Intelligent camera system for bicycle

Abstract

The invention discloses an intelligent camera system for a bicycle, and belongs to the technical field of image data processing, and the system comprises a riding vehicle data obtaining module which is used for obtaining the related data information of a preset bicycle in the riding process in real time, and the related data information comprises the riding speed and riding positioning information of the preset bicycle; the environment image acquisition unit is used for acquiring image information of objects around the preset bicycle according to the riding positioning information; the environment image acquisition unit comprises a main calculation module, an auxiliary calculation module and a judgment module, and the main calculation module is used for calculating the distance between the preset bicycle and the surrounding object based on the riding positioning information. Through intelligent environment perception, dynamic risk assessment and precise early warning functions, early warning can be performed in advance before a potential collision risk occurs, the occurrence probability of a riding accident is effectively reduced, the safety of bicycle riding and user experience are improved, meanwhile, data support is provided for riding safety, and early warning logic is optimized.

Description

Technical Field

[0001] The invention relates to the technical field of image data processing, in particular to an intelligent camera system used on a bicycle. Background Art

[0002] In recent years, with the popularity of cycling and people's increasing demand for cycling safety and recording of cycling processes, the cycling market has experienced significant growth and has been widely welcomed as a sustainable and healthy way of travel. And with the popularization of cycling culture and the advancement of technology, the cycling market will continue to expand.

[0003] On the streets and park greenways of cities across the country, cycling has become a form of exercise suitable for all ages, and traffic safety during cycling cannot be ignored.

[0004] However, traditional bicycles have relatively simple functions and are unable to perceive the surrounding environment during riding, especially when riding at night. Bicycles lack effective object detection functions and find it difficult to detect approaching vehicles or pedestrians. Safety warnings cannot be issued during fast riding of bicycles. As a result, when dangerous situations occur, riders are often unable to respond in time, which makes it easy for them to collide with vehicles, pedestrians or other external objects, causing injuries to the riders. This cannot effectively improve riding safety and user experience. Summary of the invention

[0005] In view of the above problems existing in the technical field of existing image data processing, the present invention is proposed.

[0006] Therefore, one of the objects of the present invention is to provide an intelligent camera system for bicycles, which improves the safety and user experience of bicycle riding through intelligent environmental perception, dynamic risk assessment and accurate warning functions, while providing data support for riding safety and optimizing the warning logic.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: The present invention provides an intelligent camera system for a bicycle, comprising: An intelligent camera system for a bicycle, comprising: A riding vehicle data acquisition module is used to acquire relevant data information of a preset bicycle during riding in real time, wherein the relevant data information includes riding speed and riding location information of the preset bicycle; An environmental image acquisition unit, used to acquire image information of objects around the preset bicycle according to the riding positioning information; the environmental image acquisition unit includes a main calculation module, a secondary calculation module and a determination module; The main calculation module is used to calculate the distance between the preset bicycle and surrounding objects based on the riding positioning information, and the surrounding objects are objects within 20 meters from the preset bicycle; The auxiliary calculation module responds to the main calculation module and is used to calculate the distance change between the preset bicycle and the surrounding objects according to the calculation result of the main calculation module; The determination module is used to determine and issue an early warning on the riding safety of the preset bicycle according to the distance change, and the method includes presetting a safety threshold based on the distance between the surrounding objects and the preset bicycle being less than 10 meters. When the distance change is lower than the safety threshold, the system determines that the riding safety of the preset bicycle is in a dangerous state and issues an early warning; otherwise, no determination is made; An image division module, the image division module responds to the environment image acquisition unit and is used to divide the acquired object image information into , , ..., ,in, Indicates 1. The image information of each object is obtained, and the distance variation characteristics between each object and the preset bicycle are analyzed during the riding process of the preset bicycle; A fusion processing unit, the fusion processing unit responds to the distance change characteristics and is used to distinguish the safety risks posed by each object to the preset bicycle according to the distance change characteristics, and its distinguishing processing method includes distinguishing the safety risks posed by each object to the preset bicycle according to the size of the safety risk.

