Motion anti-collision early warning device

Abstract

The invention provides a motion anti-collision early warning device, and belongs to the technical field of motion assistance. Comprising a helmet body, an information acquisition system, a vibration feedback ring, an information feedback system and a power supply, the information acquisition system comprises a millimeter wave radar, a visual sensor and a gyroscope sensor, monitors the position and speed information of a person in a visual blind area of a user in real time, and transmits the information to the data processing system; the data processing system is integrated with a microprocessor and is used for processing the data of the information acquisition system, analyzing the surrounding environment of the sporter and generating an early warning signal; the information feedback system is provided with a plurality of vibration points, covers a blind area view angle behind and provides real-time vibration feedback; the power supply is a rechargeable and replaceable battery; the method is suitable for various sports items, early warning is provided for a sporter by monitoring the side rear blind area in real time, and the risk of collision in sports is remarkably reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of motion assistance, and in particular, relates to a motion anti-collision warning device. Background Art

[0002] With the popularity of outdoor sports and the improvement of safety awareness among sports enthusiasts, the demand for sports safety auxiliary devices is growing. Especially in high-speed sports such as skiing and cycling, due to the fast speed, limited vision and large differences in the technical levels of participants, athletes face higher safety risks while enjoying the fun of sports.

[0003] For example, in skiing, due to the high speed and the high upper and lower speed limits, skiers often find it difficult to detect the movements of skiers in the blind spot behind them when skiing at high speed. In addition, there are significant differences in the level of skiers, and the relative speed is large, which increases the danger of collision. At present, there is a lack of effective skiing blind spot detection and alarm equipment on the market, and there is a need for a safety auxiliary device that can obtain the sliding information of the skier behind in real time and provide timely feedback to the skier.

[0004] Similarly, cycling, especially road racing, also faces safety issues in high-speed sports. When cyclists ride at high speeds, the existence of blind spots makes it difficult for them to detect vehicles coming from behind or to the side in time, increasing the risk of collision. In addition, the dynamic characteristics of cycling require that auxiliary equipment must be lightweight, not affect sports performance, and provide real-time and accurate safety warnings.

[0005] However, existing sports assistance devices mostly rely on visual recognition systems or simple sensors. These devices may have problems such as high computing resource requirements, high power consumption, and high cost. Feedback systems such as screens and AR glasses have problems such as blocking the line of sight and high cost, and are not suitable for strenuous exercise and harsh environmental conditions. Summary of the invention

[0006] In view of the shortcomings of the prior art, the present invention proposes a sports anti-collision warning device and an efficient information feedback solution, which is combined with millimeter-wave radar technology or computer vision technology and applied to the sports field. It can detect the position and approach speed of other athletes around, and provide feedback to the athletes in the form of multi-point vibration, thereby realizing real-time monitoring and warning of the environment around the athletes.

[0007] The present invention is achieved through the following technical solutions:

[0008] A motion anti-collision warning device:

[0009] The early warning device includes a helmet body, an information collection system, a data processing system, a vibration feedback loop and a power supply system;

[0010] The helmet body and the information collection system are connected via an adjustable base;

[0011] The information collection system includes a millimeter wave radar, a visual sensor and a gyroscope sensor, which monitors the position and speed information of people in the user's blind spot in real time and transmits the information to the data processing system; the detection direction of the information collection system can be rotated and adjusted;

[0012] The data processing system integrates a microprocessor for processing data from the information collection system, analyzing the environment surrounding the athlete, and generating an early warning signal;

[0013] The vibration feedback ring has multiple vibration points and is a soft ring structure, which can be fixed inside the helmet, covers the blind area of ​​the field of vision, and provides real-time vibration feedback;

[0014] The power supply system is a rechargeable and replaceable battery, which is connected to the helmet through a wiring terminal and supplies power.

[0015] Furthermore, the vibration area of ​​the early warning feedback device is adjustable. Due to the limitation of the sensor detection angle, no vibration point is set in some directions.

[0016] Furthermore, the vibration points of the vibration feedback loop use a binning method to set multiple groups of vibration points at equal intervals in the blind area of ​​the field of view; due to the limitation of the sensor detection angle, the vibration points are divided into actual vibration points and predicted vibration points;

[0017] The actual vibration point is a position interval that can be actually captured by the visual sensor of the information acquisition system, that is, a vibration point within the actual detection interval;

[0018] The predicted vibration point is outside the viewing angle, that is, the vibration point in the prediction interval is calculated. According to the position information at the last moment and the measurement of the head movement by the gyroscope sensor, the position and distance information of the target object at the next moment are obtained by fusion prediction.

