CN108521809A - Obstacle information reminding method, system, unit and recording medium - Google Patents
Obstacle information reminding method, system, unit and recording medium Download PDFInfo
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- CN108521809A CN108521809A CN201780006722.XA CN201780006722A CN108521809A CN 108521809 A CN108521809 A CN 108521809A CN 201780006722 A CN201780006722 A CN 201780006722A CN 108521809 A CN108521809 A CN 108521809A
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- moving body
- barrier
- position information
- obstacle information
- information
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
Abstract
The disclosure provides obstacle information reminding method, system, unit and computer readable recording medium storing program for performing.The obstacle information reminding method, the information for showing moving body and barrier in the operation interface of display screen or observation interface, including：Obtain the information of the barrier relative to the moving body within the scope of pre-determined distance sensed by sensing element, and using the barrier sensed relative to the moving body relative position information as barrier relative position information；The actual position information for obtaining the moving body obtained by positioning device, as moving body actual position information；According to the barrier relative position information and the moving body actual position information, the actual position information of the barrier is calculated, as barrier actual position information；The moving body and the barrier are shown on the display screen according to the moving body actual position information and the barrier actual position information.
Description
Technical field
This disclosure relates to which a kind of obstacle information display methods, apparatus and system, obstacle information show equipment and record
Medium.
Background technology
With the fast development of automatic technology, robot, unmanned plane walk type diving apparatus, automatic driving vehicle etc. certainly
Apex technology is also just constantly flourishing.In this way, how accurately detecting barrier from type moving body is walked for these, how may be used
By and the obstacle information detected is intuitively supplied to user, how the project of effective avoiding obstacles etc. have it is to be solved
And constantly improve.
Wherein, the obstacle information detected relative to moving body is supplied in the method for user mostly existing
Be only show the relative position relation (for example, the distance between moving body and barrier, orientation etc.) of moving body and barrier, and
The physical location (for example, longitude and latitude, height above sea level etc.) for not marking barrier in real time on practical map still, is presented to use
Family makes user intuitive and controls moving body in real time carrying out method as operation.
As a result, how for robot, unmanned plane, walk type diving apparatus, automatic driving vehicle certainly etc. as from walking type shifting
The user of kinetoplast provides intuitive and real-time obstacle position information, to improve user experience, just needs in a hurry as this field
The technical issues of solution.
Invention content
The disclosure is exactly to be made to solve above-mentioned such technical problem.
An aspect of this disclosure provides a kind of obstacle information reminding method, for display screen operation interface or
The information of moving body and barrier is shown on observation interface, including：Obstacle information is obtained, what acquisition was sensed by sensing element
Relative to the information of the barrier of the moving body within the scope of pre-determined distance, and the barrier sensed is opposite
In the moving body relative position information as barrier relative position information；Mobile unit information is obtained, obtains and is filled by positioning
The actual position information for setting the moving body of acquisition, as moving body actual position information；Obstacle Position is calculated, according to institute
Barrier relative position information and the moving body actual position information are stated, the actual position information of the barrier is calculated,
As barrier actual position information；Obstacle information is shown, according to the moving body actual position information and the barrier
Actual position information shows the moving body and the barrier on the display screen.
Another aspect of the disclosure provides a kind of obstacle information prompt system, including：Moving body；Moving body is shown
Terminal, including display screen, shows the information of moving body and barrier in the operation interface of the display screen or observation interface；Sensing
Element, information for sensing the barrier relative to the moving body within the scope of pre-determined distance, and will sense
The barrier relative to the moving body relative position information as moving body relative position information；Positioning device is used for
The actual position information for obtaining the moving body, as moving body actual position information, the obstacle information prompt system according to
The moving body that the barrier relative position information and the positioning device that the sensing element senses are got is real
Border location information calculates the actual position information of the barrier, as barrier actual position information, according to the movement
Body actual position information and the barrier actual position information show the moving body and the obstacle on the display screen
Object.
Another aspect of the present disclosure provides a kind of obstacle information prompt equipment, including：Display screen, in the behaviour of the display screen
Make interface or observes the information for showing moving body and barrier on interface；Receiving unit can receive the information sent from outside；
Processor prompts equipment for controlling the obstacle information, is specifically used for：It is received by sensing element sense by the receiving unit
The information of the barrier relative to the moving body within the scope of pre-determined distance measured, and the obstacle that will be sensed
Object relative to the moving body relative position information as barrier relative position information；It is received by fixed by the receiving unit
The actual position information for the moving body that position device obtains, as moving body actual position information；According to the barrier phase
To location information and the moving body actual position information, the actual position information of the barrier is calculated, as barrier
Actual position information；On the display screen according to the moving body actual position information and the barrier actual position information
Show the moving body and the barrier.