[0008] As a preferred solution of the present invention, wherein: the fusion processing unit includes a visual angle calculation module and a collision warning module; The visual angle calculation module is used to calculate the angle formed by the object and the preset bicycle based on the image information of the object obtained on the left and right sides in front of the preset bicycle, and calculate the change in the size of the angle; The collision warning module responds to the change in the size of the angle. When the size of the angle shows a decreasing trend, the system determines that there is a collision risk between the preset bicycle and the object; otherwise, no determination is made.

[0009] As a preferred solution of the present invention, it further includes a data warning unit, which includes a warning recording module and a risk perception module; the warning recording module is used to record the warnings issued by the preset bicycle at any location during the past riding times, and when the preset bicycle is ridden to the corresponding location in the future period, the system issues a riding warning; The risk perception module responds to the riding warning issued by the early warning recording module, and is used to perceive the risk when the preset bicycle is ridden to the corresponding location in the future period. The risk perception method includes collecting objects at the corresponding location whose distance from the preset bicycle is less than the safety threshold. When the object is not collected, the riding warning is cancelled; otherwise, it is not cancelled.

[0010] As a preferred solution of the present invention, in the fusion processing unit, the security risk size of the visual formation is differentiated, including being differentiated into high security risk and low security risk, and the visual angle calculation module performs calculation based on the object corresponding to the high security risk, and the calculation formula is as follows: ;in, Indicates The first acquired information about the distance between the preset bicycle and the object Angle data; In the formula, Indicates that The straight-line distance between the preset bicycle and the object corresponding to the angle data, Indicates The first obtained information about the preset bicycle Cycling speed, Indicates the change of the riding track of the preset bicycle.

[0011] As a preferred solution of the present invention, the warning recording module further includes recording the riding speed of the preset bicycle when the warning is issued at any location during the past riding times, and marking the riding speed as the reference speed; In the risk perception module, the risk perception method also includes collecting the riding speed of the preset bicycle at 80 to 100 meters away from the corresponding location according to the reference speed, analyzing the changing trend of the riding speed, and when the changing trend changes towards being higher than the reference speed, the riding warning is not cancelled; otherwise, it is cancelled.

[0012] As a preferred solution of the present invention, when the changing trend changes toward being lower than the reference speed, the riding trajectory change of the preset bicycle is collected, objects within 20 meters behind the preset bicycle are obtained according to the riding trajectory change, and the distance between the object and the preset bicycle is calculated; when the riding trajectory of the preset bicycle changes, if the distance between the object and the preset bicycle shows a decreasing trend, the system determines that there is a risk of collision between the preset bicycle and the object, and no warning is issued; otherwise, no determination is made.

[0013] As a preferred solution of the present invention, when it is determined that the preset bicycle has a collision risk with the object, the change range of the riding trajectory of the preset bicycle is calculated, and the calculation method includes taking the riding positioning information of the preset bicycle before the riding trajectory changes as the basis, calculating every 0.5 to 1 second until the riding trajectory of the preset bicycle stops changing, so as to obtain the distance difference between the final riding positioning information of the preset bicycle and the riding positioning information before the change, and the calculation formula is as follows: ;in, represents the distance difference; In the formula, Indicates The first collected information about the preset bicycle when the riding trajectory changes Cycling speed, Indicates the change range of the riding trajectory, Indicates the calculation time of the change amplitude during the change of the riding trajectory, Indicates the distance between the object and the preset bicycle when the riding trajectory stops changing; When the riding trajectory stops changing, if the distance value shows an increasing trend, the system cancels the preset collision risk warning between the bicycle and the object; otherwise, it does not cancel it.

[0014] As a preferred solution of the present invention, if the collision risk warning is not lifted, the riding trajectory change points are obtained based on the calculation period, and the riding trajectory change points are divided into , , ..., ,in, Indicates change points, analyze the distance changes of the adjacent change points, and mark the change point with the smallest distance change as , and based on the Collect objects within 20 meters of the preset bicycle. If no corresponding objects are collected, the collision risk warning will be cancelled.

[0015] As a preferred solution of the present invention, when the collision risk warning is released, based on the Collect the riding speed change of the preset bicycle, generate a data set about the riding speed change, and in the data set, The first riding speed collected at is marked as the first speed. At the same time, in the data set, at least a riding speed corresponding to one minute of collection time is obtained, and the riding speed is compared with the first speed. If the riding speed shows an increasing trend within the collection time, the system determines that the preset bicycle will continue to ride along the current riding trajectory; otherwise, it is determined that the preset bicycle will change the current riding trajectory.

