阅读说明：本技术 一种避障处理方法和控制系统 (Obstacle avoidance processing method and control system ) 是由 余建军 江博 张华俊 熊国栋 张军 周明明 朱西汉 于 2021-08-11 设计创作，主要内容包括：本发明公开了一种避障处理方法,其应用于一避障控制系统中,所述避障控制系统具有移动体,所述避障控制系统的所述移动体所在的移动空间内具有至少一个移动\非移动的对象,移动体根据所述第一信息从第一位置移动到第二位置或停留在第一位置,所述第一位置为出现所述第一对象时,移动体的当前原始位置。还公开了一种避障控制系统。通过本发明的避障处理方法和控制系统,能够使得在有限的使用场地内通过移动体和对象的双向信号识别实现相对位置的确认,在保证识别精度的同时有效的降低了识别设备的成本以及识别算法的复杂程度。(The invention discloses an obstacle avoidance processing method which is applied to an obstacle avoidance control system, wherein the obstacle avoidance control system is provided with a moving body, at least one moving/non-moving object is arranged in a moving space where the moving body of the obstacle avoidance control system is located, the moving body moves to a second position or stays at a first position from a first position according to first information, and the first position is the current original position of the moving body when the first object appears. An obstacle avoidance control system is also disclosed. By the obstacle avoidance processing method and the control system, the confirmation of the relative position can be realized through the bidirectional signal identification of the moving body and the object in a limited use field, the identification precision is ensured, and the cost of identification equipment and the complexity of an identification algorithm are effectively reduced.)

1. An obstacle avoidance processing method is applied to an obstacle avoidance control system, the obstacle avoidance control system is provided with a moving body, and a moving space where the moving body of the obstacle avoidance control system is located is provided with at least one moving/non-moving object, and the obstacle avoidance processing method is characterized by comprising the following steps:

acquiring a first initial point, wherein the first initial point is a point generated by a moving body for identifying the position of an object, and a first preset area is determined by taking the first initial point as a center;

acquiring a second starting point, wherein the second starting point is a point generated in the position where the moving body is located in the object movement/non-movement process, and a second preset area is determined by taking the second starting point as the center;

determining a first object with at least one point of intersection between a first preset area and a second preset area from the objects;

determining first information of relative positions of the first object and the moving body, wherein the first information is a straight line distance from a first starting point to a second starting point, and the first information indicates that the first object or/and the moving body are far away from each other; and

and the moving body moves to a second position or stays at the first position from the first position according to the first information, wherein the first position is the current original position of the moving body when the first object appears.

2. An obstacle avoidance processing method according to claim 1, characterized in that: the step of determining first information of the relative positions of the first object and the mobile body includes:

determining a first preset area of the moving body, wherein the first preset area is an area covered by the moving body after the moving body extends outwards for a preset distance T1 by taking the center of the moving body as a central point;

determining a second predetermined area of the first object, wherein the second predetermined area is an area covered by the first object after the first object extends outwards by a predetermined distance T2 by taking the center of the first object as a central point;

determining first information of relative positions of a first object and a moving body according to an algorithm of intersection of a second predetermined region of the object and a first predetermined region of the moving body;

wherein, when a first object appears, the second predetermined region of the first object intersects with the first predetermined region of the moving body.

3. An obstacle avoidance processing method according to claim 1, further comprising:

acquiring a third starting point, wherein the third starting point is a point generated by a moving body for identifying the position of the first object, and a third preset area is determined by taking the third starting point as a center;

acquiring a fourth starting point, wherein the fourth starting point is a point generated in the moving/non-moving process of the first object and used for identifying the position of the moving body, and a fourth preset area is determined by taking the fourth starting point as a center;

determining a second object in which at least one point of a third preset area and a fourth preset area intersects from the first object;

determining second information of the relative position of the second object and the moving body, wherein the second information is a straight line distance from a third starting point to a fourth starting point, and the second information indicates that the second object or/and the moving body are far away from each other; and

and the moving body moves from a second position to a third position or stays at the second position according to the second information, wherein the second position is the position of the moving body when the first object moves from the first position to the second position.

4. An obstacle avoidance processing method according to claim 3, characterized in that: the step of determining second information of the relative position of the second object and the moving body includes:

determining a third preset area of the moving body, wherein the third preset area is an area covered by the moving body after the moving body extends outwards for a preset distance T3 by taking the center of the moving body as a central point;

determining a fourth predetermined area of the second object, wherein the fourth predetermined area is an area covered by the second object after the second object extends outwards by a predetermined distance T4 by taking the center of the second object as a central point;

determining second information of the relative position of the second object and the moving body according to an algorithm of intersection of a fourth predetermined region of the second object and a third predetermined region of the moving body;

wherein, when a second object appears, a fourth predetermined region of the second object intersects with a third predetermined region of the moving body.