Another aspect of the present disclosure provides a kind of obstacle information suggestion device, including processor and memory, described
It is stored with computer executable instructions in memory, when described instruction is executed by the processor, the processor is made to execute
The obstacle information reminding method of any one of one aspect.
Another aspect of the present disclosure provides a kind of computer readable recording medium storing program for performing, is stored with computer executable instructions, institute
Instruction is stated when being executed by processor, any one of them obstacle information that the processor executes one aspect is made to carry
Show method.
According to obstacle information reminding method, apparatus and system, equipment and the computer readable recording medium storing program for performing of the disclosure, energy
For robot, unmanned plane, walk type diving apparatus, automatic driving vehicle certainly etc. as provided intuitively from the user for walking type moving body
And real-time obstacle position information, to improve user experience.
Description of the drawings
In order to which the disclosure and its advantage is more fully understood, referring now to being described below in conjunction with attached drawing, wherein：
Fig. 1 diagrammatically illustrates the structure diagram of the obstacle information prompt system of the embodiment of the present disclosure.
Fig. 2 diagrammatically illustrates the structure diagram of the obstacle information prompt equipment of the embodiment of the present disclosure.
Fig. 3 diagrammatically illustrates the outline flowchart of the obstacle information reminding method of the embodiment of the present disclosure.
Fig. 4 diagrammatically illustrates the display situation on the display screen in the obstacle information prompt equipment of the embodiment of the present disclosure
Exemplary plot.
Fig. 5 diagrammatically illustrates the display situation on the display screen in the obstacle information prompt equipment of the embodiment of the present disclosure
Another exemplary plot.
Fig. 6 diagrammatically illustrates the structure diagram of the obstacle information suggestion device of another embodiment of the disclosure.
Specific implementation mode
Hereinafter, will be described with reference to the accompanying drawings embodiment of the disclosure.
Fig. 1 diagrammatically illustrates the structure diagram of the obstacle information prompt system of the embodiment of the present disclosure.
As shown in Figure 1, the obstacle information prompt system W of the embodiment of the present disclosure is included at least：Moving body M, moving body are aobvious
Show terminal T, sensing element S and positioning device G.
The moving body M can walk humanoid robot, unmanned plane certainly, walk type diving apparatus, automatic driving vehicle certainly etc. to appoint
Meaning walks type moving body certainly.Wherein, h indicates the front end of moving body M, and arrow indicates the direction that moving body M is being travelled.
Direction of travel according to the current moving body M in the direction of the front end h and arrow is to advance.And it is self-evident, according to this
The direction of the front end h of moving body M and the direction of such as acceleration of moving body M are obtained with the row of moving body M
Into direction, which can be the combination in any one direction and any direction among advance, retrogressing, up and down.
Moving body display terminal T can also be that desktop computer, mobile phone are whole either portable computer as shown in Figure 1
End, tablet computer etc. are arbitrary such as the control terminal for controlling the moving body M.Moreover, moving body display terminal T
Including at least display screen P, display screen P has operation interface or observation interface, can in the operation interface or observation interface
To show the various and relevant information of moving body M, for example, the information and Fig. 1 of the moving body M itself shown in Fig. 1
Shown in the moving body M direction of travel on barrier B information etc..
Positioning device G can be such as GPS, RTK for obtaining the actual position information of the moving body M using as shifting
The positioning device etc. of kinetoplast actual position information.Wherein, the moving body actual bit confidence can include at least the moving body M
Actual longitude and latitude, that is, moving body longitude and latitude and height above sea level, that is, moving body height above sea level.In addition, the moving body actual bit
Confidence breath further includes the direction of the front end h of the moving body M, and by taking unmanned plane as an example, the front end direction is head direction.This
Outside, the moving body actual position information further includes the acceleration direction of the moving body M.In this way, according to the moving body M's
The acceleration direction of the direction of front end h and the moving body M, so that it may with calculate such as advance of the moving body M, retrogressing,
Direction of travel as up and down.
Sensing element S can be such as radar detedtor, visual detector, ultrasonic detector or laser detector
The arbitrary information for sensing the barrier B relative to the moving body M within the scope of pre-determined distance, and will sense
The barrier B relative to the moving body the relative position information such as relative distance and orientation as moving body phase
To location information.Wherein, self-evident though only showing a barrier B in Fig. 1, the barrier B is it is of course possible to being more
It is a.In addition, the pre-determined distance range preferably increases with the increase of the movement speed of the moving body M, if for example, described
Moving body M is unmanned plane, then generally humanoid robot is many soon than walking certainly for its speed, therefore the pre-determined distance range of unmanned plane is certain
Also more much larger than walking the pre-determined distance range of humanoid robot certainly, could fully meet so reliable sensing barrier purpose and
It is required that.In addition, although as shown in Figure 1, preferably sensing element S is arranged on the moving body M, in this way can be more accurate
Really and facilitating sensing, still, it goes without saying that sensing element S can not also be arranged on the moving body M, but by
Setting is in other arbitrary places, as long as it can sense the obstacle information relative to the moving body M, and the institute that will be sensed
It states obstacle information and sends the moving body display terminal T to.In addition, the barrier relative position information can be at least
Including：Distance and bearing of the barrier relative to the moving body.In addition, the barrier relative position information can be with
The side of the direction of front end h including at least the obstacle B relative to the distance of the moving body M and relative to the moving body M
To.
