Obstacle detection method and device, wearable equipment and storage medium

Abstract

The invention provides an obstacle detection method and device, wearable equipment and a computer readable storage medium. The obstacle detection method comprises the following steps: acquiring an orientation angle of an object detection sensor of the wearable equipment and a first coordinate position of the object detection sensor in a reference coordinate system; a distance data set in the field angle range of the object detection sensor is obtained, and the distance data set comprises the detection distance of the object detection sensor and the detection angle of the object detection sensor; determining a second coordinate position of the distance data set in the reference coordinate system based on the detection distance, the detection angle and the orientation angle; and obtaining an obstacle detection result within a preset distance range of the wearable device based on the first coordinate position and the second coordinate position. The obstacle detection power consumption of the wearable device can be reduced, and the use safety of the wearable device can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of wearable devices, and in particular to an obstacle detection method, device, wearable device and computer-readable storage medium. Background Art

[0002] With the rapid development of artificial intelligence, virtual reality and augmented reality technologies are being used more and more. Wearers of wearable devices (such as smart glasses, AR (Augmented Reality) helmets, etc.) can watch virtual content displayed by wearable devices anytime and anywhere; however, when wearable devices display virtual content, the wearer's perception of objects in the real world (such as obstacles in front of the wearer while walking) may decrease, resulting in lower safety in the use of wearable devices.

[0003] In the related art, in order to improve the safety of wearable devices, images are collected through image recognition algorithms to fully identify objects in the real world. However, on the one hand, the large amount of data processing of the image recognition algorithm will lead to increased power consumption of the wearable device; on the other hand, the image recognition algorithm needs to rely on the camera to collect images, which will increase the power consumption and size of the wearable device. Summary of the invention

[0004] The present application provides an obstacle detection method, apparatus, wearable device, and computer-readable storage medium, which can reduce the obstacle detection power consumption of the wearable device and improve the safety of the wearable device.

[0005] In a first aspect, the present application provides an obstacle detection method, the method comprising:

[0006] Acquire a direction angle of an object detection sensor of the wearable device and a first coordinate position of the object detection sensor in a reference coordinate system;

[0007] Acquire a distance data group within the field of view angle range of the object detection sensor, wherein the distance data group includes a detection distance of the object detection sensor and a detection angle of the object detection sensor;

[0008] Determine a second coordinate position of the distance data group in the reference coordinate system based on the detection distance, the detection angle and the orientation angle;

[0009] Based on the first coordinate position and the second coordinate position, an obstacle detection result within a preset distance range of the wearable device is obtained.

[0010] In a second aspect, the present application provides an obstacle detection device, the obstacle detection device comprising:

[0011] A first acquisition unit, configured to acquire an orientation angle of an object detection sensor of a wearable device and a first coordinate position of the object detection sensor in a reference coordinate system;

[0012] a second acquisition unit, configured to acquire a distance data group within a field of view angle range of the object detection sensor, wherein the distance data group includes a detection distance of the object detection sensor and a detection angle of the object detection sensor;

[0013] a determining unit, configured to determine a second coordinate position of the distance data group in the reference coordinate system based on the detection distance, the detection angle and the orientation angle;

[0014] A detection unit is used to obtain an obstacle detection result within a preset distance range of the wearable device based on the first coordinate position and the second coordinate position.

[0015] In a third aspect, the present application further provides a wearable device, comprising a processor and a memory, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, it executes any obstacle detection method provided in the present application.

[0016] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is loaded by a processor to execute the obstacle detection method.

[0017] The present application obtains the orientation angle of the object detection sensor of the wearable device and the first coordinate position of the object detection sensor in the reference coordinate system; based on the detection distance, the detection angle and the orientation angle, determines the second coordinate position of the distance data group within the field of view of the object detection sensor in the reference coordinate system; based on the first coordinate position and the second coordinate position, obtains the obstacle detection result within the preset distance range of the wearable device; on the one hand, since the obstacle detection within the preset distance range of the wearable device is realized by collecting the distance data group through the object detection sensor, there is no need to use the image recognition algorithm for detection, which avoids the problem of increased power consumption and volume of the wearable device caused by relying on the camera to collect images, and reduces the problem of high power consumption of the wearable device caused by the large amount of data processing of the image recognition algorithm itself; on the other hand, since the distance data group of any angle within the field of view of the object detection sensor can be obtained for obstacle identification, it can realize the simultaneous detection of obstacles within a certain angle range, avoiding the problem of only being able to detect obstacles at a single point, thereby improving the safety of the wearable device. It can be seen that this embodiment can reduce the power consumption of obstacle detection of the wearable device and improve the safety of the wearable device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 is a schematic block diagram of the structure of a wearable device provided in an embodiment of the present application;

