Obstacle identification method, device, storage medium and equipment applied to mobile phone

Abstract

The present invention provides an obstacle identification method, device, storage medium and equipment applied to a mobile phone, wherein the obstacle identification method comprises: obtaining a road image through the rear camera; obtaining a light value of the environment where the mobile phone device is located through the light sensor; comparing the light value with a preset light threshold, and if the light value is greater than the light threshold, performing obstacle identification on the road image; when an obstacle is identified from the road image, generating an obstacle warning instruction; in response to the obstacle warning instruction, generating an obstacle warning pop-up window and displaying it on the display interface of the mobile phone device. The present invention can detect obstacles on the road and issue a warning in time when people are walking while operating their mobile phones, thereby reducing the risk factor when people are walking while operating their mobile phones and improving walking safety.

Description

Technical Field

[0001] The present invention relates to the technical field of obstacle recognition, and in particular to an obstacle recognition method, device, storage medium and equipment applied to a mobile phone. Background Art

[0002] Due to the development of mobile devices, mobile devices have basically become electronic devices that people cannot live without. People even operate their mobile phones while walking, such as communicating with others through text or voice chat software on their mobile phones. Some people even focus their eyes on their mobile phones while walking, such as watching videos, novels, comics, or browsing the web. Therefore, when people operate their mobile phones while walking, they are likely to fall or get injured due to obstacles on the road. Therefore, the risk factor of people operating their mobile phones while walking is very high and the safety is extremely low. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings and deficiencies in the prior art and to provide an obstacle recognition method, device, storage medium and equipment applied to mobile phones, which can detect obstacles on the road and issue warnings in time when people are walking while operating their mobile phones, thereby reducing the risk factor when people are walking while operating their mobile phones and improving walking safety.

[0004] An embodiment of the present invention provides an obstacle recognition method applied to a mobile phone, which is applied to a mobile phone device, wherein the mobile phone device is provided with a light sensor and a rear camera, and the method comprises:

[0005] Acquire road images through the rear camera;

[0006] Acquire the light value of the environment where the mobile phone device is located through the light sensor;

[0007] Comparing the light value with a preset light threshold, and if the light value is greater than the light threshold, performing obstacle recognition on the road surface image;

[0008] When an obstacle is identified from the road surface image, an obstacle warning instruction is generated;

[0009] In response to the obstacle warning instruction, an obstacle warning pop-up window is generated and displayed on the display interface of the mobile device.

[0010] Compared with the prior art, the obstacle recognition method applied to a mobile phone of the present invention can recognize obstacles on the road surface image obtained by the rear camera under sufficient light. When an obstacle is recognized from the road surface image, an obstacle warning instruction is generated, and then in response to the obstacle warning instruction, an obstacle warning pop-up window is generated and displayed on the display interface of the mobile phone device to remind the user who is currently using the mobile phone device. When people are walking while operating the mobile phone, obstacles on the road can be detected and warnings can be issued in time, thereby reducing the risk factor when people are walking while operating the mobile phone and improving walking safety.

[0011] In one embodiment, the mobile phone device is further provided with a rear laser radar;

[0012] After the step of comparing the light value with the preset light threshold, the method further includes:

[0013] If the light value is less than or equal to the light threshold, driving the rear laser radar to detect obstacles on the road surface;

[0014] If the rear laser radar detects an obstacle on the road, the obstacle warning instruction is generated.

[0015] When the light is insufficient, it will affect the result of obstacle recognition in the road image. Therefore, the presence of obstacles on the road is detected by the rear laser radar. It can detect whether there are obstacles on the road when the light is insufficient. If there are obstacles, the obstacle warning instruction is generated.

[0016] In one embodiment, the rear laser radar includes a first laser radar component, a second laser radar component and a third laser radar component arranged from top to bottom;

[0017] If the light value is less than or equal to the light threshold, the step of driving the rear laser radar to detect obstacles on the road surface includes:

[0018] Obtain a first distance value, a second distance value, and a third distance value detected by the first laser radar component, the second laser radar component, and the third laser radar component, respectively;

[0019] Whether there is an obstacle on the road surface is determined according to the first distance value, the second distance value, and the third distance value, as well as preset distance values ​​and obstacle judgment rules.