In addition, sensing element S can also in conjunction with the moving body M direction of travel (for example, advance, retreat, rise or
Decline), obtain the barrier relative position information on the direction of travel of the moving body M.Specifically, the sense
Element is surveyed, can be calculated according to the direction of the front end h of the moving body M, the acceleration direction of the moving body M
Go out the direction of travel of the moving body, and obtains the barrier relative position information on the direction of travel.In this way, can be with
The barrier relative position information on direction of travel is only obtained according to direction of travel.
In the following, believing as barrier for the major part in the obstacle information prompt system W of the embodiment of the present disclosure
The structure of the moving body display terminal T of breath prompt equipment, illustrates with reference to Fig. 2.
Fig. 2 diagrammatically illustrates the structure diagram of the obstacle information prompt equipment of the embodiment of the present disclosure.
As shown in Fig. 2, obstacle information prompts equipment, display screen P, receiving unit R and processor C are included at least.
Display screen P at least has operation interface or observation interface, can be shown in the operation interface or observation interface
The various and relevant information of moving body M, for example, shown in the information of the moving body M itself and Fig. 1 shown in Fig. 1
The barrier B information etc..Specifically, the information about the moving body M, for example, the movement can be shown
(here, so-called height above sea level can certainly wrap front end direction, direction of travel, gait of march, longitude and latitude, the height above sea level of body M
Meaning containing height above sea level depth, with for the moving body for walking the b.s.l.s such as type submarine certainly) etc., the letter about the barrier B
Breath, for example, both can be as prior art, show distance, orientation of the barrier B relative to the moving body M
(that is, azimuth), relative altitude etc. can also show that such as longitude and latitude, height above sea level of the moving body M is (here, so-called
Height above sea level can certainly include the meaning of height above sea level depth, with the barrier for b.s.l.) etc. as absolute position
Confidence ceases.
Receiving unit R can receive the various information sent from outside.For example, sensing as shown in Figure 1 can be received
The information for the barrier B that part S transmission comes and by positioning device G transmission Lai the moving body M information.
Processor C prompts equipment for controlling the obstacle information, is specifically used for：By the receiving unit R receive by
Sensing element S sense relative to the moving body M within the scope of pre-determined distance (here, the pre-determined distance range preferably with
The increase of the movement speed of the moving body M and increase) the barrier B information, and the obstacle that will be sensed
Object B relative to the moving body M relative position information as barrier relative position information；It is received by the receiving unit R
By the actual position information of the positioning device G moving body M obtained, as moving body actual position information；According to institute
Barrier relative position information and the moving body actual position information are stated, the actual position information of the barrier B is calculated,
As barrier actual position information；According to the moving body actual position information and the barrier actual position information in institute
It states and shows the moving body M and the barrier B on display screen P.
In the following, illustrating the obstacle information prompt side of the embodiment of the present disclosure with reference to Fig. 3 and in conjunction with described Fig. 1, Fig. 2
Method.Here to point out the obstacle information reminding method is exactly the obstacle information prompt of the embodiment of the present disclosure
In system W, the obstacle information reminding method of the obstacle information prompt equipment T.
Fig. 3 diagrammatically illustrates the outline flowchart of the obstacle information reminding method of the embodiment of the present disclosure.
As shown in figure 3, the obstacle information reminding method of the embodiment of the present disclosure includes：Obtain obstacle information S1；It obtains
Mobile unit information S2；Calculate Obstacle Position S3；With display obstacle information S4.
First, in the acquisition obstacle information S1, obtain by the sensing element S sense relative to the shifting
The information of the barrier Bs of the kinetoplast M within the scope of pre-determined distance, and by the barrier B sensed relative to the shifting
The relative position information of kinetoplast M is as barrier relative position information.
Specifically, in the acquisition obstacle information S1, obtain by the sensing element S sense relative to institute
The information for stating the barrier Bs of the moving body M within the scope of pre-determined distance refers to：It obtains real by the sensing element S
When sense (here, pre-determined distance within the scope of pre-determined distance of front, rear, top, lower section of the moving body M etc.