[0016] As a preferred solution of the present invention, when it is determined that the preset bicycle will change the current riding track, objects within 20 meters from the preset bicycle are collected on the side where the riding track changes, and an image of an end face of the object closest to the preset bicycle is obtained, and the change in the distance between the object and the preset bicycle is analyzed based on the end face image; if the end face image cannot be collected in real time during the change of the riding track of the preset bicycle, the system determines that the object moves in the opposite direction of the change of the riding track of the preset bicycle. In this case, it is determined that there is no collision risk between the preset bicycle and the object; otherwise, it is determined that there is a collision risk between the two, and an early warning is issued; When it is determined that there is a risk of collision between the preset bicycle and the object, at least three other end face images that are parallel to the end face image are collected based on the end face image, and the time taken to collect the first end face image among the three end face images is calculated, and the time taken to collect the remaining two end face images is calculated based on the time taken; if the time taken to collect the latter end face image is faster than the time taken to collect the previous end face image, the system determines that the object changes its driving trajectory at a riding speed faster than the preset bicycle. In this case, the collision risk warning is cancelled, otherwise it is not cancelled.

[0017] Beneficial effects: 1. The present invention monitors the distance and distance change between the bicycle and surrounding objects in real time. The system can give early warning before the potential collision risk occurs, effectively reducing the probability of cycling accidents. Combined with the visual angle calculation and collision warning module, the system can accurately judge the collision risk and further improve cycling safety. 2. The warning recording module and risk perception module can record historical warning information and issue early warnings for high-risk areas during subsequent riding, thus enhancing riders’ safety awareness; 3. The present invention can dynamically adjust the warning strategy according to real-time data. For example, according to the riding speed, trajectory changes and the dynamic behavior of surrounding objects, it can flexibly judge the collision risk and decide whether to cancel the warning. At the same time, by analyzing the changes in riding speed and trajectory, the system can predict the rider's behavioral intentions and further optimize the warning logic. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them: Figure 1 A schematic diagram of a modular structure of a system according to an embodiment of the present invention; Figure 2 A schematic diagram of the system flow structure of an embodiment of the present invention; Numbers in the figure: 110 - riding vehicle data acquisition module; 120 - environmental image acquisition unit; 1201 - main calculation module; 1202 - secondary calculation module; 1203 - determination module; 130 - image segmentation module; 140 - fusion processing unit; 1401 - visual angle calculation module; 1402 - collision warning module; 150 - data warning unit; 1501 - warning recording module; 1502 - risk perception module. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0020] Because traditional bicycles have relatively limited functions, they are unable to perceive the surrounding environment during riding, especially when riding at night. Bicycles lack effective object detection functions and find it difficult to detect approaching vehicles or pedestrians. Safety warnings cannot be issued during fast riding. As a result, when dangerous situations occur, riders are often unable to respond in time, which can easily lead to collisions with vehicles, pedestrians or other external objects, causing injuries to riders. This cannot effectively improve riding safety and user experience.

[0021] Based on this, the present invention proposes an intelligent camera system for bicycles, which improves the safety and user experience of bicycle riding through intelligent environmental perception, dynamic risk assessment and accurate warning functions, while providing data support for riding safety and optimizing the warning logic.

[0022] The present invention is further described in detail below through embodiments and in conjunction with the accompanying drawings.

