Indoor automatic obstacle avoidance auxiliary system

Abstract

The invention relates to the technical field of intelligent obstacle avoidance, and discloses an indoor automatic obstacle avoidance auxiliary system, which comprises a laser ranging module used for acquiring distance information between a manned tool and an obstacle, including a distance value and a distance direction; the processing module is used for receiving the distance information acquired by the laser ranging module, determining the position of an obstacle according to the distance information, judging whether to give an alarm or not according to the position of the obstacle, and setting an alarm control signal if the alarm is given; the control module is used for controlling the laser ranging module to carry out ranging, setting a moving strategy of the manned tool and moving the manned tool; and the warning module is used for controlling an RGB lamp according to the warning control signal so as to realize obstacle avoidance warning. According to the system, the distance of the obstacle around the manned tool is monitored in real time, effective control and alarm are carried out, the risk of collision of the manned tool in a warehouse can be remarkably reduced, and the safety of the manned tool and surrounding equipment and personnel is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent obstacle avoidance, and in particular to an indoor automatic obstacle avoidance auxiliary system. Background Art

[0002] In the military or civil aviation fields, the safe storage of manned tools is an important issue. Due to the high value of manned tools and extremely high safety requirements, extreme caution is required to avoid any form of collision when handling and storing them inside the warehouse. Collisions may not only cause damage to the manned tools themselves, but also pose a safety threat to surrounding equipment and personnel. However, the space inside the warehouse is usually limited and full of various obstacles, such as support columns, other aircraft and maintenance equipment. The traditional manual handling and obstacle avoidance method is not only inefficient and prone to accidents, but also has incomplete obstacle avoidance measures. Therefore, a high-precision and reliable automatic obstacle avoidance auxiliary system is needed to ensure the safety of manned tools during handling and storage. Summary of the invention

[0003] The purpose of the present invention is to provide an indoor automatic obstacle avoidance auxiliary system to solve the problem that the traditional manual handling obstacle avoidance method is not only inefficient and prone to accidents, but also has incomplete obstacle avoidance measures.

[0004] The present invention provides an indoor automatic obstacle avoidance auxiliary system, comprising:

[0005] A laser ranging module, used to obtain distance information between the manned vehicle and the obstacle, wherein the distance information includes a distance value and a distance direction;

[0006] a processing module connected to the laser ranging module, the processing module being used to receive the distance information acquired by the laser ranging module, determine the position of the obstacle according to the distance information, and determine whether to issue an alarm according to the position of the obstacle, and if an alarm is issued, set an alarm control signal;

[0007] A control module connected to the laser ranging module, the processing module and the manned tool, the control module is used to control the laser ranging module to measure the distance, set the movement strategy of the manned tool, and move the manned tool;

[0008] The warning module is connected to the control module and the processing module, and is used to control the RGB light according to the warning control signal to achieve obstacle avoidance warning.

[0009] Preferably, the laser ranging module comprises:

[0010] A laser transmitter, which is arranged on the manned vehicle and is used to transmit laser pulses and determine the emission time;

[0011] A laser receiver, disposed on the manned vehicle, for receiving laser pulses and determining the time of reception;

[0012] The distance calculation unit is used to determine the round-trip time according to the transmission time and the reception time, and calculate the distance value according to the round-trip time.

[0013] Preferably, the distance calculation unit, when used to determine the round-trip time according to the transmission time and the reception time, and calculate the distance value according to the round-trip time, includes:

[0014] Calculate the time difference between the transmission time and the reception time, set the time difference as the round-trip time, and calculate the distance value according to the round-trip time and the speed of light;

[0015] The distance value is calculated according to the following formula:

[0016] D = c × (Tc - Tg) / 2;

[0017] Wherein, D represents the distance value, c represents the speed of light, Tc represents the receiving time, and Tg represents the transmitting time.

[0018] Preferably, when the processing module is used to determine the position of the obstacle according to the distance information and to determine whether to issue an alarm according to the position of the obstacle, it includes:

[0019] Acquiring initial movement parameters of the manned vehicle through the control module, wherein the initial movement parameters include an initial movement direction and an initial movement speed;

[0020] Comparing the distance direction with the initial moving direction, if the distance direction is consistent with the initial moving direction, determining the obstacle corresponding to the distance direction consistent with the initial moving direction as a necessary obstacle;

[0021] The distance value of the must-pass obstacle is determined according to the distance information, and whether to issue a warning is determined according to the distance value and the initial moving speed.