[0020] By using multiple lidar components, it is possible to more accurately identify whether there are obstacles on the road.

[0021] In one embodiment, the laser irradiation angles of the first laser radar component, the second laser radar component and the third laser radar component relative to the housing of the mobile phone device are the same;

[0022] The step of determining whether there is an obstacle on the road surface according to the first distance value, the second distance value, the third distance value, and the preset distance values ​​and obstacle judgment rules includes:

[0023] Obtaining a first distance ratio between the first distance value and the second distance value;

[0024] Acquire a second distance ratio of the second distance value to the third distance value;

[0025] The ratio difference between the first distance ratio and the second distance ratio is obtained, and if the absolute value of the ratio difference is greater than a preset ratio difference threshold, it is determined that there is an obstacle on the road surface.

[0026] When the laser irradiation angles of the first laser radar component, the second laser radar component and the third laser radar component relative to the shell of the mobile phone device are the same, the difference between the first distance ratio and the second distance ratio can be compared with the ratio difference threshold to determine whether the road surface exists.

[0027] In one embodiment, the step of determining whether there is an obstacle on the road surface according to the first distance value, the second distance value, and the third distance value, as well as preset distance values ​​and obstacle judgment rules, includes:

[0028] constructing a first virtual triangle according to the first laser, the second laser, and the angle between the first laser and the second laser;

[0029] Calculate a first target angle relative to the first laser in the first virtual triangle according to the first distance value, the second distance value, and the angle between the first laser and the second laser;

[0030] constructing a second virtual triangle according to the second laser, the third laser, and the angle between the second laser and the third laser;

[0031] Calculating a second target angle relative to the third laser in the second virtual triangle according to the second distance value, the third distance value, and the angle between the second laser and the third laser;

[0032] The sum angle of the first target angle and the second target angle is obtained, and the sum angle is compared with a preset angle threshold range. If the sum angle is not within the angle threshold range, it is determined that there is an obstacle on the road surface.

[0033] Whether there is an obstacle on the road surface may be determined based on a comparison result of a sum angle of the first target angle and the second target angle and the angle threshold range.

[0034] An embodiment of the present invention further provides an obstacle recognition device for a mobile phone, which is applied to a mobile phone device, wherein the mobile phone device is provided with a light sensor and a rear camera, and comprises:

[0035] A picture acquisition module, which acquires road images through the rear camera;

[0036] A light value acquisition module, which acquires the light value of the environment where the mobile device is located through the light sensor;

[0037] An obstacle recognition module, used to compare the light value with a preset light threshold, and if the light value is greater than the light threshold, perform obstacle recognition on the road surface image;

[0038] A first warning instruction generating module, configured to generate an obstacle warning instruction when an obstacle is identified from the road surface image;

[0039] The warning pop-up window display module generates an obstacle warning pop-up window in response to the obstacle warning instruction and displays it on the display interface of the mobile device.

[0040] Compared with the prior art, the obstacle recognition device applied to a mobile phone of the present invention can recognize obstacles on the road surface image obtained by the rear camera under sufficient light. When an obstacle is recognized from the road surface image, an obstacle warning instruction is generated, and then in response to the obstacle warning instruction, an obstacle warning pop-up window is generated and displayed on the display interface of the mobile phone device to remind the user who is currently using the mobile phone device. When people are walking while operating the mobile phone, obstacles on the road can be detected and warnings can be issued in time, thereby reducing the risk factor when people are walking while operating the mobile phone and improving walking safety.

[0041] In one embodiment, the mobile phone device is further provided with a rear laser radar;

[0042] The obstacle recognition module also includes:

[0043] A laser radar driving module drives the rear laser radar to detect obstacles on the road surface if the light value is less than or equal to the light threshold;

[0044] The second warning instruction generating module generates the obstacle warning instruction if the rear laser radar detects the existence of an obstacle on the road surface.