5. An obstacle avoidance processing method according to claim 2, 3 or 4, characterized in that: the predetermined area is circular.

6. An obstacle avoidance control system according to claim 1, the obstacle avoidance control system having a moving body, and a moving space in which the moving body of the obstacle avoidance control system is located has at least one moving/non-moving object, wherein the obstacle avoidance control system comprises;

a first start point acquisition unit configured to acquire a first start point that is a point generated when the mobile object is at a position where the object is recognized;

a second starting point obtaining unit, configured to obtain a second starting point, where the second starting point is a point generated when the object identifies a position where the moving object is located in the moving \ non-moving process;

a first predetermined area unit connected to the first start point acquiring unit, for determining a first predetermined area centered on the first start point;

the second preset area unit is connected with the second starting point acquisition unit and used for determining a second preset area taking the second starting point as the center;

a first intersecting object determining unit, connected to the first starting point obtaining unit and the second starting point obtaining unit, for determining a first object intersecting at least one point of the first predetermined area and the second predetermined area;

the first information determining unit is connected with the first intersected object determining unit and used for determining first information of the relative positions of the first object and the moving body, the first information is a straight line distance from a first starting point to a second starting point, and the first information indicates that the first object or/and the moving body are far away from each other;

and the moving body moves to a second position or stays at a first position according to the first information, wherein the first position is the current original position of the moving body when the first object appears.

7. An obstacle avoidance control system according to claim 6, further comprising:

a third starting point obtaining unit configured to obtain a third starting point, where the third starting point is a point generated when the moving body recognizes a position where the first object is located;

a fourth starting point obtaining unit, configured to obtain a fourth starting point, where the fourth starting point is a point where the first object identifies the position of the moving object in the moving/non-moving process;

a third predetermined area unit, connected to the third starting point obtaining unit, for determining a third predetermined area centered on the third starting point;

a fourth predetermined area unit, connected to the fourth starting point obtaining unit, for determining a fourth predetermined area centered on the fourth starting point;

a second intersecting object determining unit, connected to the third starting point obtaining unit and the fourth starting point obtaining unit, for determining a second object intersecting at least one point of the third predetermined area and the fourth predetermined area in the first object;

the second information determining unit is connected with the second intersecting object determining unit and is used for determining second information of the relative positions of the second object and the moving body, the second information is a straight-line distance from a third starting point to a fourth starting point, and the second information indicates that the second object or/and the moving body are far away from each other;

and the moving body moves from a second position to a third position or stays at the second position according to the second information, wherein the second position is the position of the moving body when the first object moves from the first position to the second position.

8. An obstacle avoidance control system according to claim 6, wherein: the predetermined area is circular.

9. An obstacle avoidance control system according to claim 6, wherein: there is a portable receiving device in which the second starting point acquiring unit and the second predetermined area unit are disposed.

10. An obstacle avoidance control system according to claim 7, wherein: there is a portable receiving device in which the second starting point acquiring unit, the second predetermined area unit, the fourth starting point acquiring unit and the fourth predetermined area unit are disposed.

Technical Field

The present invention relates to an obstacle avoidance processing method and a control system, and more particularly to an obstacle avoidance processing method and an obstacle avoidance control system for a vehicle to an object or a person in a limited field range.

Background

The automatic obstacle avoidance function of the current vehicle is more and more popular, more road vehicles are adopted to identify people or objects in the road driving state, such as pedestrians or vehicles, the obstacle avoidance method is realized by precise equipment such as a laser radar or a sensor carried by the vehicle and matching with an algorithm, the problems of high cost, poor applicability and the like obviously exist in a local small-range area, and in order to achieve the obstacle avoidance effect in a limited field range, and according to the actual application scene of the field, an obstacle avoidance control system and a corresponding obstacle avoidance processing method which are high in identification effect and can effectively control the equipment cost are required to be provided.

Disclosure of Invention

The present invention aims to provide an obstacle avoidance processing method and a control system, so as to solve the problems proposed in the background art.

In order to achieve the above object, the present invention provides the following technical solutions.

According to an aspect of the present invention, an obstacle avoidance processing method is provided, which is applied to an obstacle avoidance control system, where the obstacle avoidance control system has a moving body, and a moving space in which the moving body of the obstacle avoidance control system is located has at least one moving/non-moving object, and the method includes: acquiring a first initial point, wherein the first initial point is a point generated by a moving body for identifying the position of an object, and a first preset area is determined by taking the first initial point as a center; acquiring a second starting point, wherein the second starting point is a point generated in the position where the moving body is located in the object movement/non-movement process, and a second preset area is determined by taking the second starting point as the center; determining a first object with at least one point of intersection between a first preset area and a second preset area from the objects; determining first information of relative positions of the first object and the moving body, wherein the first information is a straight line distance from a first starting point to a second starting point, and the first information indicates that the first object or/and the moving body are far away from each other; and the moving body moves to a second position or stays at the first position from the first position according to the first information, wherein the first position is the current original position of the moving body when the first object appears.

