Collision judgment system, method, apparatus, and device

Patent metadata

Field	Value
Publication number	US-11648484-B2
Application number	US-202016996558-A
Country	US
Kind code	B2
Filing date	Aug 18, 2020
Priority date	Oct 19, 2015
Publication date	May 16, 2023
Grant date	May 16, 2023

Abstract

The present disclosure provides a collision judgment method and apparatus. The method includes: determining, by a moving device, according to acceleration data collected by an acceleration sensor, that the moving device collides; sending collision information to the corresponding control device, including at least a moving device identifier and a collision time; sending, by the corresponding control device, the collision information to a collision judgment device; detecting, by the collision judgement device, whether at least two collision information sent by the at least two control devices is received within a predetermined time interval; when the at least two collision information is received within the predetermined time interval, and a difference between collision times carried in the at least two collision information is less than a preset threshold, determining that moving devices corresponding to moving device identifiers carried in the at least two collision information collided with one other.

First claim

What is claimed is:

1. A method of determining whether a first moving device collides with a second moving device, the first moving device including a first acceleration sensor and being in communication with a collision judgement device via a first control device, the method comprising:
obtaining, by the first moving device via the first acceleration sensor, a first acceleration value in a first direction and a second acceleration value in a second direction different than the first direction;
upon determining the first acceleration value is greater than a first preset acceleration threshold or the second acceleration value is greater than a second preset acceleration threshold, obtaining, by the first moving device via the first acceleration sensor, n first acceleration values and n second acceleration values respectively collected at n timepoints;
obtaining n resultant acceleration values from the n first acceleration values and the n second acceleration values, each of then resultant accerlation values being a square root of a sum of a square of corresponding each of the n first accelearation values and a square of corresponding each of the n second acceleration values;
determining by the first moving device whether the first moving device collides according to the n resultant acceleration values;
upon determining the first moving device collides, determining by the first moving device, a first collision time at which the first moving device collides; and
sending, by the first moving device via the first control device, first collision information to the collision judgment device, the collision information including the first collision time, wherein, upon determining by the collision judgement device the first collision information from the first moving device and second collision information from the second moving device is received within a preset time interval, and upon determining by the collision judgement device a difference between the first collision time of the first moving device and a second collision time of the second moving device is less than a preset collision time threshold, the first moving device is determined to have collided with the second moving device.

2. The method of claim 1 , wherein the n resultant acceleration values include an i th resultant acceleration value, an i+1 th resultant acceleration value, an i+2 th resultant acceleration value, and an i+3 th resultant acceleration value, and wherein determining by the first moving device whether the first moving device collides according to the n resultant acceleration values comprises:
determining, by the first moving device, a first slope by calculating a difference between the i resultant acceleration value and the i+2 th resultant acceleration value;
determining, by the first moving device, a second slope by calculating a difference between the i+1 th resultant acceleration value and the i+3 th resultant acceleration value; and
upon determining one of the first and the second slopes is a positive value and the other of the first and the second slopes is a negative value, and upon determining a difference between the first slope and the second slope is within a preset slope threshold, determining the first moving device collides.

3. The method of claim 1 , wherein the first moving device further includes a first angular velocity sensor, the method further comprising:
obtaining, by the first moving device via the first angular velocity sensor, first deflection information, the first deflection information including a first deflection angle value and a first deflection direction value; and
sending, by the first moving device, the first deflection information to the collision judgment device, wherein, upon receipt by the collision judgement device the first deflection information from the first moving device and second deflection information from the second moving device, the collision judgement device determines one of the first and the second moving devices being in an active collision state and the other of the first and the second moving devices being in a passive collision state according to the first and the second deflection information.

4. The method of claim 3 , wherein the first moving device is in the active collision state, the method further comprising at least one of:
receiving, by the first moving device, an instruction to increase a score of the first moving device; or
receiving, by the first moving device, a continue battle instruction to continue a battle.

5. The method of claim 1 , further comprising:
having a first RTT (round-trip time) determined, via:
sending, by the first control device, a ping to the first moving device;
upon receiving the ping, returning, by the first moving device a pong to the first control device; and
determining, by the first control device a first RTT (round-trip time) according to a time of sending the ping and a time of receiving the pong;

having a second RTT determined, via:
sending, by the first control device, a second ping to the collision judgement device;
upon receiving the second ping, returning, by the collision judgement device a second pong to the first control device; and
determining, by the first control device a second RTT (round-trip time) according to a time of sending the second ping and a time of receiving the second pong;

facilitating, determination by the first control device of a communication delay between the first moving device and the collision judgment device according to the first RTT and the second RTT;
receiving, by the first moving device, the communication delay from the first control device;
upon receiving a start instruction sent by the collision judgment device via the first control device, determining, by the first moving device, a start time according to the communication delay.

6. The method of claim 5 , further comprising:
facilitating, determination by the first control device of a number of the first RTTs in a preset RTT time interval; and
facilitating, calculation by the first control device of an average of the number of the first RTTS in the preset RTT time interval.

7. The method of claim 1 , further comprising:
determining, by the first moving device, a first average acceleration value of the n first acceleration values and a second average acceleration value of the n second acceleration values; and
determining, by the first moving device, a collision type according to the first and the second average collision values.

8. A first moving device being in communication with a collision judgment device, the first moving device comprising: a first acceleration sensor; a memory; and a processor coupled to the memory and configured to perform:
obtaining a first acceleration value in a first direction and a second acceleration value in a second direction different than the first direction;
upon determining the first acceleration value is greater than a first preset acceleration threshold or the second acceleration value is greater than a second preset acceleration threshold, obtaining n first acceleration values and n second acceleration values respectively collected at n timepoints;
obtaining n resultant acceleration values from the n first acceleration values and the n second acceleration values, each of the n resultant accerlation values being a square root of a sum of a square of corresponding each of then first accelearation values and a square of corresponding each of the n second acceleration values;
determining whether the first moving device collides according to the n resultant acceleration values;
upon determining the first moving device collides, determining a first collision time at which the first moving device collides; and
sending f

Assignees

• Tencent Tech Shenzhen Co Ltd

Inventors

• Zhao Ming
• Lu Sixi
• Liu Lu
• Jing Yanqing

Classifications

• A63H27/02

  Model aircraft · CPC title

• A63H17/045

  shaped as armoured cars, tanks or the like · CPC title

• A63H30/04 Primary

  using wireless transmission · CPC title

• A63H17/395

  steered by program · CPC title

• A63H17/26 Primary

  Details; Accessories (drive mechanisms A63H29/00) · CPC title