[0045] When the light is insufficient, it will affect the result of obstacle recognition in the road image. Therefore, the presence of obstacles on the road is detected by the rear laser radar. It can detect whether there are obstacles on the road when the light is insufficient. If there are obstacles, the obstacle warning instruction is generated.

[0046] In one embodiment, the rear laser radar includes a first laser radar component, a second laser radar component and a third laser radar component arranged from top to bottom;

[0047] The laser radar driving module includes:

[0048] A distance value acquisition module, used to acquire a first distance value, a second distance value, and a third distance value detected by the first laser radar component, the second laser radar component, and the third laser radar component respectively;

[0049] The obstacle determination module is used to determine whether there is an obstacle on the road according to the first distance value, the second distance value and the third distance value, as well as preset distance values ​​and obstacle determination rules.

[0050] By using multiple lidar components, it is possible to more accurately identify whether there are obstacles on the road.

[0051] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the obstacle recognition method applied to a mobile phone as described above are implemented.

[0052] One embodiment of the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the steps of the obstacle recognition method applied to a mobile phone as described above when executing the computer program.

[0053] In order to more clearly understand the present invention, the specific implementation of the present invention will be described below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 The figure is a flow chart of an obstacle recognition method applied to a mobile phone according to an embodiment of the present invention.

[0055] Figure 2 Schematic diagram of a first obstacle judgment scenario in step S312 of an obstacle recognition method applied to a mobile phone according to an embodiment of the present invention.

[0056] Figure 3 Schematic diagram of a second obstacle judgment scenario in step S312 of an obstacle recognition method applied to a mobile phone according to an embodiment of the present invention.

[0057] Figure 4 The figure is a schematic diagram of module connections of an obstacle recognition device applied to a mobile phone according to an embodiment of the present invention.

[0058] 1. Mobile phone device; 13. Rear laser radar; 131. First laser radar component; 133. Second laser radar component; 135. Third laser radar component; 137. First virtual triangle; 1371. First target angle; 139. Second virtual triangle; 1391. Second target angle; 3. Obstacle; 100. Image acquisition module; 200. Light value acquisition module; 300. Obstacle recognition module; 400. First warning instruction generation module; 500. Warning pop-up display module. DETAILED DESCRIPTION

[0059] In order to make the objectives, technical solutions and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0060] It should be clear that 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 the embodiments of the present application.

[0061] When the following description relates to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. In the description of the present application, it should be understood that the terms "first", "second", "third", etc. are only used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence, nor can they be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. The singular forms of "a", "said" and "the" used in the present application and the appended claims are also intended to include the majority form, unless the context clearly indicates other meanings. The words "if" / "if" used herein can be interpreted as "at the time of" or "when" or "in response to determination".

[0062] In addition, in the description of this application, unless otherwise specified, "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0063] See also Figure 1 , which is a flow chart of an obstacle recognition method applied to a mobile phone according to an embodiment of the present invention. The method is applied to a mobile phone device, wherein the mobile phone device is provided with a light sensor and a rear camera, and includes:

[0064] S1: Acquire road images through the rear camera.

[0065] The mobile phone device refers to an electronic device having a processing chip and a wireless communication function. In other embodiments, those skilled in the art can use a tablet computer instead of the mobile phone device based on the same technical principle.

[0066] S2: Obtain the light value of the environment where the mobile phone device is located through the light sensor.

[0067] The light sensor can be arranged beside the front camera of the mobile phone device. When the light sensor is arranged beside the front camera of the mobile phone device, since the screen is generally tilted upward when the user operates the mobile phone, the light value obtained by the light sensor at this time is not easily blocked by the shell of the mobile phone device, and the light value obtained is more accurate.

[0068] The light sensor may also be arranged beside the rear camera. When the light sensor is arranged beside the rear camera, the light value acquired by the light sensor is closer to the light value of the environment where the current lens of the rear camera is located.