In the above obstacle avoidance processing method, the step of determining the first information on the relative positions of the first object and the moving object includes: determining a first preset area of the moving body, wherein the first preset area is an area covered by the moving body after the moving body extends outwards for a preset distance T1 by taking the center of the moving body as a central point; determining a second predetermined area of the first object, wherein the second predetermined area is an area covered by the first object after the first object extends outwards by a predetermined distance T2 by taking the center of the first object as a central point; determining first information of relative positions of a first object and a moving body according to an algorithm of intersection of a second predetermined region of the object and a first predetermined region of the moving body; wherein, when a first object appears, the second predetermined region of the first object intersects with the first predetermined region of the moving body.

In the obstacle avoidance processing method, a third starting point is obtained, the third starting point is a point generated by a moving body for identifying the position of the first object, and a third predetermined area is determined by taking the third starting point as a center; acquiring a fourth starting point, wherein the fourth starting point is a point generated in the moving/non-moving process of the first object and used for identifying the position of the moving body, and a fourth preset area is determined by taking the fourth starting point as a center; determining a second object in which at least one point of a third preset area and a fourth preset area intersects from the first object; determining second information of the relative position of the second object and the moving body, wherein the second information is a straight line distance from a third starting point to a fourth starting point, and the second information indicates that the second object or/and the moving body are far away from each other; and the moving body moves from the second position to the third position or stays at the second position according to the second information, wherein the second position is the position of the moving body when the first object moves from the first position to the second position.

In the above obstacle avoidance processing method, the step of determining the second information on the relative position of the second object and the moving object includes: determining a third preset area of the moving body, wherein the third preset area is an area covered by the moving body after the moving body extends outwards for a preset distance T3 by taking the center of the moving body as a central point; determining a fourth predetermined area of the second object, wherein the fourth predetermined area is an area covered by the second object after the second object extends outwards by a predetermined distance T4 by taking the center of the second object as a central point; determining second information of the relative position of the second object and the moving body according to an algorithm of intersection of a fourth predetermined region of the second object and a third predetermined region of the moving body; wherein, when a second object appears, a fourth predetermined region of the second object intersects with a third predetermined region of the moving body.

In the above obstacle avoidance processing method, the predetermined area is a circle.

According to another aspect of the present invention, an obstacle avoidance control system is provided, where the obstacle avoidance control system has a moving body, and a moving space in which the moving body of the obstacle avoidance control system is located has at least one moving \ non-moving object, and the obstacle avoidance control system includes; a first start point acquisition unit configured to acquire a first start point that is a point generated when the mobile object is at a position where the object is recognized; a second starting point obtaining unit, configured to obtain a second starting point, where the second starting point is a point generated when the object identifies a position where the moving object is located in the moving \ non-moving process; a first predetermined area unit connected to the first start point acquiring unit, for determining a first predetermined area centered on the first start point; the second preset area unit is connected with the second starting point acquisition unit and used for determining a second preset area taking the second starting point as the center; a first intersecting object determining unit, connected to the first starting point obtaining unit and the second starting point obtaining unit, for determining a first object intersecting at least one point of the first predetermined area and the second predetermined area; the first information determining unit is connected with the first intersected object determining unit and used for determining first information of the relative positions of the first object and the moving body, the first information is a straight line distance from a first starting point to a second starting point, and the first information indicates that the first object or/and the moving body are far away from each other; and the moving body moves to a second position or stays at a first position according to the first information, wherein the first position is the current original position of the moving body when the first object appears.

In the above obstacle avoidance control system, the obstacle avoidance control system further includes: a third starting point obtaining unit configured to obtain a third starting point, where the third starting point is a point generated when the moving body recognizes a position where the first object is located; a fourth starting point obtaining unit, configured to obtain a fourth starting point, where the fourth starting point is a point where the first object identifies the position of the moving object in the moving/non-moving process; a third predetermined area unit, connected to the third starting point obtaining unit, for determining a third predetermined area centered on the third starting point; a fourth predetermined area unit, connected to the fourth starting point obtaining unit, for determining a fourth predetermined area centered on the fourth starting point; a second intersecting object determining unit, connected to the third starting point obtaining unit and the fourth starting point obtaining unit, for determining a second object intersecting at least one point of the third predetermined area and the fourth predetermined area in the first object; the second information determining unit is connected with the second intersecting object determining unit and is used for determining second information of the relative positions of the second object and the moving body, the second information is a straight-line distance from a third starting point to a fourth starting point, and the second information indicates that the second object or/and the moving body are far away from each other; and the moving body moves from a second position to a third position or stays at the second position according to the second information, wherein the second position is the position of the moving body when the first object moves from the first position to the second position.