[0023] Reference Figure 1 to Figure 2 , is an embodiment of the present invention, which provides an intelligent camera system for a bicycle, comprising: The riding vehicle data acquisition module 110 is used to obtain relevant data information of the preset bicycle during riding in real time, and the relevant data information includes riding speed and riding positioning information of the preset bicycle; the riding vehicle data acquisition module 110 includes a GPS navigation locator; The environment image acquisition unit 120 is used to obtain the image information of the objects around the preset bicycle according to the riding positioning information; the environment image acquisition unit 120 includes a main calculation module 1201, a sub-calculation module 1202 and a determination module 1203; the environment image acquisition unit includes two motion cameras; It should be noted that the motion camera uses a high-resolution, wide-angle lens camera, which can clearly capture information such as pedestrians and other vehicles in front of the rider; and in a feasible solution, one of the motion cameras can be installed on the front or handlebar position of the preset bicycle, and the other motion camera can be installed at the lower end of the seat; the motion camera installed on the handlebar is responsible for collecting objects in front of the preset bicycle, and the motion camera installed at the lower end of the seat is responsible for collecting objects behind the preset bicycle; and the motion camera is built with a motion sensor, which includes an acceleration sensor and a gyroscope, for detecting the motion state of the preset bicycle, including speed, acceleration, turning angle and other information, to provide data support for subsequent intelligent analysis; It should also be emphasized that the object in front of the bicycle can be a fixed and / or moving object, while the object behind the bicycle is only a moving object; In another possible solution, action cameras can provide real-time video streaming capabilities, allowing riders to check what is happening ahead, especially when riding in a group or at night; The main calculation module 1201 is used to calculate the distance between the preset bicycle and surrounding objects based on the riding positioning information, and the surrounding objects are objects within 20 meters from the preset bicycle; The secondary calculation module 1202 responds to the primary calculation module 1201 and is used to calculate the distance change between the preset bicycle and the surrounding objects according to the calculation result of the primary calculation module 1201; The determination module 1203 is used to determine and issue an early warning on the riding safety of the preset bicycle according to the distance change, and the method includes presetting a safety threshold based on the distance between the surrounding objects and the preset bicycle being less than 10 meters. When the distance change is lower than the safety threshold, the system determines that the riding safety of the preset bicycle is in a dangerous state and issues an early warning; otherwise, no determination is made; It should be noted that in this embodiment, in a feasible solution, both motion cameras are equipped with speakers, and when an early warning is required, a whistle is sounded through the speakers to play the role of early warning and / or warning; The image division module 130 responds to the environment image acquisition unit and is used to divide the acquired object image information into , , ..., ,in, Indicates The image information of each object is obtained, and the distance variation characteristics between each object and the preset bicycle are analyzed during the riding process of the preset bicycle; The fusion processing unit 140 responds to the distance change characteristics and is used to distinguish the safety risks posed by each object to the preset bicycle according to the distance change characteristics. The distinguishing processing method includes distinguishing the safety risks posed by each object to the preset bicycle according to the size of the safety risks posed by each object to the preset bicycle. The fusion processing unit 140 includes a visual angle calculation module 1401 and a collision warning module 1402; The visual angle calculation module 1401 is used to calculate the angle between the object and the preset bicycle based on the image information of the object obtained on the left and right sides in front of the preset bicycle, and calculate the change in the size of the angle; The collision warning module 1402 responds to the change in the size of the included angle. When the size of the included angle shows a decreasing trend, the system determines that there is a collision risk between the preset bicycle and the object; otherwise, no determination is made; It should be noted that in this embodiment, the security risk formed is differentiated by size, including high security risk and low security risk, and the visual angle calculation module performs calculation based on the object corresponding to the high security risk, and the calculation formula is as follows: ;in, Indicates The first obtained information about the distance between the preset bicycle and the object Angle data; In the formula, Indicates The straight-line distance between the preset bicycle and the object corresponding to the angle data is Indicates The first obtained information about the preset bicycle Cycling speed, Indicates the change of the riding trajectory of the preset bicycle; The data warning unit 150 includes a warning recording module 1501 and a risk perception module 1502; the warning recording module is used to record the warnings issued by the preset bicycle at any location during the past riding times, and when the preset bicycle rides to the corresponding location in the future time period, the system issues a riding warning; It should be noted that this embodiment further includes recording the riding speed of the preset bicycle when the warning is issued at any location during the past riding times, and marking the riding speed as the reference speed; The risk perception module responds to the riding warning issued by the early warning recording module, and is used to preset the risk perception when the bicycle is ridden to the corresponding location in the future period. The risk perception method includes collecting objects at the corresponding location whose distance from the preset bicycle is less than the safety threshold. If no object is collected, the riding warning is lifted; otherwise, it is not lifted; It should be noted that the risk perception method of