Range is preferably dependent upon the travel speed of the moving body M) the barrier B information, and the information is the barrier B
Relative to relative position information, that is, barrier relative position information of the moving body M, for example, relative to the moving body B's
Distance, orientation (that is, azimuth) etc..In addition, the barrier relative position information can also include the barrier B relative to
The direction of the distance of the moving body M and the direction of front end h relative to the moving body M.
Then, it in the acquisition mobile unit information S2, obtains by the positioning device G moving body M's obtained
Actual position information, as moving body actual position information.Wherein, the positioning device G can be common GPS.It is acquired
The moving body actual position information may include the actual longitudes and latitudes of moving body M i.e. moving body longitude and latitude, Yi Jisuo
State the actual height above sea levels of moving body M i.e. moving body height above sea level.In addition, the moving body actual position information further includes described
The direction of the front end h of moving body M.In addition, the moving body actual position information further includes the acceleration side of the moving body M
To.In this way, according to the direction of the front end h of the moving body M, the acceleration direction of the moving body M, so that it may in terms of
The direction of travel for calculating the moving body M is which of advance, retrogressing, up and down direction of travel.
Then, in the calculating Obstacle Position S3, according to the barrier relative position information and the moving body
Actual position information calculates the actual position information of the barrier B, as barrier actual position information.Wherein, described
Barrier actual position information includes at least the actual longitudes and latitudes of the barrier B, that is, barrier longitude and latitude and the obstacle
The actual height above sea levels of object B, that is, barrier height above sea level.Here, so-called height above sea level can certainly include height above sea level depth it
Meaning, with the moving body and barrier for b.s.l..
In addition, further including the direction of the front end h of the moving body M and the barrier in the moving body actual position information
Hinder object relative position information include the barrier B relative to the distance of the moving body M and relative to the moving body M before
In the case of the direction for holding the direction of h, the calculating Obstacle Position S3 can be specifically included：According to the barrier with respect to position
The direction of confidence breath, the moving body longitude and latitude, the moving body height above sea level and the front end h, calculates the barrier
Longitude and latitude and the barrier height above sea level.
Then, in the display obstacle information S4, according to the moving body actual position information and the barrier
Actual position information shows the moving body M and the barrier B on the display screen P.Specifically, in the display screen
On P, about the moving body M, the moving body longitude and latitude of moving body M, the moving body height above sea level can be shown
Deng the direction of the front end h of moving body M, the direction of travel etc. of moving body M can be marked.
In addition, in the case where the moving body actual position information further includes the acceleration direction of the moving body, institute
Stating display obstacle information S4 can also include：According to the direction of the front end h of the moving body M, the institute of the moving body M
Acceleration direction is stated, the direction of travel of the moving body M is calculated；It is shown on the display screen P described on line direction
The barrier B.In turn, the display obstacle information S4 can also include：The traveling side is marked on the display screen P
It is less than at least one barrier B of predetermined threshold value with moving body M distances upwards.Here, the predetermined threshold value it is also preferred that
Increase with the increase of the movement speed of the moving body M.Furthermore it is preferred that described in being marked in the display screen P
Moving body M carries out line away from least one barrier B nearest moving body M on the direction of travel with straight line,
Moving body M and the barrier B distances can also be shown simultaneously, thus, it is possible to more intuitively show the moving body M
At a distance from the barrier M.User can be allowed intuitively to observe very much the moving body M at a distance from barrier M, convenient for accurate
It manipulates the moving body M and carries out the Job Operations such as avoidance.Here, the direction of travel may include the moving body M advance,
It retreats, any one direction among up and down.
In addition, in order to more intuitively be shown, that is, allow user that there is the observation effect more come personally, in the display screen
In can further preferably show map, and on this map by the moving body M and the barrier B Overlapping displays.Meanwhile may be used also
Also to show the travelling route of the predetermined traveling of the moving body M on this map.In such manner, it is possible to more clear and intuitively give
User shows barrier B whether in the travelling route of the predetermined traveling, so that user accurately carries out the operations such as avoidance behaviour
Make.
Above technical solution is first to obtain the barrier relative position information, then according to the row of the moving body M
Into direction, to only show the technical solution of the information of the barrier B on the direction of travel.
Self-evident, technical solution can also be and only to obtain the barrier on the direction of travel according to direction of travel
Hinder the technical solution of the information of object B.Specifically, for example, the acquisition obstacle information S1 can be specifically included：In conjunction with described
The direction of travel of moving body M obtains the barrier relative position information on the direction of travel of the moving body M.More
Specifically, the acquisition obstacle information S1 can be specifically included：According to the direction of the front end h of the moving body M, institute
The acceleration direction for stating moving body M, calculates the direction of travel of the moving body M；Obtain the institute on the direction of travel
State barrier relative position information.Here, the direction of travel can also including the advance of the moving body M, retrogressing, rising,
Any one direction among decline.