In the above obstacle avoidance control system, the predetermined area is a circle.

In the above obstacle avoidance control system, there is a portable receiving device, and the second starting point obtaining unit and the second predetermined area unit are disposed in the portable receiving device.

In the above obstacle avoidance control system, there is a portable accommodating device, and the second starting point acquiring unit, the second predetermined area unit, the fourth starting point acquiring unit and the fourth predetermined area unit are disposed in the portable accommodating device.

According to the technical scheme, the obstacle avoidance processing method and the control system can confirm the relative position through the bidirectional signal identification of the moving body and the object in the limited use field, and effectively reduce the cost of identification equipment and the complexity of an identification algorithm while ensuring the identification precision.

Drawings

Fig. 1 to 2 are schematic diagrams illustrating an obstacle avoidance processing method according to first to second embodiments of the present invention;

fig. 3 is a schematic view showing an obstacle avoidance control system according to the first to second embodiments of the present invention;

fig. 4 is still another schematic view showing an obstacle avoidance control system according to the first to second embodiments of the present invention;

fig. 5 is a schematic diagram of a portable housing device of the obstacle avoidance control system according to the first embodiment of the present invention;

fig. 6 is a schematic diagram of a portable housing device of an obstacle avoidance control system according to a second embodiment of the present invention.

Detailed Description

Hereinafter, specific embodiments of an obstacle avoidance processing method and a control system according to embodiments of the present invention will be described in detail with reference to the accompanying drawings.

An aspect of the embodiments of the present invention provides an obstacle avoidance processing method, which is applied to an obstacle avoidance control system, where the obstacle avoidance control system has a moving body, and a moving space in which the moving body of the obstacle avoidance control system is located has at least one moving \ non-moving object, and the method includes: acquiring a first initial point, wherein the first initial point is a point generated by a moving body for identifying the position of an object, and a first preset area is determined by taking the first initial point as a center; acquiring a second starting point, wherein the second starting point is a point generated in the position where the moving body is located in the object movement/non-movement process, and a second preset area is determined by taking the second starting point as the center; determining a first object with at least one point of intersection between a first preset area and a second preset area from the objects; determining first information of relative positions of the first object and the moving body, wherein the first information is a straight line distance from a first starting point to a second starting point, and the first information indicates that the first object or/and the moving body are far away from each other; and the moving body moves to a second position or stays at the first position from the first position according to the first information, wherein the first position is the current original position of the moving body when the first object appears.

Here, as will be understood by those skilled in the art, when the moving body travels, it is necessary to identify an obstacle in the traveling path, which includes a movable human or animal and an immovable physical obstacle, for example, when a forklift moves in a factory area, various obstacles may exist within the area of the moving body, such as a human, an animal, a mounting box, etc., a circular signal coverage area spreading outward with the human, the animal, or the mounting box as a central point is formed at the forklift, and a circular signal coverage area spreading outward with the body of the forklift itself as a central point is formed. At this moment, the obstacle avoidance control system enables the forklift to recognize and calculate signals of people or animals or assembly boxes according to a certain algorithm, or it can be understood that the recognition and calculation can be bidirectional, namely the forklift can recognize the signals of the people or the animals or the assembly boxes and trigger induction, or the entities such as the people, the animals and the assembly boxes recognize the signals of the positions of the forklift and trigger induction through the obstacle avoidance control system. In order to achieve the identification effect, the obstacle avoidance control system may be configured to set a detection device for generating signal coverage on the forklift, the human, the animal, and the assembly box, for example, set a detection device for signal coverage inside the vehicle, and wear or mount a portable detection device (i.e., a portable receiving device) for signal coverage on the human, the animal, or the assembly box. For example, a vehicle passes through a signal coverage detection device and forms a signal coverage first predetermined area by taking the signal coverage detection device as a central point, when a person enters the factory area, the person wears electronic equipment such as a bracelet and the like capable of generating signal coverage, the bracelet equipment can generate a signal of a second predetermined area covered outwards by a person as the central point, the vehicle signal coverage detection device carries out real-time detection according to the signal of the second predetermined area generated by the object, certain weighting calculation is carried out on each object in the first predetermined area, so that whether an object with overlapped signal coverage ranges exists in the first predetermined area (namely, the first object with at least one point crossing the first predetermined area and the second predetermined area) is determined, and once the object is identified, a corresponding information instruction is made to complete the next operation; for example, when it is recognized that a person is in the signal coverage area, the vehicle itself sends an alarm (which may be in an alarm form, or a display prompting form, etc. to display the specific direction of the person detected in the signal coverage area, but is not limited to the above representation forms, which may be various), and performs a corresponding processing action, which may be an emergency braking stop, or an avoidance driving action away from the person according to an information prompt, and it is adapted that the person may also prompt that the person is in the signal coverage area of the vehicle on an electronic device such as a bracelet worn by the person to perform a corresponding avoidance action or prompt that a vehicle exists near the person; for animals, the avoidance action or prompt of the vehicle is mainly taken as the main point; for immovable physical obstacles, the vehicle is mainly used for avoiding actions or prompting.