[0020] Figure 2 It is a flow chart of an obstacle detection method provided in an embodiment of the present application;

[0021] Figure 3 is a schematic diagram for explaining the reference coordinate system in the embodiment of the present application;

[0022] Figure 4 is a schematic diagram for explaining the orientation angle in the embodiment of the present application;

[0023] Figure 5 is another schematic diagram for explaining the orientation angle in the embodiment of the present application;

[0024] Figure 6 is a schematic diagram for explaining how to determine the angle of a coordinate system in an embodiment of the present application;

[0025] Figure 7 is another schematic diagram for explaining how to determine the angle of the coordinate system in the embodiment of the present application;

[0026] Figure 8 is a schematic diagram for explaining obstacle recognition based on an obstacle perception map in an embodiment of the present application;

[0027] Fig. 9 It is a schematic diagram of the structure of an embodiment of an obstacle detection device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0029] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0030] In the description of the embodiments of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0031] In order to enable any technician in the field to implement and use the application, the following description is given. In the following description, details are listed for the purpose of explanation. It should be understood that those of ordinary skill in the art can recognize that the application can also be implemented without using these specific details. In other examples, the known process will not be elaborated in detail to avoid unnecessary details that make the description of the embodiment of the application obscure. Therefore, the application is not intended to be limited to the embodiments shown, but is consistent with the widest range of principles and features disclosed in accordance with the embodiments of the application.

[0032] The embodiments of the present application provide an obstacle detection method, device, wearable device and computer-readable storage medium, wherein the obstacle detection device can be integrated in the wearable device.

[0033] The executor of the obstacle detection method of the embodiment of the present application may be the obstacle detection device provided in the embodiment of the present application, or a wearable device integrating the obstacle detection device, wherein the obstacle detection device may be implemented in hardware or software.

[0034] Some embodiments of the present application are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0035] Figure 1 It is a schematic block diagram of the structure of a wearable device provided in an embodiment of the present application.

[0036] like Figure 1 As shown, the wearable device 100 includes a processor 101 and a memory 102, and the processor 101 and the memory 102 are connected via a bus 103, such as an I2C (Inter-integrated Circuit) bus.

[0037] Specifically, the processor 101 is used to provide computing and control capabilities to support the operation of the entire wearable device 100. The processor 101 can be a central processing unit (CPU), and the processor 101 can also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0038] Specifically, the memory 102 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0039] Those skilled in the art will understand that Figure 1 The structure shown in the figure is merely a block diagram of a partial structure related to the embodiment scheme of the present application, and does not constitute a limitation on the wearable device to which the embodiment scheme of the present application is applied. The specific wearable device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0040] The processor 101 is used to run the computer program stored in the memory 102, and implement any one of the obstacle detection methods provided in the embodiments of the present application when executing the computer program. For example, the processor 101 is used to run the computer program stored in the memory 102, and can implement the following steps when executing the computer program:

[0041] Acquire an orientation angle of an object detection sensor of a wearable device and a first coordinate position of the object detection sensor in a reference coordinate system; acquire a distance data group within a field of view angle range of the object detection sensor, wherein the distance data group includes a detection distance of the object detection sensor and a detection angle of the object detection sensor; determine a second coordinate position of the distance data group in the reference coordinate system based on the detection distance, the detection angle, and the orientation angle; and obtain an obstacle detection result within a preset distance range of the wearable device based on the first coordinate position and the second coordinate position.

[0042] It should be noted that technicians in the relevant field can clearly understand that for the convenience and simplicity of description, the specific working process of the wearable device described above can refer to the corresponding process in the following obstacle detection method embodiment, and will not be repeated here.