this embodiment also includes collecting the preset bicycle riding speed at a distance of 80 to 100 meters from the corresponding location according to the reference speed, analyzing the changing trend of the riding speed, and when the changing trend changes toward a speed higher than the reference speed, the riding warning is not released; otherwise, it is released; On the basis of the above, when the change trend changes towards being lower than the reference speed, the riding trajectory change of the preset bicycle is collected, and objects within 20 meters behind the preset bicycle are obtained according to the riding trajectory change, and the distance between the object and the preset bicycle is calculated; when the riding trajectory of the preset bicycle changes, if the distance between the object and the preset bicycle shows a decreasing trend, the system determines that there is a risk of collision between the preset bicycle and the object, and does not issue a warning; otherwise, no determination is made; It should be noted that in the present embodiment, in reality, when a bicycle is riding at high speed, if the bicycle changes its riding trajectory, it will often brake and slow down in advance, and then turn to achieve the riding trajectory change. When braking and slowing down and then turning to change the trajectory, the distance between the bicycle and the object behind will be reduced. In this case, there is a risk of collision between the bicycle and the object behind. Therefore, the present embodiment determines that there is a risk of collision between the preset bicycle and the object when the distance between the object and the preset bicycle shows a trend of decreasing, which has practical significance. Further, in this embodiment, when it is determined that there is a risk of collision between the preset bicycle and the object, the change range of the riding trajectory of the preset bicycle is calculated. The calculation method includes taking the riding positioning information of the preset bicycle before the riding trajectory changes as the basis, calculating every 0.5 to 1 second until the riding trajectory of the preset bicycle stops changing, so as to obtain the distance difference between the final riding positioning information of the preset bicycle and the riding positioning information before the change. The calculation formula is as follows: ;in, Indicates distance difference; In the formula, Indicates The first collection of information about the preset bicycle when the riding trajectory changes Cycling speed, Indicates the change range of the riding trajectory. Indicates the calculation time of the change amplitude during the cycling trajectory change process, Indicates the distance between the object and the preset bicycle when the riding trajectory stops changing; When the riding trajectory stops changing, if the distance value shows an increasing trend, the system will cancel the preset bicycle-object collision risk warning; otherwise, it will not be cancelled; If the collision risk warning is not lifted, the cycling trajectory change points are obtained based on the calculation period and divided into , , ..., ,in, Indicates change points, analyze the changes in the spacing between adjacent change points, and mark the change point with the smallest spacing change as , and based on Collect objects within 20 meters of the preset bicycle. If no corresponding objects are collected, the collision risk warning will be cancelled; It should be noted that in this embodiment, the change point with the smallest distance change is not the last change point. When this change point is obtained in the process, objects within 20 meters of the preset bicycle are collected. This can know the risk in advance without waiting until the last change point to obtain the risk, thereby improving the efficiency of risk perception. On the basis of the above, this embodiment further, when the collision risk warning is lifted, based on Collect the riding speed changes of the preset bicycles, generate a data set about the riding speed changes, and in the data set, The first riding speed collected at the location is marked as the first speed. At the same time, in the data set, at least the riding speed corresponding to one minute of the collection time is obtained, and the riding speed is compared with the first speed. If the riding speed shows an increasing trend within the collection time, the system determines that the preset bicycle will continue to ride along the current riding trajectory; otherwise, it is determined that the preset bicycle will change the current riding trajectory; It should be noted that in this embodiment, if it is determined that the preset bicycle will continue to ride along the current riding track, the system believes that the preset bicycle will not reduce the riding speed in a short time. In this case, the system does not collect objects within 20 meters of the preset bicycle to reduce the power consumption of the motion camera; It should be emphasized in this embodiment that when it is determined that the preset bicycle will change the current riding track, objects within 20 meters of the preset bicycle are collected on the side where the riding track of the preset bicycle changes, and an image of an end face of the object closest to the preset bicycle is obtained, and the change in the distance between the object and the preset bicycle is analyzed based on the end face image; if the end face image cannot be collected in real time during the process of the preset bicycle riding track changing, the system determines that the object moves in the opposite direction of the preset bicycle riding track changing. In this case, it is determined that there is no collision risk between the preset bicycle and the object; otherwise, it is determined that there is a collision risk between the two, and an early warning is issued; Finally, when the present embodiment determines that there is a risk of collision between the preset bicycle and the object, at least three other end face images that are parallel to the end face image are collected based on the end face image. The time taken to collect the first end face image among the three end face images is calculated, and the time taken to collect the remaining two end face images is calculated based on the time taken. If the time taken to collect the latter end face image is faster than the time taken to collect the previous end face image, the system determines that the object changes its driving trajectory at a speed faster than the riding speed of the preset bicycle. In this case, the collision risk warning is cancelled, otherwise, it is not cancelled.