In the technical scheme of the obstacle avoidance processing method of the embodiment of the invention, the core is that the preset regions for signal transmission and reception are formed at the moving body and the object, and the two-way signal sensing is adopted. The technical scheme is more suitable for application sites such as factory areas of factories and the like which need to monitor safety of personnel and vehicles in real time, for example, electronic equipment (such as a bracelet and the like) used for sending and receiving signals can be worn by the personnel in the factory area range of vehicle activities, or electronic equipment (such as a neck ring and the like) used for sending and receiving signals can be worn by animals with activity possibility in the vehicle activity range, or electronic equipment (such as an electronic sensing device which is detachably mounted on an entity barrier) used for sending and receiving signals can be mounted on the entity barrier in the vehicle activity range, so that the vehicle can be used for realizing signal sensing identification on the object in the driving process; meanwhile, the embodiment is not limited to the specific object or moving body described above, and may also be applied to application scenarios where an aircraft or the like flies off a road surface, and it should be noted that, when the moving body is an aircraft, the first predetermined area referred to by the moving body is a spherical signal coverage area formed by taking the moving body as a center point, instead of a circular signal coverage area of a plane such as the aforementioned forklift, for example, and a specific description thereof is not given here.

Next, obstacle avoidance processing methods according to first to second embodiments of the present invention will be described with reference to fig. 1 to 6.

Fig. 1 is a schematic diagram of an obstacle avoidance processing method according to a first embodiment of the present invention. As shown in fig. 1, according to a first embodiment of the present invention, an obstacle avoidance processing method is provided, where the obstacle avoidance control system 100 is applied to an obstacle avoidance control system 100, the obstacle avoidance control system 100 has a moving body 200, and a moving space in which the moving body 200 of the obstacle avoidance control system 100 is located has at least one moving/non-moving object 300, the method includes: acquiring a first start point generated at a position where the moving object 200 recognizes the object 300, and specifying a first predetermined region with the first start point as a center; acquiring a second starting point, wherein the second starting point is a point generated by identifying the position of the moving body 200 in the moving/non-moving process of the object 300, and a second preset area is determined by taking the second starting point as a center; determining a first object in which at least one point of a first predetermined area and a second predetermined area intersects from the objects 300; determining first information of the relative position of the first object and the moving body 200, wherein the first information is a straight line distance from a first starting point to a second starting point, and the first information indicates that the first object or/and the moving body are far away from each other; and the moving body 200 moves from a first position to a second position or stays at the first position according to the first information, wherein the first position is a current original position of the moving body 200 when the first object appears.

In fig. 1, the moving object 200 is represented by S1, the object 300 is represented by S2, and the object whose relative position is changed, i.e., the first object, is represented by S2', and therefore, the change in relative position is applicable to both the position movement of S1 relative to S2 and the position movement of S2 relative to S1, and the embodiment of the present invention is not intended to be limited thereto.

Here, when the moving body 200 determines a first predetermined region, the radius of which may be denoted by T1, and the object 300 located within the moving range of the moving body 200 has a second predetermined region, the radius of which may be denoted by T2, when the moving body 200 and the object 300 are relatively positioned close to each other and at least one point of the first predetermined region and the second predetermined region intersects is satisfied, the moving body 200 performs an appropriate avoidance maneuver, such as driving away from the first object or stopping at a place. Here, at least one point is intersected, which can also be understood as the linear distance from S1 to S2' being ≦ T1+ T2.

Fig. 2 is a schematic diagram illustrating an obstacle avoidance processing method according to a second embodiment of the present invention. As shown in fig. 2, according to a second embodiment of the present invention, an obstacle avoidance processing method is provided, the obstacle avoidance processing method of the second embodiment includes the steps of the obstacle avoidance processing method of the first embodiment, and compared with the obstacle avoidance processing method of the first embodiment, the method further includes the steps of: acquiring a third starting point, wherein the third starting point is a point generated by the moving body 200 for identifying the position of the first object, and determining a third predetermined area by taking the third starting point as a center; acquiring a fourth starting point, wherein the fourth starting point is a point generated in the moving/non-moving process of the first object and used for identifying the position of the moving body, and a fourth preset area is determined by taking the fourth starting point as a center; determining a second object in which at least one point of a third preset area and a fourth preset area intersects from the first object; determining second information of the relative positions of the second object and the moving body, wherein the second information is a straight line distance from a third starting point to a fourth starting point, and the second information indicates that the second object or/and the moving body 200 are far away from each other; and the moving body 200 moves from the second position to the third position or stays at the second position according to the second information, wherein the second position is the position of the moving body 200 when the first object moves from the first position to the second position.