[0043] In the following, Figure 1 The wearable device shown in is used as an example to perform the obstacle detection method, and the obstacle detection method provided in the embodiment of the present application is described in detail. For the sake of simplicity and convenience of description, the execution subject will be omitted in the subsequent method embodiments. Figure 1 The scenario is only used to explain the obstacle detection method provided in the embodiment of the present application, but does not constitute a limitation on the application scenario of the obstacle detection method provided in the embodiment of the present application.

[0044] See also Figure 2 , Figure 2 201 to 204, wherein:

[0045] 201. Obtain an orientation angle of an object detection sensor of a wearable device and a first coordinate position of the object detection sensor in a reference coordinate system.

[0046] Among them, the wearable device can be smart glasses, smart helmets, etc., the smart glasses can be AR (augmented reality) glasses, VR (Virtual Reality) glasses, etc., and the smart helmet can be an AR helmet, etc.

[0047] The object detection sensor is a sensor for detecting an object (such as detecting an obstacle in front of the wearer of the wearable device), for example, an ultrasonic sensor. The object detection sensor is set on the wearable device, for example, at the middle point of the frame of the smart glasses.

[0048] In this embodiment, taking the ultrasonic sensor as an example, the ultrasonic wave is a mechanical wave with a vibration frequency higher than 20kHz. It has the characteristics of high frequency, short wavelength, small diffraction phenomenon, especially good directionality, and can be directed as rays. Ultrasonic sensor is a sensor that converts ultrasonic signals into other energy signals (usually electrical signals). Ultrasonic sensor is a sensor widely used in the fields of distance measurement, position perception, object recognition, etc. It determines the distance of the target object by emitting ultrasonic waves and receiving echoes, and has the advantages of high sensitivity, high accuracy, and fast response. The detection distance of the ultrasonic sensor mainly comes from its detection angle and operating frequency. The detection angle of the ultrasonic sensor is generally divided into horizontal and vertical. The horizontal detection angle is generally between 15-30 degrees, and the vertical detection angle is generally between 60-80 degrees. In this embodiment, by using an ultrasonic sensor as an object detection sensor, obstacles within a certain angle range can be detected, and multiple obstacles can be detected at the same time, avoiding the problem of low safety of wearable devices due to only being able to detect single-point obstacles.

[0049] The reference coordinate system can be set according to the actual business scenario requirements, for example Figure 3 As shown, in this embodiment, taking the wearable device as smart glasses as an example, a two-dimensional coordinate system is constructed as the reference coordinate system with "the middle point of the frame of the smart glasses as the reference point of the coordinate system (i.e., the origin O), the y-axis as a straight line on the frame plane parallel to the wearer's plane and parallel to the ground (and assuming that the positive direction of the y-axis is the left direction of the wearer and the negative direction of the y-axis is the right direction of the wearer), and the x-axis as a straight line parallel to the ground (and assuming that the positive direction of the x-axis is the front direction of the wearer and the negative direction of the x-axis is the rear direction of the wearer)". For ease of understanding, the reference coordinate system is used in this article. Figure 3 The coordinate system shown is used as an example for explanation.

[0050] The first coordinate position refers to the coordinate position of the object detection sensor in the reference coordinate system. For example, if the object detection sensor is set at the middle point of the frame of the smart glasses, the first coordinate position of the object detection sensor in the reference coordinate system is (0,0). For ease of understanding, this article takes the object detection sensor at the origin O of the reference coordinate system as an example for explanation.

[0051] In order to more accurately and quickly calculate the coordinate system angle of the distance data set in the reference coordinate system and quickly determine the second coordinate position of the distance data set in the reference coordinate system, in this embodiment, the object detection sensor is set at the middle point of the frame of the smart glasses, and the center line of the horizontal field of view of the object detection sensor is set to be on the same straight line with one of the coordinate axes of the reference coordinate system, so that the horizontal field of view of the object detection sensor is distributed equally on both sides of the coordinate axis (such as Figure 3 As shown, the center line of the horizontal field of view angle of the object detection sensor is located on the x-axis of the reference coordinate system, so that the horizontal field of view of the object detection sensor is evenly distributed on both sides of the x-axis), which is beneficial to angle calculation.