[0022] Preferably, when the processing module is used to determine whether to issue an alarm according to the distance value and the initial moving speed, it includes:

[0023] Comparing the distance value with a preset distance threshold, and if the distance value is greater than or equal to the distance threshold, determining not to issue an alarm;

[0024] If the distance value is less than the distance threshold, a ratio between the distance value and the initial moving speed is determined, a collision risk is determined according to the ratio, and an alarm is issued.

[0025] Preferably, when the processing module is used to determine the collision risk according to the ratio, it includes:

[0026] Set the ratio to B, B = D / v0, D represents the distance value, v0 represents the initial moving speed;

[0027] Presetting a first ratio and a second ratio, wherein the first ratio is smaller than the second ratio;

[0028] setting a collision risk according to a relationship between the ratio and the first ratio and the second ratio;

[0029] If the ratio is less than the first ratio, the collision risk is set to the first risk level L1;

[0030] If the ratio is greater than or equal to the first ratio and the ratio is less than the second ratio, the collision risk is set to a second risk level L2;

[0031] If the ratio is greater than or equal to the second ratio, the collision risk is set to a third risk level L3; wherein L1>L2>L3.

[0032] Preferably, the warning module further includes a buzzer, and when the warning control signal is received, the buzzer is controlled to give a sound warning.

[0033] Preferably, when the warning module is used to control the RGB light according to the warning control signal to achieve obstacle avoidance warning, it includes:

[0034] The warning control signal includes a collision risk;

[0035] Controlling the RGB light according to the collision risk to give an alarm in an alarm mode corresponding to the collision risk;

[0036] When the collision risk is the first risk level, the RGB light is controlled to operate in a red light warning mode;

[0037] When the collision risk is at the second risk level, the RGB light is controlled to be in yellow light warning mode;

[0038] When the collision risk is at the third risk level, the RGB light is controlled to operate in a blue light warning mode;

[0039] When it is determined that no warning is required, the RGB light is controlled to enter the green light safety mode.

[0040] Preferably, the control module, when used to set the movement strategy of the manned vehicle and move the manned vehicle, includes:

[0041] If no warning is given, the movement parameters of the manned vehicle are not adjusted, and the manned vehicle is controlled to move according to the initial movement parameters;

[0042] If an alarm is given, the movement parameters of the manned vehicle are adjusted according to the distance information to obtain the adjusted movement parameters, and the manned vehicle is controlled to move according to the adjusted movement parameters.

[0043] Preferably, when the control module is used to adjust the movement parameters of the manned vehicle according to the distance information to obtain the adjusted movement parameters, it includes:

[0044] Determine a maximum distance value in the distance information except the distance value of the obstacle that must be passed, set the distance direction corresponding to the maximum distance value as the moving direction in the adjusted moving parameter, and determine the moving speed according to the maximum distance value;

[0045] The moving direction is inconsistent with the initial moving direction.

[0046] Compared with the prior art, the beneficial effect of the present invention is that the system can significantly reduce the risk of collision of manned tools in the warehouse and ensure the safety of manned tools and surrounding equipment and personnel by real-time monitoring of the distance of obstacles around manned tools and effective control and alarm. Manned tools are of high value, and any collision may lead to expensive repair costs or even irreparable damage. The present invention can effectively avoid such accidents, thereby reducing the economic losses caused by collisions. By reducing the occurrence of collision accidents, the handling and storage efficiency of manned tools in the warehouse can be improved, and the time wasted in accident handling can be reduced, thereby improving the overall operational efficiency. In the military field, the rapid deployment capability of manned tools is crucial. The present invention can ensure the safe storage of manned tools in the warehouse, keep the manned tools in good condition at all times, and enhance their ability to respond and deploy quickly. The project uses advanced laser sensors and processing modules, demonstrates technological innovation in the field of aircraft collision avoidance, and provides reference and reference for future technological development in similar fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0048] Figure 1 It is a functional block diagram of an indoor automatic obstacle avoidance auxiliary system of the present invention. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0050] like Figure 1 As shown, the present invention provides an indoor automatic obstacle avoidance auxiliary system, comprising:

[0051] The laser ranging module is used to obtain the distance information between the manned vehicle and the obstacle, and the distance information includes the distance value and the distance direction.