In fig. 2, the moving body 200 is denoted by S1, the first object is denoted by S2', and the second object is denoted by S2 ″. Here, S2' and S2 ″ are both position changes of the object 300 with respect to S1, and thus, may be applicable regardless of positional movements of the second object with respect to the moving body 200 or positional movements of the moving body 200 with respect to the second object, which is not intended to be limited by the embodiment of the present invention.

Here, the moving body 200 determines that there are a first predetermined region and a third predetermined region, respectively, the radius of the first predetermined region being denoted by T1, the radius of the third predetermined region being denoted by T3, and the third predetermined region being located within the first predetermined region, i.e., T3 < T1; further, the first object has a second predetermined region having at least one intersection with the first predetermined region, the radius of the second predetermined region being denoted by T2, and when the first object continues to move relative to the moving body 200 and a second object in which at least one point of a third predetermined region and a fourth predetermined region intersects, i.e., the object 300 continues to approach the position of the moving body 200 and at least one point of a third predetermined region and a fourth predetermined region intersects, the moving body 200 performs an appropriate avoidance operation such as a drive-off from the second object or a stop-in-place, the radius of the fourth predetermined region being denoted by T4. Here, at least one point is intersected, which can also be understood as the straight-line distance from S1 to S2 ≦ T3+ T4.

Compared with the first embodiment, the mobile body 200 has two layers of predetermined regions, i.e. the first predetermined region and the third predetermined region, and after the object 300 approaches or sequentially enters the third predetermined region from the first predetermined region, the mobile body 200 can make different action decisions, for example, when at least one point of the second predetermined region of the object 300 and the first predetermined region of the mobile body 200 intersects, the object 300 is relatively far away from the mobile body 200, the mobile body 200 can move away from the object 300 or warn the object 300 through various manners such as stop, whistle, position movement, etc., when at least one point of the fourth predetermined region of the object 300 and the third predetermined region of the mobile body 200 intersects, the object 300 is relatively close to the mobile body 200, the mobile body 200 can adopt an operation manner such as emergency stop for effectively preventing collision with the object 300, thereby further improving the safety effect.

It should be understood by those skilled in the art that, in the present embodiment, the sizes of the second predetermined area and the fourth predetermined area may be the same or different, and in different cases, a scheme that T4 > T2 may be adopted, so that the fourth predetermined area of the second object is easier to generate an intersection with the third predetermined area, thereby triggering the sensing of the object 300 and the mobile body 200 more easily, and further improving the effect of the safety prompt or the emergency avoidance.

According to an embodiment of the present invention, an obstacle avoidance control system is provided, where the obstacle avoidance control system has a moving body, and a moving space in which the moving body of the obstacle avoidance control system is located has at least one moving \ non-moving object, and the obstacle avoidance control system includes; a first start point acquisition unit configured to acquire a first start point that is a point generated when the mobile object is at a position where the object is recognized; a second starting point obtaining unit, configured to obtain a second starting point, where the second starting point is a point generated when the object identifies a position where the moving object is located in the moving \ non-moving process; a first predetermined area unit connected to the first start point acquiring unit, for determining a first predetermined area centered on the first start point; the second preset area unit is connected with the second starting point acquisition unit and used for determining a second preset area taking the second starting point as the center; a first intersecting object determining unit, connected to the first starting point obtaining unit and the second starting point obtaining unit, for determining a first object intersecting at least one point of the first predetermined area and the second predetermined area; the first information determining unit is connected with the first intersected object determining unit and used for determining first information of the relative positions of the first object and the moving body, the first information is a straight line distance from a first starting point to a second starting point, and the first information indicates that the first object or/and the moving body are far away from each other; and the moving body moves to a second position or stays at a first position according to the first information, wherein the first position is the current original position of the moving body when the first object appears.