In the following, using the moving body M as unmanned plane, the sensing element S is radar detedtor, and the positioning device G is
For GPS, the display example in the display screen P is illustrated using Fig. 4, Fig. 5.
Fig. 4 diagrammatically illustrates the display situation on the display screen in the obstacle information prompt equipment of the embodiment of the present disclosure
Exemplary plot.
As shown in figure 4, label has in the operation interface of the display screen P or observation interface：Moving body M, barrier B
The company of (example has 3), the direction of travel D of moving body M, map m, the travelling route R of moving body M, moving body M and barrier B
Line L.Wherein, moving body M is indicated with arrow form, and the head of arrow means that the front end h of moving body M.In addition, the company
Line L only has 2, is 2 lines of moving body M and 2 nearest barrier B.
Fig. 5 diagrammatically illustrates the display situation on the display screen in the obstacle information prompt equipment of the embodiment of the present disclosure
Another exemplary plot.
The Fig. 5 can be shown simultaneously with described Fig. 4, as shown in figure 5, the sector diagram in left side is denoted as sensing element
The scanning result of radar, wherein by label B corresponding with the barrier B in Fig. 4 respectively by by being closely numbered 1 to remote sequence,
2,3, in the table on right side, represented respectively by the label 1,2,3 of the label as barrier B：It is current to be used as movement
The direction of travel of the unmanned plane of body is " retrogressing ", " longitude and latitude " value, " height " value, " distance " value.It is illustrated only moreover, being also represented by
The value of the label 1,2, this be in Fig. 4 described in it is corresponding away from 2 lines of the nearest barrier of moving body.In addition, number
Value is blurred, and is because numerical value itself is not important, but considers that actual numerical value has confidentiality obligations here.
In addition, above-mentioned Fig. 4,5 be only exemplary plot, do not have especially any restriction to the technical solution of the disclosure.
As a result, according to the obstacle information reminding method of above embodiment of the present disclosure, obstacle information prompt equipment and
Obstacle information prompt system can be robot, unmanned plane, walk type diving apparatus, automatic driving vehicle certainly etc. as from walking
The user of type moving body provides intuitive and real-time obstacle position information, to improve user experience, and makes user accurate
Avoidance Job Operations are taken in time.
In the following, by taking Fig. 6 as an example, illustrate that another kind realizes the wireless communication of the wireless communications method in hardware
Device.
Fig. 6 diagrammatically illustrates the opposite with the obstacle information reminding method of the embodiment of another embodiment of the disclosure
The brief configuration figure for the obstacle information suggestion device with hardware and software answered.
As shown in fig. 6, wireless communication device 300 may include：Processor 310 (for example, CPU etc.) and memory 320
(for example, hard disk HDD, read only memory ROM etc.).In addition, it can include 321 (the example of readable storage medium storing program for executing being represented by dashed line
Such as, disk, cd cd-ROM, USB etc.).
In addition, the Fig. 6 is only an example, the technical solution of the disclosure is not limited.Wherein, wireless communication device 300
In various pieces may each be one or more, for example, processor 310 is either one can also be multiple processors.
In this way, it goes without saying that the wireless communications method of the embodiment of the present disclosure is described above with reference to flow chart (Fig. 3)
Process may be implemented as computer software programs.Here, the computer software programs may be one or more.
Then, for example, the computer software programs be stored in the wireless communication device 300 as storage device
In memory 320, by executing the computer software programs, to make at the one or more of the wireless communication device 300
It manages device 310 and executes the wireless communications method and its deformation shown in the flow charts such as Fig. 3 of the disclosure.
The technical issues of cumbersome certification in prior wireless network integration technology can equally be solved as a result, to improve
Using the communication efficiency of wireless network convergence technology, further increase that convenience for users, the user experience is improved.
In addition, it goes without saying that the wireless communications method can also serve as computer program and be stored in computer can
It reads in storage medium (for example, readable storage medium storing program for executing 521 shown in fig. 6), which may include code/computer can
It executes instruction, computer is made to execute the wireless communications method and its deformation shown in the flow chart such as Fig. 3 of the disclosure.
In addition, computer readable storage medium, such as can be able to include, store, transmit, propagate or transmit instruction
Arbitrary medium.For example, readable storage medium storing program for executing can include but is not limited to electricity, magnetic, optical, electromagnetic, infrared or semiconductor system, dress
It sets, device or propagation medium.The specific example of readable storage medium storing program for executing includes：Magnetic memory apparatus, such as tape or hard disk (HDD)；Light
Storage device, such as CD (CD-ROM)；Memory, such as random access memory (RAM) or flash memory；And/or wire/wireless communication
Link.
In addition, computer program can be configured with such as computer program code including computer program module.