[0019] Furthermore, since the detection angle of the information acquisition system is limited, the angle interval adopts a fusion prediction method: the input data of the information acquisition system includes visual sensor data and gyroscope sensor data: the visual sensor data is the azimuth angle of the current target and the distance of the current target; the gyroscope sensor data is the yaw angular velocity; this is used to judge the state of the target before it leaves the field of view.

[0020] Beneficial effects of the present invention

[0021] The present invention is applicable to a variety of sports events and provides early warnings for athletes by real-time monitoring of the side and rear blind spots, thereby significantly reducing the risk of collision during sports.

[0022] The vibration feedback mechanism of the present invention enables the athlete to quickly perceive approaching threats and thus react more quickly to avoid potential dangers.

[0023] The present invention reduces the reliance on sight through vibration, and compared with the existing visual feedback devices, the present invention does not affect the visual field.

[0024] The present invention is a headband and therefore can be adapted to a variety of helmets / hats while allowing the user to adjust settings such as vibration intensity, warning mode, etc. according to personal preferences and sport type. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is an overall schematic diagram of the head helmet of the present invention;

[0026] Figure 2 It is a schematic diagram of the overall top view of the head helmet of the present invention;

[0027] Figure 3 This is an example diagram of the anti-collision feedback warning device and its vibration point classification of the present invention;

[0028] Figure 4 It is the overall structure, use and wiring diagram of the present invention;

[0029] Figure 5 It is a schematic diagram of the overall system constituent units of the present invention;

[0030] Figure 6 It is the overall operation logic block diagram of the present invention;

[0031] Figure 7 This is a schematic diagram of the operating site of the present invention.

[0032] Explanation of the accompanying drawings: 1. Helmet body; 2. Information collection system; 3. Vibration feedback loop; 4. Adjustable base; 5. Predicted vibration point; 6. Actual vibration point; 7. Power supply system; 8. Wiring terminal; 9. Actual detection interval, 10. Calculated prediction interval. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] The experimental methods used in the following examples are conventional methods unless otherwise specified. The materials, reagents, methods and instruments used are conventional materials, reagents, methods and instruments in the art unless otherwise specified, and can be obtained through commercial channels by those skilled in the art.

[0035] A motion anti-collision warning device:

[0036] The early warning device includes a helmet body 1, an information collection system 2, a data processing system, a vibration feedback loop 3 and a power supply system 7;

[0037] The helmet body 1 and the information collection system 2 are connected via an adjustable base 4;

[0038] The adjustable base 4 can adjust the position and angle of the information collection system 2 within a certain range;

[0039] The information collection system includes multiple sensors such as millimeter wave radar, visual sensor and gyroscope, which monitors the position and speed information of approaching objects such as people and vehicles in the user's blind spot in real time and transmits the information to the data processing system;

[0040] Since the detection angle of the information collection system 2 is limited, considering the computing resources, overall power consumption and cost constraints, the fusion prediction method is used for some angle intervals:

[0041] The input data of the information acquisition system 2 includes visual sensor data and gyroscope sensor data: the detection direction of the information acquisition system 2 on the helmet can be rotated and adjusted according to the user's usage habits during installation;

[0042] The visual sensor data is the azimuth angle θ0 of the current target and the distance d0 of the current target;

[0043] The gyro sensor data is the head yaw angular velocity ω;

[0044] This is used to determine the state of the target before it leaves the field of view:

[0045] The speed of the target's angle change before it leaves the field of view:

[0046] The speed at which the target's distance changes just before it leaves the field of view:

[0047] The data processing system integrates a microprocessor for processing data from the information collection system 2, analyzing the environment around the athlete, and weighting various factors to derive the danger level of different targets, generating an early warning signal based on the position and distance information of several people / objects with high danger levels to transmit to the vibration feedback loop 3.

[0048] The data processing system makes predictions based on the input from the information collection system 2:

[0049] First initialize the variables:

[0050] Set the time step: Δt; (for example, 10 milliseconds, or 0.01 seconds)

[0051] Initialize the current azimuth of the target: θ0;

[0052] Initialize the current distance of the target: d0;

[0053] Record the angle change speed of the target before it leaves the field of view:

[0054] Record the distance change speed of the target before it leaves the field of view:

[0055] Then get the information collection system data:

[0056] Obtain the target azimuth angle θ and distance d at the current moment from the visual sensor;

[0057] Get the angular velocity ω of the head from the gyro sensor;

[0058] Loop and predict future positions:

[0059] Initialize prediction time total_time = 0

[0060] Loop prediction with total_time < 1 second:

[0061]

[0062] Update total forecast time:

[0063] total_time=total_time+Δt

[0064] Determine whether it is within the viewing angle:

[0065] like

[0066] 0≤θ pred ≤view_angle

[0067] is the actual vibration point;

[0068] like

[0069] θ pred >view_angle

[0070] It is the predicted vibration point.