As described above, when a moving body travels, it is necessary to identify an obstacle in a traveling path, the obstacle includes a movable human or animal and an immovable physical obstacle, for example, when a forklift moves in a factory area, various obstacles may exist in the area of the moving area, such as a human, an animal, a mounting box, and the like, a circular signal coverage area spreading outward with the human, the animal, or the mounting box as a central point is formed at the forklift, and the forklift itself also forms a circular signal coverage area spreading outward with the body of the forklift as a central point. At this moment, the obstacle avoidance control system enables the forklift to recognize and calculate signals of people or animals or assembly boxes according to a certain algorithm, or it can be understood that the recognition and calculation can be bidirectional, namely the forklift can recognize the signals of the people or the animals or the assembly boxes and trigger induction, or the entities such as the people, the animals and the assembly boxes recognize the signals of the positions of the forklift and trigger induction through the obstacle avoidance control system. In order to achieve the identification effect, the obstacle avoidance control system may be configured with a detection device for generating signal coverage on the forklift, the human, the animal, and the assembly box, for example, a detection device for generating signal coverage (i.e., a portable receiving device) is configured inside the vehicle, and a portable detection device for generating signal coverage (i.e., a portable receiving device) is worn or mounted on the human, the animal, or the assembly box. For example, a vehicle passes through a signal coverage detection device and forms a signal coverage first predetermined area by taking the signal coverage detection device as a central point, when a person enters the factory area, the person wears electronic equipment such as a bracelet and the like capable of generating signal coverage, the bracelet equipment can generate a signal of a second predetermined area covered outwards by a person as the central point, the vehicle signal coverage detection device carries out real-time detection according to the signal of the second predetermined area generated by the object, certain weighting calculation is carried out on each object in the first predetermined area, so that whether an object with overlapped signal coverage ranges exists in the first predetermined area (namely, the first object with at least one point crossing the first predetermined area and the second predetermined area) is determined, and once the object is identified, a corresponding information instruction is made to complete the next operation; for example, when it is recognized that a person is in the signal coverage area, the vehicle itself sends an alarm (which may be in an alarm form, or a display prompting form, etc. to display the specific direction of the person detected in the signal coverage area, but is not limited to the above representation forms, which may be various), and performs a corresponding processing action, which may be an emergency braking stop, or an avoidance driving action away from the person according to an information prompt, and it is adapted that the person may also prompt that the person is in the signal coverage area of the vehicle on an electronic device such as a bracelet worn by the person to perform a corresponding avoidance action or prompt that a vehicle exists near the person; for animals, the avoidance action or prompt of the vehicle is mainly taken as the main point; for immovable physical obstacles, the vehicle is mainly used for avoiding actions or prompting.

According to another embodiment of the present invention, an obstacle avoidance control system is provided, where the obstacle avoidance control system has a moving body, and a moving space in which the moving body of the obstacle avoidance control system is located has at least one moving \ non-moving object, and the obstacle avoidance control system includes; a first start point acquisition unit configured to acquire a first start point that is a point generated when the mobile object is at a position where the object is recognized; a second starting point obtaining unit, configured to obtain a second starting point, where the second starting point is a point generated when the object identifies a position where the moving object is located in the moving \ non-moving process; a first predetermined area unit connected to the first start point acquiring unit, for determining a first predetermined area centered on the first start point; the second preset area unit is connected with the second starting point acquisition unit and used for determining a second preset area taking the second starting point as the center; a first intersecting object determining unit, connected to the first starting point obtaining unit and the second starting point obtaining unit, for determining a first object intersecting at least one point of the first predetermined area and the second predetermined area; the first information determining unit is connected with the first intersected object determining unit and used for determining first information of the relative positions of the first object and the moving body, the first information is a straight line distance from a first starting point to a second starting point, and the first information indicates that the first object or/and the moving body are far away from each other; and the moving body moves to a second position or stays at a first position according to the first information, wherein the first position is the current original position of the moving body when the first object appears. A third starting point obtaining unit configured to obtain a third starting point, where the third starting point is a point generated when the moving body recognizes a position where the first object is located; a fourth starting point obtaining unit, configured to obtain a fourth starting point, where the fourth starting point is a point where the first object identifies the position of the moving object in the moving/non-moving process; a third predetermined area unit, connected to the third starting point obtaining unit, for determining a third predetermined area centered on the third starting point; a fourth predetermined area unit, connected to the fourth starting point obtaining unit, for determining a fourth predetermined area centered on the fourth starting point; a second intersecting object determining unit, connected to the third starting point obtaining unit and the fourth starting point obtaining unit, for determining a second object intersecting at least one point of the third predetermined area and the fourth predetermined area in the first object; the second information determining unit is connected with the second intersecting object determining unit and is used for determining second information of the relative positions of the second object and the moving body, the second information is a straight-line distance from a third starting point to a fourth starting point, and the second information indicates that the second object or/and the moving body are far away from each other; and the moving body moves from a second position to a third position or stays at the second position according to the second information, wherein the second position is the position of the moving body when the first object moves from the first position to the second position.