[0052] A processing module is connected to the laser ranging module, and is used to receive the distance information obtained by the laser ranging module, determine the position of the obstacle according to the distance information, and determine whether to issue an alarm according to the position of the obstacle. If an alarm is issued, an alarm control signal is set.

[0053] The control module is connected with the laser ranging module, the processing module and the manned tool. The control module is used to control the laser ranging module to measure the distance, set the movement strategy of the manned tool, and move the manned tool.

[0054] The warning module is connected to the control module and the processing module, and is used to control the RGB light according to the warning control signal to achieve obstacle avoidance warning.

[0055] By real-time monitoring of the distance to obstacles around manned tools and performing effective control and alarm, the system can significantly reduce the risk of collisions between manned tools in warehouses and ensure the safety of manned tools and surrounding equipment and personnel.

[0056] In some embodiments of the present application, the laser ranging module includes: a laser transmitter, arranged on the manned vehicle, for emitting laser pulses and determining the emission time; a laser receiver, arranged on the manned vehicle, for receiving laser pulses and determining the reception time; a distance calculation unit, for determining the round-trip time according to the emission time and the reception time, and calculating the distance value according to the round-trip time.

[0057] In this embodiment, the laser ranging module includes four R01 laser sensors; the laser sensor is used to monitor the distance of obstacles around the manned tool in real time, and provide the system with real-time and accurate environmental information. The laser sensor includes a laser transmitter, a laser receiver, a signal processing circuit, a distance calculation unit, an interface circuit, a power management module and a shell protection component; the laser transmitter is used to emit laser pulses. The laser transmitter uses a semiconductor laser diode, which can generate high-intensity, narrow-beam lasers. The laser receiver is used to receive the reflected laser signal and includes a photodetector, such as a photodiode or a phototransistor, which can convert the received optical signal into an electrical signal. The signal processing circuit is used to process the electrical signal output by the laser receiver. It includes circuit components such as amplifiers, filters, and analog-to-digital converters (ADCs) for amplifying, filtering and digitizing signals for subsequent distance calculations. The distance calculation unit is responsible for calculating the distance of the target object based on the digital signal output by the signal processing circuit. The interface circuit is used for communication between the sensor and external devices (such as STM32 development boards). It includes interfaces such as UART, I2C, and SPI for transmitting distance data and receiving external control instructions. The power management module is used to provide stable power to the sensor and manage the power supply. It includes components such as power converters and voltage regulators to ensure that the sensor can work properly under different working conditions. The housing and protective components are used to protect the electronic components inside the sensor from the influence of the external environment. For the R01 sensor, it has IP67 level waterproof and dustproof performance.

[0058] It is understandable that the laser ranging module adopts UART output mode and modbus protocol; in automatic output mode, the R01 laser sensor will automatically send the measured distance data regularly without receiving specific instructions, which is suitable for application scenarios where the present invention needs to continuously monitor the distance. The default output interval is 100 milliseconds, that is, the distance is measured once every 100 milliseconds and the data is output once. The user can set the output interval through the Modbus instruction, ranging from 30 to 10000 milliseconds. The modbus protocol supports the Modbus-RTU protocol, which can be used to read the processing value and real-time value, and modify the slave address, baud rate, ranging output cycle and switch output polarity and other parameters. In the Modbus protocol, the sensor is a slave device and supports CRC-16 / MODBUS verification. By sending the corresponding Modbus instruction, the host device can trigger ranging, read the distance value, modify the configuration parameters and other operations. For example, after sending the instruction to read the processing value, the sensor will start ranging multiple times, and output a stable distance value after algorithm processing. The Modbus protocol enables sensors to be flexibly integrated into various industrial control systems to meet different application requirements.

[0059] In some embodiments of the present application, when the distance calculation unit is used to determine the round-trip time according to the transmission time and the receiving time, and calculate the distance value according to the round-trip time, it includes: calculating the time difference between the transmission time and the receiving time, setting the time difference as the round-trip time, and calculating the distance value according to the round-trip time and the speed of light; the distance value is calculated according to the following formula: D=c×(Tc-Tg) / 2; wherein D represents the distance value, c represents the speed of light, Tc represents the receiving time, and Tg represents the transmission time.