It should be noted that the dividing mode and number of module are not fixed, those skilled in the art can use according to actual conditions
Suitable program module or program module combination, when the combination of these program modules is executed by computer (or processor) so that
Computer can execute flow and its deformation for example above in conjunction with image processing method described in Fig. 3.
It will be understood by those skilled in the art that the feature described in each embodiment and/or claim of the disclosure can
To carry out multiple combinations or/or combination, even if such combination or combination are not expressly recited in the disclosure.Particularly, exist
In the case of not departing from disclosure spirit or teaching, the feature described in each embodiment and/or claim of the disclosure can
To carry out multiple combinations and/or combination.All these combinations and/or combination each fall within the scope of the present disclosure.
Although the disclosure, art technology has shown and described with reference to the certain exemplary embodiments of the disclosure
Personnel it should be understood that in the case of the spirit and scope of the present disclosure limited without departing substantially from the following claims and their equivalents,
A variety of changes in form and details can be carried out to the disclosure.Therefore, the scope of the present disclosure should not necessarily be limited by the embodiment,
But should be not only determined by appended claims, also it is defined by the equivalent of appended claims.
Claims (56)
1. a kind of obstacle information reminding method, for showing moving body and barrier in the operation interface of display screen or observation interface
Hinder the information of object, including：
Obstacle information is obtained, the institute relative to the moving body within the scope of pre-determined distance sensed by sensing element is obtained
State the information of barrier, and using the barrier sensed relative to the moving body relative position information as barrier
Relative position information；
Mobile unit information is obtained, the actual position information of the moving body obtained by positioning device is obtained, as moving body reality
Border location information；
Obstacle Position is calculated to be calculated according to the barrier relative position information and the moving body actual position information
The actual position information of the barrier, as barrier actual position information；
Obstacle information is shown, according to the moving body actual position information and the barrier actual position information described aobvious
Show moving body described in screen display and the barrier.
2. obstacle information reminding method according to claim 1, wherein
The barrier relative position information includes at least：Distance and bearing of the barrier relative to the moving body.
3. obstacle information reminding method according to claim 1, wherein
The moving body actual position information includes at least the actual longitude and latitude of the moving body, that is, moving body longitude and latitude, Yi Jihai
Degree of lifting i.e. moving body height above sea level,
The barrier actual position information includes at least the actual longitude and latitude of the barrier, that is, barrier longitude and latitude, Yi Jihai
Degree of lifting i.e. barrier height above sea level.
4. obstacle information reminding method according to claim 3, wherein
The moving body actual position information further includes the front end direction of the moving body,
The barrier relative position information includes at least the barrier relative to the distance of the moving body and relative to institute
The direction of the front end direction of moving body is stated,
The calculating Obstacle Position specifically includes：According to the barrier relative position information, the moving body longitude and latitude, institute
Moving body height above sea level and the front end direction are stated, the barrier longitude and latitude and the barrier height above sea level are calculated.
5. obstacle information reminding method according to claim 4, wherein
The moving body actual position information further includes the acceleration direction of the moving body,
The display obstacle information further includes：
Direction of travel is calculated, according to the front end of moving body direction, the acceleration direction, calculates the moving body
Direction of travel；
Display is described into the barrier on line direction on the display screen.
6. obstacle information reminding method according to claim 5, wherein
The display obstacle information further includes：
Mark at least one barrier for being less than predetermined threshold value on the direction of travel with moving body distance.
7. obstacle information reminding method according to claim 6, wherein
By the moving body on the direction of travel away from the nearest at least one barrier of the moving body with straight line into
Row line.
8. obstacle information reminding method according to claim 5, wherein
The direction of travel includes any one direction among the advance, retrogressing, up and down of the moving body.
9. obstacle information reminding method according to claim 4, wherein
The acquisition obstacle information specifically includes：
In conjunction with the direction of travel of the moving body, the barrier on the direction of travel of the moving body is obtained with respect to position
Confidence ceases.
10. obstacle information reminding method according to claim 9, wherein
The acquisition obstacle information specifically includes：
Direction of travel is calculated, according to the front end of moving body direction, the acceleration direction, calculates the moving body
Direction of travel；
Obtain the barrier relative position information on the direction of travel.
11. obstacle information reminding method according to claim 10, wherein
The direction of travel includes any one direction among the advance, retrogressing, up and down of the moving body.
12. the obstacle information reminding method according to any one of claim 1-11, wherein
The pre-determined distance range increases with the increase of the movement speed of the moving body.
13. the obstacle information reminding method according to any one of claim 1-11, wherein
Map is also shown in the display screen, on this map by the moving body and the barrier Overlapping display.
14. obstacle information reminding method according to claim 13, wherein
The travelling route of the predetermined traveling of the moving body is also shown on the map.