[0024] To sum up, the present invention can provide early warning before potential collision risks occur through intelligent environmental perception, dynamic risk assessment and precise warning functions, effectively reducing the probability of cycling accidents, improving the safety of bicycle riding and user experience, while providing data support for cycling safety and optimizing the warning logic.

[0025] It should be noted that the above embodiments are only used to illustrate the technical solutions 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 the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An intelligent camera system for a bicycle, characterized in that: include: A riding vehicle data acquisition module is used to acquire relevant data information of a preset bicycle during riding in real time, wherein the relevant data information includes riding speed and riding location information of the preset bicycle; An environmental image acquisition unit, used to acquire image information of objects around the preset bicycle according to the riding positioning information; The environmental image acquisition unit includes a main calculation module, a secondary calculation module and a determination module; The main calculation module is used to calculate the distance between the preset bicycle and surrounding objects based on the riding positioning information, and the surrounding objects are objects within 20 meters from the preset bicycle; The auxiliary calculation module responds to the main calculation module and is used to calculate the distance change between the preset bicycle and the surrounding objects according to the calculation result of the main calculation module; The determination module is used to determine and issue an early warning on the riding safety of the preset bicycle according to the distance change, and the method includes presetting a safety threshold based on the distance between the surrounding objects and the preset bicycle being less than 10 meters. When the distance change is lower than the safety threshold, the system determines that the riding safety of the preset bicycle is in a dangerous state and issues an early warning; Otherwise, no judgment will be made; An image division module, the image division module responds to the environment image acquisition unit and is used to divide the acquired object image information into , , ..., ,in, Indicates 1. The image information of each object is obtained, and the distance variation characteristics between each object and the preset bicycle are analyzed during the riding process of the preset bicycle; A fusion processing unit, the fusion processing unit responds to the distance change characteristics and is used to distinguish the safety risks posed by each object to the preset bicycle according to the distance change characteristics, and its distinguishing processing method includes distinguishing the safety risks posed by each object to the preset bicycle according to the size of the safety risk.

2. The intelligent camera system for a bicycle as claimed in claim 1, characterized in that: The fusion processing unit includes a visual angle calculation module and a collision warning module; The visual angle calculation module is used to calculate the angle formed by the object and the preset bicycle based on the image information of the object obtained on the left and right sides in front of the preset bicycle, and calculate the change in the size of the angle; The collision warning module responds to the change in the size of the angle, and when the size of the angle shows a decreasing trend, the system determines that there is a risk of collision between the preset bicycle and the object; Otherwise, no judgment is made.

3. The intelligent camera system for a bicycle as claimed in claim 1, characterized in that: It also includes a data warning unit, which includes a warning recording module and a risk perception module; the warning recording module is used to record the warnings issued by the preset bicycle at any location during the past riding times, and when the preset bicycle is ridden to the corresponding location in the future period, the system issues a riding warning; The risk perception module responds to the riding warning issued by the early warning recording module, and is used for risk perception when the preset bicycle rides to the corresponding location in the future period, and the risk perception method includes collecting objects at the corresponding location whose distance from the preset bicycle is less than the safety threshold, and when the object is not collected, the riding warning is released; Otherwise, it will not be released.

4. The intelligent camera system for a bicycle as claimed in claim 2, characterized in that: In the fusion processing unit, the visual objects are distinguished from each other in terms of the safety risk posed by the preset bicycle, including high safety risk and low safety risk, and the visual angle calculation module is calculated based on the object corresponding to the high safety risk, and the calculation formula is as follows: ;in, Indicates The first acquired information about the distance between the preset bicycle and the object Angle data; In the formula, Indicates that The straight-line distance between the preset bicycle and the object corresponding to the angle data, Indicates The first obtained information about the preset bicycle Cycling speed, Indicates the change of the riding track of the preset bicycle.