[0060] In this embodiment, the distance calculation unit is used to determine the round trip time according to the transmission time and the receiving time, and further calculate the distance value according to the round trip time. Specifically, the distance calculation unit first performs a step of calculating the time difference between the transmission time and the receiving time. This time difference is set as the round trip time, that is, the total time for the signal to go from the transmitting end to the receiving end and then return to the transmitting end. Next, the distance calculation unit calculates the distance value using this round trip time and the known speed of light. To describe this process in more detail, the distance value is calculated by the following formula: D = c × (Tc-Tg) / 2. In this formula, D represents the calculated distance value, c represents the speed of light, Tc represents the receiving time, and Tg represents the transmission time. From this formula, it can be seen that the distance value is calculated by multiplying the speed of light by half of the time difference. This calculation method is based on the principle of the constant speed of light, that is, the speed of light in a vacuum is a constant, approximately 299,792,458 meters per second.

[0061] In some embodiments of the present application, when the processing module is used to determine the position of an obstacle based on the distance information and determine whether to issue an alarm based on the position of the obstacle, it includes: obtaining the initial movement parameters of the manned vehicle through the control module, the initial movement parameters including an initial moving direction and an initial moving speed; comparing the distance direction with the initial moving direction, and if the distance direction is consistent with the initial moving direction, determining that the obstacle corresponding to the distance direction consistent with the initial moving direction is a must-pass obstacle; determining the distance value of the must-pass obstacle based on the distance information, and determining whether to issue an alarm based on the distance value and the initial moving speed.

[0062] In this embodiment, the processing module is used to determine the specific location of the obstacle based on the distance information, and further determine whether it is necessary to issue a warning signal based on the location of these obstacles. Specifically, the processing module includes the following steps: First, the initial movement parameters of the manned vehicle are obtained through the control module, and these initial movement parameters include the initial movement direction and the initial movement speed. Then, the detected distance direction is compared and analyzed with the initial movement direction. If the detected distance direction is consistent with the initial movement direction, then it can be determined that the obstacle corresponding to the distance direction consistent with the initial movement direction is a must-pass obstacle. Then, the specific distance values ​​of these must-pass obstacles are determined based on the distance information. Finally, based on these distance values ​​and the initial movement speed of the manned vehicle, it is determined whether it is necessary to issue a warning signal to ensure the safe travel of the manned vehicle. In this way, the processing module can effectively identify and deal with potential obstacles, thereby improving the safety and reliability of the manned vehicle.

[0063] It is understandable that the control module includes a speed sensor for detecting the moving speed of the manned vehicle.

[0064] In some embodiments of the present application, when the processing module is used to determine whether to issue an alarm based on the distance value and the initial moving speed, it includes: comparing the distance value with a preset distance threshold; if the distance value is greater than or equal to the distance threshold, determining not to issue an alarm; if the distance value is less than the distance threshold, determining the ratio between the distance value and the initial moving speed, determining the collision risk based on the ratio, and issuing an alarm.

[0065] In this embodiment, the processing module determines whether it is necessary to issue a warning signal based on the distance value and the initial moving speed. Specifically, the processing module will first compare the current distance value with a pre-set distance threshold. If the current distance value is greater than or equal to the distance threshold, the processing module will determine that there is no collision risk in the current situation, so no warning signal will be issued. However, if the current distance value is less than the distance threshold, the processing module will further calculate the ratio between the distance value and the initial moving speed. Through this ratio, the processing module can evaluate the current degree of collision risk. If the calculated ratio indicates that the collision risk is high, the processing module will immediately issue a warning signal to remind relevant personnel or systems to take corresponding preventive measures. This processing method ensures that warnings can be issued in a timely manner when potential collision risks occur, thereby improving the safety and reliability of the system.