15. the obstacle information reminding method according to any one of claim 1-11, wherein
The sensing element is arranged on the moving body, is radar detedtor, visual detector, ultrasonic detector or sharp
Optical detector.
16. the obstacle information reminding method according to any one of claim 1-11, wherein
The moving body is unmanned plane.
17. obstacle information reminding method according to claim 16, wherein
The display screen is arranged in the control terminal for controlling the unmanned plane.
18. the obstacle information reminding method according to any one of claim 1-11, wherein
The positioning device is GPS.
19. a kind of obstacle information prompt system, including：
Moving body；
Moving body display terminal, including display screen, moving body and barrier are shown in the operation interface of the display screen or observation interface
Hinder the information of object；
Sensing element, the information for sensing the barrier relative to the moving body within the scope of pre-determined distance, and will
The barrier sensed relative to the moving body relative position information as moving body relative position information；
Positioning device, the actual position information for obtaining the moving body, as moving body actual position information,
Described in the barrier relative position information and the positioning device sensed according to the sensing element is got
Moving body actual position information calculates the actual position information of the barrier, as barrier actual position information,
Described in being shown on the display screen according to the moving body actual position information and the barrier actual position information
Moving body and the barrier.
20. obstacle information prompt system according to claim 19, wherein
The barrier relative position information includes at least：Distance and bearing of the barrier relative to the moving body.
21. obstacle information prompt system according to claim 19, wherein
The moving body actual position information includes at least the actual longitude and latitude of the moving body, that is, moving body longitude and latitude, Yi Jihai
Degree of lifting i.e. moving body height above sea level,
The barrier actual position information includes at least the actual longitude and latitude of the barrier, that is, barrier longitude and latitude, Yi Jihai
Degree of lifting i.e. barrier height above sea level.
22. obstacle information prompt system according to claim 21, wherein
The moving body actual position information further includes the front end direction of the moving body,
The barrier relative position information includes at least the barrier relative to the distance of the moving body and relative to institute
The direction of the front end direction of moving body is stated,
The barrier longitude and latitude and the barrier height above sea level are according to the barrier relative position information, the movement
Body longitude and latitude, the moving body height above sea level and the front end towards and it is calculated.
23. obstacle information prompt system according to claim 22, wherein
The moving body actual position information further includes the acceleration direction of the moving body,
According to the front end of moving body direction, the acceleration direction, the direction of travel of the moving body is calculated,
Display is described into the barrier on line direction on the display screen.
24. obstacle information prompt system according to claim 23, wherein
On the display screen, at least one institute for being less than predetermined threshold value on the direction of travel with moving body distance is marked
State barrier.
25. obstacle information prompt system according to claim 24, wherein
On the display screen, by the moving body on the direction of travel away from nearest at least one described of the moving body
Barrier carries out line with straight line.
26. obstacle information prompt system according to claim 23, wherein
The direction of travel includes any one direction among the advance, retrogressing, up and down of the moving body.
27. obstacle information prompt system according to claim 22, wherein
The sensing element obtains the institute on the direction of travel of the moving body in conjunction with the direction of travel of the moving body
State barrier relative position information.
28. obstacle information prompt system according to claim 27, wherein
The sensing element calculates the moving body according to the front end of moving body direction, the acceleration direction
Direction of travel, and obtain the barrier relative position information on the direction of travel.
29. obstacle information prompt system according to claim 28, wherein
The direction of travel includes any one direction among the advance, retrogressing, up and down of institute's moving body.
30. the obstacle information prompt system according to any one of claim 20-29, wherein
The pre-determined distance range increases with the increase of the movement speed of the moving body.
31. the obstacle information prompt system according to any one of claim 20-29, wherein
The map is the map for the travel line for showing the moving body.
32. obstacle information prompt system according to claim 31, wherein
The pre-determined distance range increased model along the travelling route with the increase of the movement speed of the moving body
It encloses.
33. the obstacle information prompt system according to any one of claim 20-29, wherein
The sensing element is arranged on the moving body, is radar detedtor, visual detector, ultrasonic detector or sharp
Optical detector.
34. the obstacle information prompt system according to any one of claim 20-29, wherein
The moving body is unmanned plane.
35. obstacle information prompt system according to claim 34, wherein
The moving body display terminal is the control terminal for controlling the unmanned plane.
36. the obstacle information prompt system according to any one of claim 20-29, wherein
The positioning device is GPS.
37. a kind of obstacle information prompts equipment, including：
Display screen shows the information of moving body and barrier in the operation interface of the display screen or observation interface；
Receiving unit can receive the information sent from outside；
Processor prompts equipment for controlling the obstacle information, is specifically used for：It is received by sensing by the receiving unit
The information for the barrier relative to the moving body within the scope of pre-determined distance that part senses, and described in sensing
Barrier relative to the moving body relative position information as barrier relative position information；
The actual position information that the moving body obtained by positioning device is received by the receiving unit, as moving body reality
Location information；According to the barrier relative position information and the moving body actual position information, the barrier is calculated
Actual position information, as barrier actual position information；
Described in being shown on the display screen according to the moving body actual position information and the barrier actual position information
Moving body and the barrier.
