064] In one embodiment, see Figure 1 An anti-interference method for a sensing sensor, S3, wherein the sensing sensor transmitter of the head carrier transmits a transmission signal of a corresponding frequency according to a control signal, including:

[0065] S31, transmits the control signal to the sensing sensor transmitter to decode the encoded signal;

[0066] S32, according to the decoding and restoration instruction, is the number of times the corresponding control transmitter sends a signal that completes periodic changes per unit time;

[0067] Decoding and encoding can be achieved through encoders and decoders.

[0068] The beneficial effects of the above embodiments are: transmission in the form of digital signals increases transmission speed; and control of carrier actions via instructions facilitates the transmission of action information.

[0069] In one embodiment, see Figure 1 An anti-interference method for a sensing sensor, S4, involves real-time detection of the received signal acquired by the sensing sensor receiver of the head carrier, and frequency analysis of the received signal; comparing the frequency analysis results with preset frequency data, eliminating interference signals, and retaining the true signal, including:

[0070] S41 sends multiple received signals acquired by the receiving end to the central control module;

[0071] S42, the central control module acquires frequency data of multiple received signals;

[0072] S43, compare the acquired multiple frequency data with preset frequency data to obtain the comparison results;

[0073] S44, the central control module selects signals that match the comparison results as real signals and stores them in the database, and reacts according to the real signals; signals that do not match the comparison results are deleted from the database;

[0074] The analysis and comparison process of the central control module includes: the central control module compares the frequency data of the received signal with the preset frequency data, where the received frequency data is A and the preset frequency data is A0. Since multiple signals are received and there are interference signals, the received frequency data A includes A1, A2, A3, etc. The frequency data A1, A2, A3, etc. are compared with the preset frequency data A0 respectively. When the error rate is less than the specified probability, it is selected as the real signal. The error rate can be manually set according to the detection frequency of each carrier.

[0075] The beneficial effects of the above embodiments are: reducing interference in the received signal and improving the accuracy of detection.

[0076] In one embodiment, see Figure 1 An anti-interference method for a sensing sensor, S5, involves driving the head carrier to perform actions based on the retained real signals and sending the action information to the other carriers, including:

[0077] S51 sends the action and location information of the head carrier to the central control module;

[0078] S52, the receiving end of the central control module sends the action information and location information to the other carriers through the private network;

[0079] S53, the other carriers compare the degree of violation between their own set arrival location information and the received location information. If there is no violation, they take action at the designated location; if there is a violation, they break out of the group and explore on their own.

[0080] The location information transmitted to the central control module is first sent to the central control modules of the other carriers. Each carrier has a pre-set destination and route. Each central control module analyzes whether the location information transmitted by the central control module is the location it needs to pass through. If the locations overlap, it makes a request to the central control module. If they do not match, it leaves the group and moves to another carrier in the same direction as itself to form a group. After the central control module receives the request, it sends action information to the requester. When the carrier arrives at the location, it directly performs the action based on the action information without the need for detection.

[0081] The beneficial effects of the above embodiments are: interference between carriers that are close to each other is avoided, the central control module receives and sends data in real time, danger is avoided, and stability is improved.

[0082] In one embodiment, see Figure 1 An anti-interference method for sensing sensors, which is applied to autonomous vehicles operating in swarms;

[0083] Among them, the preferred method is to use unmanned trucks in cluster operations, as the anti-interference effect is more significant when multiple unmanned trucks are heading to the same destination.

[0084] The beneficial effect of the above embodiments is that they can maximize the anti-interference effect of the method.

[0085] It should be noted that the system provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the modules or steps in the embodiments of the present invention can be further decomposed or combined. For example, the modules in the above embodiments can be merged into one module, or further divided into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the various modules or steps and are not considered as an improper limitation of the present invention.

[0086] The term "comprising" or any other similar term is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus / device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent in such process, method, article, or apparatus / device.

[0087] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0088] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims and their equivalents, this invention is also intended to include these modifications and variations in the above description of the disclosed embodiments, enabling those skilled in the art to implement or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, this invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An anti-interference method for a sensing sensor, characterized in that, Includes the following steps: S1, group the carriers according to the positioning system and select the chief carrier; S2, acquire control signals based on preset frequency data; S3, the sensing sensor transmitting end of the head carrier transmits a transmission signal of a corresponding frequency according to the control signal; S4, Real-time detection of the received signal acquired by the sensing sensor receiver of the head carrier, and frequency analysis of the received signal; Comparison of the frequency analysis result with preset frequency data, elimination of interference signals, and retention of real signals; S5, the head carrier is driven to perform actions based on the retained real signals, and the action information is sent to the other carriers; The carrier of the sensing sensor is equipped with a plurality of sensing sensors, each of which includes a transmitting end and a receiving end; the transmitting end and the receiving end are connected to a central control module for controlling the transmission and reception of signals.

2. The anti-interference method for a sensing sensor according to claim 1, characterized in that, The process of grouping the carriers and selecting the leader carrier based on the positioning system includes the following steps: Step 1: Each of the carrier positioning systems has a preset coverage area, and the area is limited according to the carrier positioning system; Step 2: Data connections are established between the carriers within a preset coverage area of ​​each carrier, and the carriers that have established connections form a group; Step 3: Obtain the direction of travel of the carrier according to the positioning system, and select the carrier at the foremost position as the head carrier according to the direction of travel; Step four: Connect the central control modules of each of the carriers in the same group to a central control module via a dedicated network.

3. The anti-interference method for a sensing sensor according to claim 2, characterized in that, The step of obtaining the control signal based on preset frequency data includes: Step 1: Set up a database in the central control module of the carrier and store the preset frequency data in the database; Step two: Once the head carrier is selected, the central control module of the head carrier obtains the preset frequency data from the database and encodes it into the control signal.

4. The anti-interference method for a sensing sensor according to claim 3, characterized in that, The sensing sensor transmitting end of the head carrier transmits a signal at a corresponding frequency according to the control signal, including: Step 1: Transmit the control signal to the transmitting end of the sensing sensor to decode the encoded signal; Step two: According to the decoding and restoration instructions, control the number of times the transmitting end completes the periodic changes of the transmitted signal per unit time.

5. The anti-interference method for a sensing sensor according to claim 4, characterized in that, The real-time detection of the received signal acquired by the sensing sensor receiver of the head carrier, and the frequency analysis of the received signal, comparing the frequency analysis results with preset frequency data, eliminating interference signals and retaining the true signal, includes the following steps: Step 1: Send the multiple received signals acquired by the receiving end to the central control module; Step two, the central control module acquires the frequency data of the multiple received signals; Step 3: Compare the acquired frequency data with the preset frequency data to obtain the comparison results; Step four: The central control module selects signals that match the comparison results as real signals and stores them in the database, and reacts according to the real signals; signals that do not match the comparison results are deleted from the database.

6. The anti-interference method for a sensing sensor according to claim 5, characterized in that, The step of driving the head carrier to perform actions based on the retained real signals and sending the action information to the other carriers includes the following steps: Step 1: Send the action information and location information of the head carrier to the central control module; Step two, the receiving end of the central control module sends the action information and location information to the other carriers via a private network; Step 3: The remaining carriers compare the degree of deviation between their own set arrival location information and the received location information. If there is no deviation, they take action at the designated location; if there is a deviation, they leave the group and explore on their own.

7. The anti-interference method for a sensing sensor according to claim 1, characterized in that, It is applied to driverless cars used in swarm operations.

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