[0066] In some embodiments of the present application, when the processing module is used to determine the collision risk based on the ratio, it includes: setting the ratio to B, B=D / v0, D represents the distance value, and v0 represents the initial moving speed; pre-setting a first ratio and a second ratio, the first ratio is smaller than the second ratio; setting the collision risk according to the relationship between the ratio and the first ratio and the second ratio; if the ratio is smaller than the first ratio, setting the collision risk to a first risk level L1; if the ratio is greater than or equal to the first ratio, and the ratio is smaller than the second ratio, setting the collision risk to a second risk level L2; if the ratio is greater than or equal to the second ratio, setting the collision risk to a third risk level L3; wherein, L1>L2>L3.

[0067] In this embodiment, when the processing module is used to determine the collision risk according to the ratio, it specifically includes the following steps: first, a ratio is set to B, where B is equal to D divided by v0, where D represents the distance value and v0 represents the initial moving speed. Next, two reference ratios need to be set in advance, namely the first ratio and the second ratio, and these two ratios satisfy the condition that the first ratio is less than the second ratio. Then, the collision risk level is set according to the relationship between the calculated ratio B and the two reference ratios. In the present application, the ratio B is equivalent to the time when the manned vehicle collides. The shorter the time, the greater the possibility of a collision. Therefore, the ratio B is negatively correlated with the risk level.

[0068] It can be understood that the processing module includes a microprocessor unit, a memory unit, an interface unit, a power management unit, a debugging unit, a clock source and an interaction unit; the microprocessor (MCU) unit is used to execute program code, process sensor data, make decisions, and control peripheral devices; the memory unit includes flash memory (Flash) and random access memory (RAM); flash memory is used to store program code and firmware; RAM is used to temporarily store data and variables; the interface (I / O) unit includes a general input and output port (GPIO), a serial communication interface (such as UART, I2C, SPI, etc.). The general purpose input and output port (GPIO) is used to read the status of external signals and control the power management of external devices; the serial communication interface is used to communicate data with the laser sensor and exchange information with the PC and other control devices; the power management unit is used to provide a stable power supply for the microprocessor and other components, and includes a voltage regulator and a power monitoring circuit; the voltage regulator is used to convert the input voltage into a stable output voltage for use by the microprocessor and other electronic components, ensuring that the output voltage remains constant even if the input voltage fluctuates, thereby protecting the microprocessor and other sensitive components from voltage fluctuations; the power monitoring circuit is used to monitor the power status of the processing module, ensure that the power supply is working properly, detect whether the power supply is connected, whether the voltage is within the normal range, and detect the remaining battery power. When the power supply is abnormal, the power monitoring circuit can issue a warning signal or automatically cut off the power supply to protect the system from damage. The debugging unit includes a DAP emulator; the DAP emulator is used to burn programs, set breakpoints, single-step execution, and monitor variables. Program download, debugging and firmware update help speed up the development process and improve the stability and reliability of the system. The clock source includes an external crystal oscillator and an internal clock, which are used to provide clock signals for the microprocessor and other components to ensure the stable operation of the system. The interactive unit is used to indicate the working status of the development board and provide user interaction.

[0069] In some embodiments of the present application, the alarm module further includes a buzzer, and when the alarm control signal is received, the buzzer is controlled to give a sound alarm.

[0070] In this embodiment, the buzzer is used to issue an auditory warning. The buzzer is an electronic device that can emit sound signals. By controlling the driving circuit of the buzzer, sounds of different frequencies and rhythms can be generated. In the present invention, the buzzer can be used in conjunction with the RGB light to provide a warning effect of sound and light linkage. When a collision risk is detected, the buzzer can emit a continuous or intermittent alarm sound to increase the visibility and urgency of the warning.

[0071] In some embodiments of the present application, when the warning module is used to control the RGB light according to the warning control signal to achieve obstacle avoidance warning, it includes: the warning control signal includes collision risk; the RGB light is controlled according to the collision risk to warn in a warning mode corresponding to the collision risk; when the collision risk is a first risk level, the RGB light is controlled to operate in a red light warning mode; when the collision risk is a second risk level, the RGB light is controlled to operate in a yellow light warning mode; when the collision risk is a third risk level, the RGB light is controlled to operate in a blue light warning mode; when it is determined not to issue a warning, the RGB light is controlled to operate in a green light safety mode.

[0072] In this embodiment, the RGB lamp can emit light of multiple colors to provide a visual warning signal. By adjusting the brightness combination of the three colors of red, green, and blue, light effects of different colors and brightness can be achieved to meet different warning requirements. In this system, the RGB lamp can be used to display the status or warning level of the manned tool.