38. prompting equipment according to the obstacle information described in claim 37, wherein
The barrier relative position information includes at least：Distance and bearing of the barrier relative to the moving body.
39. prompting equipment according to the obstacle information described in claim 37, wherein
The moving body actual position information includes at least the actual longitude and latitude of the moving body, that is, moving body longitude and latitude, Yi Jihai
Degree of lifting i.e. moving body height above sea level,
The barrier actual position information includes at least the actual longitude and latitude of the barrier, that is, barrier longitude and latitude, Yi Jihai
Degree of lifting i.e. barrier height above sea level.
40. obstacle information according to claim 39 prompts equipment, wherein
The moving body actual position information further includes the front end direction of the moving body,
The barrier relative position information includes at least the barrier relative to the distance of the moving body and relative to institute
The direction of the front end direction of moving body is stated,
The processor is according to the barrier relative position information, the moving body longitude and latitude, the moving body height above sea level
With the front end direction, the barrier longitude and latitude and the barrier height above sea level are calculated.
41. obstacle information according to claim 40 prompts equipment, wherein
The moving body actual position information further includes the acceleration direction of the moving body,
The processor calculates the moving body also according to the front end direction of the moving body, the acceleration direction
Direction of travel,
Display is described into the barrier on line direction on the display screen.
42. obstacle information according to claim 41 prompts equipment, wherein
On the display screen, it also marks and is less than at least one of predetermined threshold value with moving body distance on the direction of travel
The barrier.
43. obstacle information according to claim 42 prompts equipment, wherein
On the display screen, by the moving body on the direction of travel away from nearest at least one described of the moving body
Barrier carries out line with straight line.
44. obstacle information according to claim 41 prompts equipment, wherein
The direction of travel includes any one direction among the advance, retrogressing, up and down of the moving body.
45. obstacle information according to claim 40 prompts equipment, wherein
The receiving unit receives the moving body got in conjunction with the direction of travel of the moving body by the sensing element
The direction of travel on the barrier relative position information.
46. obstacle information according to claim 45 prompts equipment, wherein
The receiving unit specifically receives：By the sensing element according to the front end direction of the moving body, the acceleration
Degree telegoniometer calculates the direction of travel of the moving body, and the barrier on the direction of travel to get is with respect to position
Confidence ceases.
47. obstacle information according to claim 46 prompts equipment, wherein
The direction of travel includes any one direction among the advance, retrogressing, up and down of the moving body.
48. the obstacle information according to any one of claim 37-47 prompts equipment, wherein
The pre-determined distance range increases with the increase of the movement speed of the moving body.
49. the obstacle information according to any one of claim 37-47 prompts equipment, wherein
Map is also shown in the display screen, on this map by the moving body and the barrier Overlapping display.
50. obstacle information according to claim 49 prompts equipment, wherein
The travelling route of the predetermined traveling of the moving body is also shown on the map.
51. the obstacle information according to any one of claim 37-47 prompts equipment, wherein
The sensing element is arranged on the moving body, is radar detedtor, visual detector, ultrasonic detector or sharp
Optical detector.
52. the obstacle information according to any one of claim 37-47 prompts equipment, wherein
The moving body is unmanned plane.
53. obstacle information according to claim 52 prompts equipment, wherein
The obstacle information prompt equipment is the control terminal for controlling the unmanned plane.
54. the obstacle information according to any one of claim 37-47 prompts equipment, wherein
The positioning device is GPS.
55. it is executable to be stored with computer in memory for a kind of obstacle information suggestion device, including processor and memory
Instruction makes the processor perform claim require described in any one of 1-18 when described instruction is executed by the processor
Obstacle information reminding method.
56. a kind of computer-readable recording medium, is stored with executable instruction, which makes the processing when being executed by processor
Device perform claim requires the obstacle information reminding method described in any one of 1-18.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/116985 WO2019119222A1 (en) | 2017-12-18 | 2017-12-18 | Obstacle information prompting method, system, equipment, device, and recording medium |
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| Publication Number | Publication Date |
|---|---|
| CN108521809A true CN108521809A (en) | 2018-09-11 |
Family
ID=63434476
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| Application Number | Title | Priority Date | Filing Date |
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| CN201780006722.XA Pending CN108521809A (en) | 2017-12-18 | 2017-12-18 | Obstacle information reminding method, system, unit and recording medium |
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| WO (1) | WO2019119222A1 (en) |
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| WO2019119222A1 (en) | 2019-06-27 |
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