[0052] The orientation angle is used to indicate the orientation of the object detection sensor in the horizontal direction. The angle between the sensor orientation line and the center line of the horizontal field of view of the object detection sensor is used as the orientation angle. Therefore, the orientation angle of the object detection sensor can be calculated based on the horizontal FOV (Field Of View) of the object detection sensor. Figure 3 The coordinate system shown is a reference coordinate system. The orientation angle (denoted as θ sensor ) and the horizontal FOV (denoted as angle_fov) of the object detection sensor are related as follows: |θ sensor |=angle_fov / 2=0.5*angle_fov.

[0053] In order to better understand this embodiment, Figure 3 The coordinate system shown is taken as an example of a reference coordinate system, and some names involved in this embodiment are first introduced.

[0054] 1. First quadrant line: The first quadrant line refers to the straight line formed by the point in the first quadrant of the reference coordinate system (denoted as P1) and the origin O.

[0055] Second quadrant line: The second quadrant line refers to the straight line formed by the point in the second quadrant of the reference coordinate system (denoted as P2) and the origin O.

[0056] Third quadrant line: The third quadrant line refers to the straight line formed by the point in the third quadrant of the reference coordinate system (denoted as P3) and the origin O.

[0057] Fourth quadrant line: The fourth quadrant line refers to the straight line formed by the point in the fourth quadrant of the reference coordinate system (denoted as P4) and the origin O.

[0058] 2. Field of view angle: reference Figure 3 , the horizontal FOV includes two field of view angle lines, one with increasing x-axis coordinate value and y-axis coordinate value (recorded as the positive y-axis viewing angle line, such as Figure 3 The other x-axis coordinate value is getting bigger and bigger while the y-axis coordinate value is getting smaller and smaller (recorded as the negative y-axis viewing angle line, such as Figure 3 (shown in L2).

[0059] 3. Orientation angle: The orientation angle is used to indicate the horizontal orientation of the object detection sensor. In some embodiments, the angle between the positive viewing angle of the y-axis and the positive direction of the x-axis can be used as the orientation angle; in other embodiments, the angle between the negative viewing angle of the y-axis and the positive direction of the x-axis can also be used as the orientation angle.

[0060] 4. Sensor orientation line: Figure 3 As shown, in some embodiments, if the y-axis positive direction viewing angle line (such as Figure 3 The angle between the sensor direction line and the positive direction of the x-axis is taken as the orientation angle, and the sensor orientation line is the viewing angle line of the positive direction of the y-axis (as shown in Figure 3 In some other embodiments, if the y-axis negative viewing angle line (such as Figure 3 The included angle between the positive direction of the x-axis and the sensor direction line is the negative direction of the y-axis (as shown in L2 in the figure). Figure 3 (shown in L2).

[0061] There are multiple ways to “obtain the orientation angle of the object detection sensor of the wearable device” in step 201, illustratively including:

[0062] (1) Please refer to Figure 3 The reference coordinate system shown in the figure, at this time, the positive viewing angle line of the y-axis is the first quadrant line, and the positive viewing angle line of the y-axis (such as Figure 3 As an example, the angle between the positive viewing angle of the y-axis and the positive direction of the x-axis is taken as the sensor orientation line, including the following cases ① and ②:

[0063] ① Such as Figure 4 As shown in (a), if the angle between the first quadrant line and the positive direction of the x-axis is set to a positive value, and the angle between the fourth quadrant line and the positive direction of the x-axis is set to a negative value, then the viewing angle line in the positive direction of the y-axis (such as Figure 4 (a) L1 is positive with respect to the positive direction of the x-axis, that is, the orientation angle is positive. At this time, the orientation angle is: θ sensor =angle_fov / 2=0.5*angle_fov.

[0064] ② If Figure 4 As shown in (b), if the angle between the first quadrant line and the positive direction of the x-axis is set to a negative value, and the angle between the fourth quadrant line and the positive direction of the x-axis is set to a positive value, then the viewing angle line in the positive direction of the y-axis (such as Figure 4 (b) L1) is negative with respect to the positive direction of the x-axis, that is, the orientation angle is negative. At this time, the orientation angle is: θ sensor =-angle_fov / 2=-0.5*angle_fov.