[0071] The vibration feedback ring 3 has multiple vibration points, covering the rear blind spot viewing angle and providing real-time vibration feedback; Figure 3 As shown, the vibration point is covered in the 180° blind area;

[0072] The forehead area of ​​the warning device is an anti-slip area and no vibration point is set;

[0073] At the same time, the forehead area is specially designed with an anti-slip function and uses anti-slip texture / material to increase the friction between the skin and effectively prevent the headband from slipping or falling off due to sweating or rapid turning during exercise; and through the anti-slip texture design, the user can directly distinguish the vibration area of ​​the headband.

[0074] Taking into account the blind spots of athletes during high-speed sports, the headband provides comprehensive safety warnings based on ergonomics, especially for athletes with blind vision. In contrast, since athletes can directly observe the visual field in front of the forehead, there is no warning vibration point to avoid unnecessary interference and false alarms.

[0075] Use the binning method. Specifically, the area without anti-slip design is divided into several equal-width angle intervals, each angle interval corresponds to a vibration site, and then the target is classified into the corresponding interval according to its azimuth. That is, several groups of vibration points are set at equal intervals in the blind area of ​​vision. The vibration motors of the vibration feedback system are distributed in the blind area of ​​vision and are contained in the lining with a buffer structure.

[0076] Due to the viewing angle limitation of the information collection system 2, these vibration points are divided into actual vibration points 5 and predicted vibration points 6; Figure 7 As shown;

[0077] Actual vibration point 6: the vibration point within the position interval (actual detection interval 9) that can be actually captured by the visual sensor;

[0078] Predicted vibration point 5: The vibration point outside the viewing angle (calculated prediction interval 10) is based on the position information at the last moment and the gyroscope sensor's measurement of head movement to predict the position and distance information of the target object in the next short period of time.

[0079] In order to improve the user's information perception ability, a fuzzy classification algorithm is added to the angle classification method, that is, a feathering effect is added at the boundary between two angle intervals to adjust the actual vibration point and the predicted vibration point.

[0080] First, perform angle classification and determine the parameters:

[0081] Angle range: 0≤θ<270

[0082] Angle group number: N

[0083] Width of each group:

[0084] Then calculate the membership degree (fuzzy classification)

[0085] Given an azimuth angle θ:

[0086] Calculate the group number of the current angle:

[0087] Calculate the membership in the i-th group and the i+1-th group:

[0088] For group i:

[0089]

[0090] For the i+1th group:

[0091]

[0092] Total membership vector:

[0093] u(θ)=[u0(θ),u1(θ),...,u N-1 (θ)]

[0094] A collision prevention warning helmet is fixed with the above-mentioned vibration feedback loop 3. When fixed inside, the external sensors of the information collection system 2, such as millimeter wave radar and camera, need to be fixed on the outside of the helmet to capture the surrounding environment information. The helmet body 1 and the information collection system 2 are connected through a detachable or rotatable adjustable base 4 to meet the needs of different users and different sports. The internal sensor module of the information collection system 2 (such as sensors such as gyroscopes) can be integrated inside the helmet to monitor head movement and angle changes.

[0095] A battery (compartment) 7 may also be designed to facilitate the placement of charging equipment or replaceable battery packs; it is connected to the helmet body 1 through a wiring terminal 8, and at the same time, the leads from the battery 7 to the sensor and vibration feedback system should be hidden inside the helmet, and arranged through internal channels or helmet gaps to avoid exposure to the outside.

[0096] LED lights are set on the edge of the device to show the operating status of the device. A control panel is set on the inside of the helmet, or it can be connected to a mobile phone via Bluetooth to control the switch, vibration intensity, etc.

[0097] This design ensures that the headband's warning system focuses on areas that are difficult for athletes to directly observe, thereby maximizing the practicality and accuracy of the warning. Through precise sensor monitoring and advanced algorithm processing, the headband can capture dynamic changes in the blind spot in real time, and send timely warnings to athletes through corresponding vibration feedback points, helping them to respond quickly and avoid potential dangers.