[0069] S3: Compare the light value with a preset light threshold, and if the light value is greater than the light threshold, perform obstacle recognition on the road surface image.

[0070] The obstacle recognition on the road surface image can be realized by a trained obstacle recognition neural network.

[0071] S4: When an obstacle is identified from the road surface image, an obstacle warning instruction is generated.

[0072] The obstacle refers to an object that hinders or affects the user's walking on the road surface, which may be a protruding road surface or stones, garbage, pillars, etc. located on the road surface, or a concave road surface or a pothole on the road surface.

[0073] S5: In response to the obstacle warning instruction, an obstacle warning pop-up window is generated and displayed on the display interface of the mobile device.

[0074] Preferably, the mobile phone device also emits a prompt sound according to the obstacle warning instruction, so as to better remind the user that there is an obstacle on the road ahead.

[0075] Compared with the prior art, the obstacle recognition method applied to a mobile phone of the present invention can recognize obstacles on the road surface image obtained by the rear camera under sufficient light. When an obstacle is recognized from the road surface image, an obstacle warning instruction is generated, and then in response to the obstacle warning instruction, an obstacle warning pop-up window is generated and displayed on the display interface of the mobile phone device to remind the user who is currently using the mobile phone device. When people are walking while operating the mobile phone, obstacles on the road can be detected and warnings can be issued in time, thereby reducing the risk factor when people are walking while operating the mobile phone and improving walking safety.

[0076] In a feasible embodiment, the mobile phone device is further provided with a rear laser radar;

[0077] After the step of comparing the light value with a preset light threshold, the method further includes:

[0078] S31: If the light value is less than or equal to the light threshold, driving the rear laser radar to detect obstacles on the road surface;

[0079] S32: If the rear laser radar detects an obstacle on the road, the obstacle warning instruction is generated.

[0080] When the light is insufficient, it will affect the result of obstacle recognition in the road image. Therefore, the presence of obstacles on the road is detected by the rear laser radar. It can detect whether there are obstacles on the road when the light is insufficient. If there are obstacles, the obstacle warning instruction is generated.

[0081] In a feasible embodiment, the rear laser mine includes a first laser radar component, a second laser radar component and a third laser radar component arranged from top to bottom;

[0082] If the light value is less than or equal to the light threshold, the step of driving the rear laser radar to detect obstacles on the road surface includes:

[0083] S311: Obtain a first distance value, a second distance value, and a third distance value detected by the first laser radar component, the second laser radar component, and the third laser radar component respectively;

[0084] S312: Determine whether there is an obstacle on the road surface according to the first distance value, the second distance value, and the third distance value, as well as preset distance values ​​and obstacle judgment rules.

[0085] In this embodiment, multiple laser radar components can more accurately identify whether there are obstacles on the road.

[0086] In a feasible embodiment, the laser irradiation angles of the first laser radar component, the second laser radar component and the third laser radar component relative to the housing of the mobile phone device are the same;

[0087] The step of determining whether there is an obstacle on the road surface according to the first distance value, the second distance value, the third distance value, and the preset distance values ​​and obstacle judgment rules includes:

[0088] S312-01: Obtain a first distance ratio between the first distance value and the second distance value.

[0089] S312-02: Obtain a second distance ratio between the second distance value and the third distance value.

[0090] S312-03: Obtain the ratio difference between the first distance ratio and the second distance ratio. If the absolute value of the ratio difference is greater than a preset ratio difference threshold, determine that there is an obstacle on the road surface.