[0073] In some embodiments of the present application, the control module is used to set the movement strategy of the manned vehicle and move the manned vehicle, including: if no warning is given, the movement parameters of the manned vehicle are not adjusted, and the manned vehicle is controlled to move according to the initial movement parameters; if a warning is given, the movement parameters of the manned vehicle are adjusted according to the distance information, the adjusted movement parameters are obtained, and the manned vehicle is controlled to move according to the adjusted movement parameters.

[0074] In this embodiment, the control module is used to set and adjust the movement strategy of the manned tool. When the manned tool is moving, the control module will decide whether the movement parameters of the manned tool need to be adjusted according to the specific situation. Specifically, if the system does not issue an alarm signal, the control module will not make any adjustments to the movement parameters of the manned tool, but let the manned tool continue to move according to the pre-set initial movement parameters. This means that the manned tool will keep its original speed, direction, path and other parameters unchanged and continue to move. However, once the system detects a situation that requires an alarm, the control module will take immediate action. At this time, the control module will adjust the movement parameters of the manned tool accordingly based on the received distance information. By analyzing the distance information, the control module can calculate new movement parameters to ensure that the manned tool can safely avoid obstacles or maintain an appropriate distance from other manned tools.

[0075] It can be understood that the control module integrates the other modules together to form a complete warehouse manned tool anti-collision automatic obstacle avoidance system.

[0076] In some embodiments of the present application, when the control module is used to adjust the movement parameters of the manned vehicle according to the distance information to obtain the adjusted movement parameters, it includes: determining the maximum distance value in the distance information except the distance value of the must-pass obstacles, setting the distance direction corresponding to the maximum distance value as the movement direction in the adjusted movement parameters, and determining the movement speed according to the maximum distance value; the movement direction is inconsistent with the initial movement direction.

[0077] In this embodiment, the control module is responsible for adjusting the movement parameters of the manned vehicle accordingly according to the acquired distance information to ensure that the manned vehicle can move safely and efficiently. Specifically, when the control module receives the distance information, the control module will identify the distance values ​​of the obstacles that must be passed from the distance information, exclude them, and find the maximum value among the remaining distance values. This maximum value represents the best optional path from the manned vehicle in the current environment. After determining the maximum distance value, the control module will set its corresponding direction to the moving direction in the adjusted movement parameters. This means that the manned vehicle will move in this direction to avoid other closer obstacles. In addition, the control module will also determine the moving speed of the manned vehicle based on this maximum distance value.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

[0079] The system provided in the above embodiment is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the modules or steps in the embodiments of the present invention can be decomposed or combined. For example, the modules in the above embodiment can be combined into one module, or further divided into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the modules or steps, and are not regarded as improper limitations of the present invention.

[0080] Those skilled in the art should be able to appreciate that the modules and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software or a combination of the two, and the programs corresponding to the software modules and method steps can be placed in random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs or any other form of storage medium known in the technical field. In order to clearly illustrate the interchangeability of electronic hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are performed in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

Claims

1. An indoor automatic obstacle avoidance assistance system, characterized in that: include: A laser ranging module, used to obtain distance information between the manned vehicle and the obstacle, wherein the distance information includes a distance value and a distance direction; a processing module connected to the laser ranging module, the processing module being used to receive the distance information acquired by the laser ranging module, determine the position of the obstacle according to the distance information, and determine whether to issue an alarm according to the position of the obstacle, and if an alarm is issued, set an alarm control signal; A control module connected to the laser ranging module, the processing module and the manned tool, the control module is used to control the laser ranging module to measure the distance, set the movement strategy of the manned tool, and move the manned tool; The warning module is connected to the control module and the processing module, and is used to control the RGB light according to the warning control signal to achieve obstacle avoidance warning.

2. The indoor automatic obstacle avoidance assistance system according to claim 1, characterized in that: The laser ranging module comprises: A laser transmitter, which is arranged on the manned vehicle and is used to transmit laser pulses and determine the emission time; A laser receiver, disposed on the manned vehicle, for receiving laser pulses and determining the time of reception; The distance calculation unit is used to determine the round-trip time according to the transmission time and the reception time, and calculate the distance value according to the round-trip time.