5. The intelligent camera system for a bicycle as claimed in claim 3, characterized in that: The warning recording module also includes recording the riding speed of the preset bicycle when issuing a warning at any location during the past riding times, and marking the riding speed as a reference speed; In the risk perception module, the risk perception method further includes collecting the riding speed of the preset bicycle at a distance of 80 to 100 meters from the corresponding location according to the reference speed, analyzing the changing trend of the riding speed, and when the changing trend changes toward being higher than the reference speed, the riding warning is not released; Otherwise, it will be released.

6. The intelligent camera system for a bicycle as claimed in claim 5, characterized in that: When the change trend changes toward being lower than the reference speed, collecting a riding track change of the preset bicycle, acquiring an object within 20 meters behind the preset bicycle according to the riding track change, and calculating a distance between the object and the preset bicycle; When the riding trajectory of the preset bicycle changes, if the distance between the object and the preset bicycle shows a decreasing trend, the system determines that there is a risk of collision between the preset bicycle and the object, and does not issue a warning; Otherwise, no judgment is made.

7. The intelligent camera system for a bicycle as claimed in claim 6, characterized in that: When it is determined that the preset bicycle has a collision risk with the object, the change range of the riding trajectory of the preset bicycle is calculated, and the calculation method includes taking the riding positioning information of the preset bicycle before the riding trajectory changes as the basis, calculating every 0.5 to 1 second until the riding trajectory of the preset bicycle stops changing, so as to obtain the distance difference between the final riding positioning information of the preset bicycle and the riding positioning information before the change, and the calculation formula is as follows: ;in, represents the distance difference; In the formula, Indicates The first collected information about the preset bicycle when the riding trajectory changes Cycling speed, Indicates the change range of the riding trajectory, Indicates the calculation time of the change amplitude during the change of the riding trajectory, Indicates the distance between the object and the preset bicycle when the riding trajectory stops changing; When the riding trajectory stops changing, if the distance value shows an increasing trend, the system cancels the preset collision risk warning between the bicycle and the object; otherwise, it does not cancel it.

8. The intelligent camera system for a bicycle as claimed in claim 7, characterized in that: If the collision risk warning is not lifted, the riding trajectory change points are obtained based on the calculation period, and the riding trajectory change points are divided into , , ..., ,in, Indicates change points, analyze the distance changes between the adjacent change points, and mark the change point with the smallest distance change as , and based on the Collect objects within 20 meters of the preset bicycle. If no corresponding objects are collected, the collision risk warning will be cancelled.

9. The intelligent camera system for a bicycle as claimed in claim 8, characterized in that: When the collision risk warning is lifted, based on the Collect the riding speed change of the preset bicycle, generate a data set about the riding speed change, and in the data set, The first riding speed collected at the time is marked as the first speed, and at the same time, in the data set, at least the riding speed corresponding to one minute of the collection time is obtained, and the riding speed is compared with the first speed. If the riding speed shows an increasing trend within the collection time, the system determines that the preset bicycle will continue to ride along the current riding trajectory; Otherwise, it is determined that the preset bicycle will change the current riding trajectory.

10. The intelligent camera system for a bicycle as claimed in claim 9, characterized in that: When it is determined that the preset bicycle will change the current riding track, collect objects within 20 meters from the side of the preset bicycle's riding track change, obtain an image of an end face of the object closest to the preset bicycle, and analyze the change in the distance between the object and the preset bicycle based on the end face image; If the end face image cannot be collected in real time during the change of the preset bicycle riding trajectory, the system determines that the object moves in the opposite direction of the change of the preset bicycle riding trajectory. In this case, it is determined that there is no collision risk between the preset bicycle and the object; Otherwise, it is determined that there is a risk of collision between the two and an early warning is issued; When it is determined that there is a risk of collision between the preset bicycle and the object, at least three other end face images that are parallel to the end face image are collected based on the end face image, and the time taken to collect the first end face image among the three end face images is calculated, and the time taken to collect the remaining two end face images is calculated based on the time taken; if the time taken to collect the latter end face image is faster than the time taken to collect the previous end face image, the system determines that the object changes its driving trajectory at a riding speed faster than the preset bicycle. In this case, the collision risk warning is cancelled, otherwise it is not cancelled.

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