[0091] See also Figure 2 In this embodiment, when the laser irradiation angles of the first laser radar component 131, the second laser radar component 133 and the third laser radar component 135 relative to the shell of the mobile phone device 1 are the same, if the road surface is flat and there is no obstacle 3, the proportional difference between the first distance ratio and the second distance ratio will be close to 0, and if the road surface is uneven or there is an obstacle 3, as long as any laser emitted by the first laser radar component 131, the second laser radar component 133 and the third laser radar component 135 detects the obstacle 3, the proportional difference between the first distance ratio and the second distance ratio will increase, and specifically The increase is related to at least one parameter of the shape, volume, and height of the obstacle 3. For example, when the first laser radar component 131 emits any laser to detect a high obstacle 3, the first distance ratio will change greatly. If the first distance value is the numerator of the first distance ratio, the first distance ratio will be greatly reduced. Since the lasers of the second laser radar component 133 and the third laser radar component 135 do not contact the obstacle 3, the value of the second distance ratio will not change much. At this time, the absolute value of the ratio difference will increase due to the decrease in the first distance ratio, resulting in exceeding the ratio difference threshold. In this way, it is possible to compare the ratio difference between the first distance ratio and the second distance ratio with the ratio difference threshold to determine whether the road surface exists.

[0092] In a feasible embodiment, the step of determining whether there is an obstacle 3 on the road surface according to the first distance value, the second distance value, the third distance value, and the preset distance value and obstacle 3 judgment rule includes:

[0093] S312 - 11: construct a first virtual triangle 137 according to the first laser, the second laser, and the angle between the first laser and the second laser.

[0094] S312 - 12: Calculate a first target angle 1371 relative to the first laser in the first virtual triangle 137 according to the first distance value, the second distance value, and the angle between the first laser and the second laser.

[0095] Specifically, the first target angle 1371 can be obtained by performing trigonometric function calculation on the first distance value, the second distance value, and the angle value between the first laser and the second laser.

[0096] S312 - 13: construct a second virtual triangle 139 according to the second laser, the third laser, and the angle between the second laser and the third laser.

[0097] S312 - 14: Calculate a second target angle 1391 relative to the third laser in the second virtual triangle 139 according to the second distance value, the third distance value, and the angle between the second laser and the third laser.

[0098] Specifically, the second target angle 1391 can be obtained by performing trigonometric function calculation on the second distance value, the third distance value, and the angle value between the second laser and the third laser.

[0099] S312-15: Obtain the total angle of the first target angle 1371 and the second target angle 1391, and compare the total angle with a preset angle threshold range. If the total angle is not within the angle threshold range, determine that there is an obstacle 3 on the road surface.

[0100] See also Figure 3In this embodiment, when no obstacle 3 is encountered, the sum of the first target angle 1371 and the second target angle 1391 is close to 180°. When the first laser contacts the obstacle 3, the angle of the first target angle 1371 will decrease, so the sum of the first target angle 1371 and the second target angle 1391 will also decrease. When the sum is reduced to be out of the angle threshold range, it is determined that there is an obstacle 3 on the road surface, thereby achieving a technical effect of judging whether there is an obstacle 3 on the road surface based on the comparison result of the sum of the first target angle 1371 and the second target angle 1391 and the angle threshold range. Among them, when there is a pothole on the road in the direction of the user's forward movement, the first laser will be captured in the pothole. At this time, the first distance value increases, resulting in an increase in the angle of the first target angle 1371 in the first virtual triangle 137. Therefore, the sum angle of the first target angle 1371 and the second target angle 1391 will also increase. When the sum angle increases to be out of the angle threshold range, it will also be judged that there is an obstacle 3 on the road, thereby generating the obstacle 3 warning instruction, and reminding the user through the obstacle 3 warning pop-up window generated in response to the obstacle 3 warning instruction, and even reminding the user through a prompt sound, so that the user can pay attention to the road conditions ahead in time, which is beneficial for the user to avoid obstacle 3 in time when using the mobile phone.