[0098] In actual applications, the vibration feedback system of the headband will intelligently adjust the intensity and position of the vibration according to the position and speed information of the person or object behind it. For example, when another athlete approaches from the left, the vibration point on the left side of the headband will start to vibrate, and the vibration intensity will increase as the approach increases. At the same time, if the athlete turns his head to the right, the vibration intensity of the vibration point on the left side will be weakened accordingly to ensure that the athlete can always clearly perceive the source and changes of the threat.

[0099] The above is a detailed introduction to a motion anti-collision warning device proposed in the present invention, and the principles and implementation methods of the present invention are explained. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A motion anti-collision warning device, characterized in that: The early warning device comprises a helmet body (1), an information collection system (2), a data processing system, a vibration feedback loop (3) and a power supply system (7); The helmet body (1) and the information collection system (2) are connected via an adjustable base (4); The information collection system (2) comprises a millimeter wave radar, a visual sensor and a gyroscope sensor, which monitors the position and speed information of people in the blind spot of the user's field of vision in real time and transmits the information to the data processing system; the detection direction of the information collection system (2) can be rotated and adjusted by an adjustable base (4); The data processing system integrates a microprocessor for processing data from the information collection system (2), analyzing the environment surrounding the athlete, and generating an early warning signal; The vibration feedback ring (3) has multiple vibration points, covers the blind area of ​​the visual field, and provides real-time vibration feedback; The power supply system (7) is a rechargeable and replaceable battery, which is connected to the helmet via a wiring terminal (8) and supplies power.

2. The early warning device according to claim 1, characterized in that: The forehead area of ​​the early warning device is an anti-slip area and no vibration point is set.

3. The early warning device according to claim 2, characterized in that: The vibration feedback loop (3) uses a binning method to set multiple groups of vibration points at equal intervals in the blind area of ​​the visual field; Divide the vibration points into predicted vibration points (5) and actual vibration points (6); The actual vibration point (6) is a position interval that can be actually captured by the visual sensor of the information acquisition system (2), that is, a vibration point within the actual detection interval (9); The predicted vibration point (5) is a vibration point outside the viewing angle, that is, a vibration point in the calculated prediction interval (10). Based on the position information at the last moment and the measurement of the head movement by the gyroscope sensor, the position and distance information of the target object at the next moment are obtained by fusion prediction.

4. The early warning device according to claim 3, characterized in that: Since the detection angle of the information collection system (2) is limited, the angle interval adopts the fusion prediction method: The input data of the information acquisition system (2) includes visual sensor data and gyroscope sensor data: The visual sensor data is the azimuth angle θ0 of the current target and the distance d0 of the current target; The gyro sensor data is the yaw angular velocity ω; This is used to determine the state of the target before it leaves the field of view: The speed of the angle change before the target leaves the field of view: The speed at which the target's distance changes just before it leaves the field of view:

5. The early warning device according to claim 4, characterized in that: The data processing system makes predictions based on the input of the information acquisition system (2): first, the variables are initialized: Set the time step: Δt; Initialize the current azimuth of the target: θ0; Initialize the current distance of the target: d0; Record the angle change speed of the target before it leaves the field of view: Record the distance change speed of the target before it leaves the field of view: Then obtain the data from the information collection system (2): Obtain the target azimuth angle θ and distance d at the current moment from the visual sensor; Get the angular velocity ω of the head from the gyro sensor; Loop and predict future positions: Initialize prediction time total_time = 0 Loop prediction with total_time < 1 second: Update total forecast time: total_time=total_time+Δt Determine whether it is within the viewing angle: like 0≤θ pred ≤view_angle is the actual vibration point; like i pred >view_angle It is the predicted vibration point.

6. The early warning device according to claim 5, characterized in that: The vibration feedback loop (3) adds a feathering effect at the boundary of two angle intervals through a fuzzy classification algorithm to adjust the actual vibration point (6) and the predicted vibration point (5); First determine the parameters: Angle range: 0≤θ<θ' Angle group number: N Width of each group: Then calculate the membership, that is, fuzzy classification: Given an azimuth angle θ: Calculate the group number of the current angle: Calculate the membership in the i-th group and the i+1-th group: For group i: For the i+1th group: Total membership vector: u(θ)=[u0(θ),u1(θ),...,u N-1 (θ)].

7. A sports anti-collision warning helmet, characterized in that: The inner side of the helmet is loaded with the sports anti-collision warning device as claimed in claim 1.

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