In this embodiment, as described above, the moving body has the predetermined regions of the double layer, i.e., the first predetermined region and the third predetermined region, and the mobile body can make different action decisions when the object approaches or sequentially enters a third predetermined area from the first predetermined area, for example, when the second predetermined area of the object and the first predetermined area of the mobile body intersect at least one point, the object is relatively far away from the mobile body, the mobile body can drive away from the object or warn the object in various ways such as stopping, whistling, position moving, etc., when at least one point of the fourth predetermined region of the object and the third predetermined region of the moving body intersects, the object is relatively close to the moving body, the moving body is effective to prevent collision with the object, and the operation modes such as emergency braking stop and the like can be adopted, so that the safety effect is further improved.

Next, obstacle avoidance control systems according to first to second embodiments of the present invention will be described with reference to fig. 3 to 6.

Fig. 3 is a schematic block diagram showing an obstacle avoidance control system according to a first embodiment of the present invention. As shown in fig. 3, according to a first embodiment of the present invention, there is provided an obstacle avoidance control system 100, where the obstacle avoidance control system 100 includes a moving body 200, and a moving space in which the moving body 200 of the obstacle avoidance control system 100 is located has at least one moving/non-moving object 300, and the obstacle avoidance control system 100 includes; a first start point acquisition unit 201 configured to acquire a first start point that is a point at which the mobile object generates when recognizing the position of the object; a second starting point obtaining unit 301, configured to obtain a second starting point, where the second starting point is a point generated by the object 300 in a position where the moving object 200 is identified in the moving \ non-moving process; a first predetermined area unit 202, connected to the first starting point obtaining unit 201, for determining a first predetermined area centered on the first starting point; a second predetermined area unit 302, connected to the second starting point obtaining unit 302, configured to determine a second predetermined area centered on the second starting point; a first intersecting object determining unit 203, connected to the first starting point obtaining unit 201 and the second starting point obtaining unit 301, for determining a first object intersecting at least one point of the first predetermined area and the second predetermined area in the object 300; a first information determining unit 204, connected to the first intersecting object determining unit 203, configured to determine first information of a relative position between the first object and the moving object 200, where the first information is a linear distance from a first starting point to a second starting point, and the first information indicates that the first object or/and the moving object 200 are far away from each other; wherein the moving body 200 moves from a first position to a second position or stays at the first position according to the first information, and the first position is a current original position of the moving body 200 when the first object appears.

Fig. 4 is a schematic block diagram showing an obstacle avoidance control system according to a second embodiment of the present invention. As shown in fig. 4, according to a second embodiment of the present invention, an obstacle avoidance control system 100 is provided, which includes all the components of the obstacle avoidance control system 100 according to the first embodiment, that is, a first starting point acquisition unit 201, a first predetermined area unit 202, a first intersecting object determination unit 203, a first information determination unit 204, a second starting point acquisition unit 301, and a second predetermined area unit 302. Wherein, keep away barrier control system further includes: a third starting point obtaining unit 205 configured to obtain a third starting point, where the moving body 200 generates when recognizing the position of the first object; a fourth starting point acquiring unit 303 configured to acquire a fourth starting point, where the first object recognizes the position of the moving body 200 during the movement \ non-movement; a third predetermined area unit 206, connected to the third starting point obtaining unit 205, configured to determine a third predetermined area centered on the third starting point; a fourth predetermined area unit 304, connected to the fourth starting point obtaining unit 303, configured to determine a fourth predetermined area centered on the fourth starting point; a second intersecting object determining unit 207, connected to the third starting point obtaining unit 205 and the fourth starting point obtaining unit 303, for determining a second object intersecting at least one point of the third predetermined area and the fourth predetermined area in the first object; a second information determining unit 208, connected to the second intersecting object determining unit 207, configured to determine second information of a relative position between the second object and the moving object 200, where the second information is a linear distance from a third starting point to a fourth starting point, and the second information indicates that the second object or/and the moving object 200 are far away from each other; wherein the moving body 200 moves from the second position to the third position or stays at the second position according to the second information, and the second position is a position where the moving body 200 is located when the first object moves from the first position to the second position.

Fig. 5 is a schematic diagram of a portable receiving device of the obstacle avoidance control system according to the first embodiment of the present invention, the second starting point obtaining unit 301 and the second predetermined area unit 302 are disposed in the portable receiving device 400, and in practice, the portable receiving device 400 is not limited to its specific structural form, and may be a bracelet device worn at a wrist of a human hand, a neck ring device worn at a neck of an animal, and an electronic sensing device detachably mounted on a physical obstacle.

Fig. 6 is a schematic diagram of a portable receiving device of the obstacle avoidance control system according to the first embodiment of the present invention, and the second starting point obtaining unit 301, the second predetermined area unit 302, the fourth starting point obtaining unit 303, and the fourth predetermined area unit 304 are disposed in the portable receiving device 400. In practice, the portable receiving device 400 is not limited to a specific structure form, and may be a bracelet device worn on a wrist of a human hand, a neck ring device worn on a neck of an animal, and an electronic sensing device detachably mounted on a physical barrier.

The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.