[0101] See also Figure 4 One embodiment of the present invention further provides an obstacle recognition device for a mobile phone, which is applied to a mobile phone device, wherein the mobile phone device is provided with a light sensor and a rear camera, and comprises:

[0102] The image acquisition module 100 acquires the road image through the rear camera;

[0103] A light value acquisition module 200 is used to acquire the light value of the environment where the mobile device is located through the light sensor;

[0104] The obstacle recognition module 300 is used to compare the light value with a preset light threshold, and if the light value is greater than the light threshold, perform obstacle recognition on the road surface image;

[0105] A first warning instruction generating module 400 is used to generate an obstacle warning instruction when an obstacle is identified from the road surface image;

[0106] The warning pop-up window display module 500 generates an obstacle warning pop-up window in response to the obstacle warning instruction and displays it on the display interface of the mobile device.

[0107] Compared with the prior art, the obstacle recognition device applied to a mobile phone of the present invention can recognize obstacles on the road surface image obtained by the rear camera under sufficient light. When an obstacle is recognized from the road surface image, an obstacle warning instruction is generated, and then in response to the obstacle warning instruction, an obstacle warning pop-up window is generated and displayed on the display interface of the mobile phone device to remind the user who is currently using the mobile phone device. When people are walking while operating the mobile phone, obstacles on the road can be detected and warnings can be issued in time, thereby reducing the risk factor when people are walking while operating the mobile phone and improving walking safety.

[0108] In a feasible embodiment, the mobile phone device is further provided with a rear laser radar;

[0109] The obstacle recognition module 300 further includes:

[0110] A laser radar driving module drives the rear laser radar to detect obstacles on the road surface if the light value is less than or equal to the light threshold;

[0111] The second warning instruction generating module generates the obstacle warning instruction if the rear laser radar detects the existence of an obstacle on the road surface.

[0112] In this embodiment, considering that insufficient light will affect the result of obstacle recognition on the road surface, the presence of obstacles on the road surface is detected by a rear-mounted laser radar. It can be detected whether there are obstacles on the road surface when the light is insufficient. If there are obstacles, the obstacle warning instruction is generated.

[0113] In a feasible embodiment, the rear laser mine includes a first laser radar component, a second laser radar component and a third laser radar component arranged from top to bottom;

[0114] The laser radar driving module includes:

[0115] A distance value acquisition module, used to acquire a first distance value, a second distance value, and a third distance value detected by the first laser radar component, the second laser radar component, and the third laser radar component respectively;

[0116] The obstacle determination module is used to determine whether there is an obstacle on the road according to the first distance value, the second distance value and the third distance value, as well as preset distance values ​​and obstacle determination rules.

[0117] In this embodiment, multiple laser radar components can more accurately identify whether there are obstacles on the road.

[0118] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the obstacle recognition method applied to a mobile phone as described above are implemented.

[0119] One embodiment of the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the steps of the obstacle recognition method applied to a mobile phone as described above when executing the computer program.

[0120] The device embodiments described above are merely illustrative, wherein the components described as separate parts may or may not be physically separated, and the parts displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present application. Ordinary technicians in this field can understand and implement it without creative work.

[0121] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0122] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including an instruction device, which implements the function selected in the process. Figure 1 A process or multiple processes and / or boxes Figure 1function selected in a box or multiple boxes.

[0123] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 steps for the function selected in a box or multiple boxes.