3. The indoor automatic obstacle avoidance assistance system according to claim 2, characterized in that: The distance calculation unit, when used to determine the round trip time according to the transmission time and the reception time, and calculate the distance value according to the round trip time, includes: Calculate the time difference between the transmission time and the reception time, set the time difference as the round-trip time, and calculate the distance value according to the round-trip time and the speed of light; The distance value is calculated according to the following formula: D = c × (Tc - Tg) / 2; Wherein, D represents the distance value, c represents the speed of light, Tc represents the receiving time, and Tg represents the transmitting time.

4. The indoor automatic obstacle avoidance assistance system according to claim 1, characterized in that: When the processing module is used to determine the position of the obstacle according to the distance information and to determine whether to issue an alarm according to the position of the obstacle, it includes: Acquiring initial movement parameters of the manned vehicle through the control module, wherein the initial movement parameters include an initial movement direction and an initial movement speed; Comparing the distance direction with the initial moving direction, if the distance direction is consistent with the initial moving direction, determining the obstacle corresponding to the distance direction consistent with the initial moving direction as a necessary obstacle; The distance value of the must-pass obstacle is determined according to the distance information, and whether to issue a warning is determined according to the distance value and the initial moving speed.

5. The indoor automatic obstacle avoidance assistance system according to claim 4, characterized in that: When the processing module is used to determine whether to issue an alarm according to the distance value and the initial moving speed, it includes: Comparing the distance value with a preset distance threshold, and if the distance value is greater than or equal to the distance threshold, determining not to issue an alarm; If the distance value is less than the distance threshold, a ratio between the distance value and the initial moving speed is determined, a collision risk is determined according to the ratio, and an alarm is issued.

6. The indoor automatic obstacle avoidance assistance system according to claim 5, characterized in that: The processing module, when used to determine the collision risk according to the ratio, comprises: Set the ratio to B, B = D / v0, D represents the distance value, v0 represents the initial moving speed; Presetting a first ratio and a second ratio, wherein the first ratio is smaller than the second ratio; setting a collision risk according to a relationship between the ratio and the first ratio and the second ratio; If the ratio is less than the first ratio, the collision risk is set to the first risk level L1; If the ratio is greater than or equal to the first ratio and the ratio is less than the second ratio, the collision risk is set to a second risk level L2; If the ratio is greater than or equal to the second ratio, the collision risk is set to a third risk level L3; wherein L1>L2>L3.

7. The indoor automatic obstacle avoidance assistance system according to claim 6, characterized in that: The warning module also includes a buzzer, and when the warning control signal is received, the buzzer is controlled to give a sound warning.

8. The indoor automatic obstacle avoidance assistance system according to claim 7, characterized in that: When the warning module is used to control the RGB light according to the warning control signal to achieve obstacle avoidance warning, it includes: The warning control signal includes a collision risk; Controlling the RGB light according to the collision risk to give an alarm in an alarm mode corresponding to the collision risk; When the collision risk is the first risk level, the RGB light is controlled to operate in a red light warning mode; When the collision risk is at the second risk level, the RGB light is controlled to be in yellow light warning mode; When the collision risk is at the third risk level, the RGB light is controlled to operate in a blue light warning mode; When it is determined that no warning is required, the RGB light is controlled to enter the green light safety mode.

9. The indoor automatic obstacle avoidance assistance system according to claim 8, characterized in that: The control module is used to set the movement strategy of the manned tool and move the manned tool, including: If no warning is given, the movement parameters of the manned vehicle are not adjusted, and the manned vehicle is controlled to move according to the initial movement parameters; If an alarm is given, the movement parameters of the manned vehicle are adjusted according to the distance information to obtain the adjusted movement parameters, and the manned vehicle is controlled to move according to the adjusted movement parameters.

10. The indoor automatic obstacle avoidance assistance system according to claim 9, characterized in that: When the control module is used to adjust the movement parameters of the manned vehicle according to the distance information to obtain the adjusted movement parameters, it includes: Determine a maximum distance value in the distance information except the distance value of the obstacle that must be passed, set the distance direction corresponding to the maximum distance value as the moving direction in the adjusted moving parameter, and determine the moving speed according to the maximum distance value; The moving direction is inconsistent with the initial moving direction.

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