[0124] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0125] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0126] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0127] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0128] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. An obstacle recognition method applied to a mobile phone, characterized in that: Applied to a mobile phone device, the mobile phone device is provided with a light sensor and a rear camera, and the method includes: Acquire road images through the rear camera; Acquire the light value of the environment where the mobile device is located through the light sensor; Comparing the light value with a preset light threshold, and if the light value is greater than the light threshold, performing obstacle recognition on the road surface image; When an obstacle is identified from the road surface image, generating an obstacle warning instruction; In response to the obstacle warning instruction, generating an obstacle warning pop-up window and displaying it on the display interface of the mobile device; The mobile device is also equipped with a rear-mounted laser radar; After the step of comparing the light value with a preset light threshold, the method further includes: If the light value is less than or equal to the light threshold, driving the rear laser radar to detect obstacles on the road surface; If the rear laser radar detects an obstacle on the road, generating the obstacle warning instruction; The rear laser radar includes a first laser radar component, a second laser radar component, and a third laser radar component arranged from top to bottom; the laser irradiation angles of the first laser radar component, the second laser radar component, and the third laser radar component relative to the housing of the mobile phone device are the same; If the light value is less than or equal to the light threshold, the step of driving the rear laser radar to detect obstacles on the road surface includes: Obtaining a first distance value, a second distance value, and a third distance value detected by the first laser radar component, the second laser radar component, and the third laser radar component, respectively; Determining whether there is an obstacle on the road surface according to the first distance value, the second distance value, and the third distance value, as well as preset distance values ​​and obstacle judgment rules, includes: Obtaining a first distance ratio between the first distance value and the second distance value; Obtaining a second distance ratio between the second distance value and the third distance value; A proportional difference between the first distance ratio and the second distance ratio is obtained, and if an absolute value of the proportional difference is greater than a preset proportional difference threshold, it is determined that there is an obstacle on the road surface.

2. The obstacle recognition method for a mobile phone according to claim 1, characterized in that: The step of determining whether there is an obstacle on the road surface based on the first distance value, the second distance value, and the third distance value, as well as preset distance values ​​and obstacle judgment rules, includes: constructing a first virtual triangle according to the first laser, the second laser, and the angle between the first laser and the second laser; Calculating a first target angle relative to the first laser in the first virtual triangle based on the first distance value, the second distance value, and the angle between the first laser and the second laser; constructing a second virtual triangle according to the second laser, the third laser, and the angle between the second laser and the third laser; Calculating a second target angle relative to the third laser in the second virtual triangle based on the second distance value, the third distance value, and the angle between the second laser and the third laser; Obtain a sum of the first target angle and the second target angle, compare the sum with a preset angle threshold range, and if the sum is not within the angle threshold range, determine that there is an obstacle on the road.

3. An obstacle recognition device applied to a mobile phone, characterized in that: Applied to a mobile phone device, the mobile phone device is equipped with a light sensor and a rear camera, including: An image acquisition module, which acquires road images through the rear camera; A light value acquisition module, which acquires the light value of the environment where the mobile device is located through the light sensor; an obstacle recognition module, configured to compare the light value with a preset light threshold, and if the light value is greater than the light threshold, perform obstacle recognition on the road surface image; a first warning instruction generating module, configured to generate an obstacle warning instruction when an obstacle is identified from the road surface image; a warning pop-up window display module, which generates an obstacle warning pop-up window in response to the obstacle warning instruction and displays it on the display interface of the mobile device; The mobile device is also equipped with a rear-mounted laser radar; The obstacle recognition module further includes: A laser radar driving module drives the rear laser radar to detect obstacles on the road if the light value is less than or equal to the light threshold; a second warning instruction generating module, which generates the obstacle warning instruction if the rear-mounted laser radar detects an obstacle on the road; The rear laser radar comprises a first laser radar component, a second laser radar component and a third laser radar component arranged from top to bottom; The laser radar driving module includes: a distance value acquisition module, configured to acquire a first distance value, a second distance value, and a third distance value detected by the first laser radar assembly, the second laser radar assembly, and the third laser radar assembly, respectively; An obstacle determination module, configured to determine whether there is an obstacle on the road surface based on the first distance value, the second distance value, and the third distance value, as well as preset distance values ​​and obstacle determination rules, includes: Obtaining a first distance ratio between the first distance value and the second distance value; Obtaining a second distance ratio between the second distance value and the third distance value; A proportional difference between the first distance ratio and the second distance ratio is obtained, and if an absolute value of the proportional difference is greater than a preset proportional difference threshold, it is determined that there is an obstacle on the road surface.

4. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the obstacle recognition method applied to a mobile phone as claimed in any one of claims 1 to 2 are implemented.

5. A computer device, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable by the processor, wherein when the processor executes the computer program, the steps of the obstacle recognition method applied to a mobile phone as claimed in any one of claims 1 to 2 are implemented.

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