[0065] (2) Please refer to Figure 3 The reference coordinate system shown in the figure, at this time, the negative viewing angle line of the y-axis is the fourth quadrant line, and the positive viewing angle line of the y-axis (such as Figure 3 As an example, the angle between the negative viewing angle of the y-axis and the positive direction of the x-axis is taken as the sensor orientation line, including the following cases ③ and ④:

[0066] ③If Figure 5 As shown in (a), if the angle between the first quadrant line and the positive direction of the x-axis is set to a positive value, and the angle between the fourth quadrant line and the positive direction of the x-axis is set to a negative value, then the viewing angle line in the negative direction of the y-axis (such as Figure 5 (a) L2 is negative with respect to the positive direction of the x-axis, that is, the orientation angle is negative. At this time, the orientation angle is: θ sensor =-angle_fov / 2=-0.5*angle_fov.

[0067] ④ Such as Figure 5 As shown in (b), if the angle between the first quadrant line and the positive direction of the x-axis is set to a negative value, and the angle between the fourth quadrant line and the positive direction of the x-axis is set to a positive value, then the negative y-axis viewing angle line (such as Figure 5 (b) L2 is positive with respect to the positive direction of the x-axis, that is, the orientation angle is positive. At this time, the orientation angle is: θ sensor =angle_fov / 2=0.5*angle_fov.

[0068] 202. Obtain a distance data group within the field of view angle range of the object detection sensor.

[0069] The distance data set includes the detection distance of the object detection sensor and the detection angle of the object detection sensor. Exemplarily, the data format of the distance data set collected by the object detection sensor is [θ d ,distance], where distance represents the detection distance of the object detection sensor, θ d Indicates the detection angle of the object detection sensor (used to indicate the horizontal angle when the object detection sensor collects the detection distance).

[0070] The detection angle refers to the angle between the detection ray of the object detection sensor corresponding to the detection distance in the horizontal direction and the sensor direction line. For example, Figure 6 So Figure 4 Taking the case ① shown in (a) as an example, the schematic diagram of the method of determining the coordinate system angle when the detection point K is in the 1st and 4th quadrants respectively, Figure 6 (a) is a schematic diagram for explaining the method of determining the angle of the coordinate system when the detection point K is in the first quadrant. Figure 6(b) is a schematic diagram for explaining the method of determining the coordinate system angle when the detection point K is in the fourth quadrant; Figure 6 As shown in (a), Figure 6 In (a), point K represents the detection point corresponding to the distance data set, and the detection angle θ d is the angle between the horizontal detection ray (i.e., the ray OK between the origin O and the detection point K) and the sensor direction line L1, that is, the angle between the ray OK and L1 is the detection angle θ of the object detection sensor when the distance data set of point K is collected d Similarly, Figure 6 The angle between ray OK and L1 in (b) is the detection angle θ of the object detection sensor when the distance data set of point K is collected. d . Another example, Figure 7 So Figure 5 Taking the case ③ shown in (a) as an example, the schematic diagram of the method of determining the coordinate system angle when the detection point K is in the 1st and 4th quadrants respectively, Figure 7 (a) is a schematic diagram for explaining the method of determining the angle of the coordinate system when the detection point K is in the first quadrant. Figure 7 (b) is a schematic diagram for explaining the method of determining the coordinate system angle when the detection point K is in the fourth quadrant; Figure 7 As shown in (a), Figure 7 In (a), point K represents the detection point corresponding to the distance data set, and the detection angle θ d is the angle between the horizontal detection ray (i.e., the ray OK between the origin O and the detection point K) and the sensor direction line L2, that is, the angle between the ray OK and L2 is the detection angle θ of the object detection sensor when the distance data set of point K is collected d Similarly, Figure 7 The angle between ray OK and L2 in (b) is the detection angle θ of the object detection sensor when the K point distance data set is collected. d .

[0071] 203. Determine a second coordinate position of the distance data group in the reference coordinate system based on the detection distance, the detection angle, and the orientation angle.

[0072] Exemplarily, step 203 may specifically include the following steps 2031A to 2032A, wherein:

[0073] 2031A. Determine a coordinate system angle of the distance data group in the reference coordinate system based on the detected distance and the orientation angle.

[0074] 2032A. Determine a second coordinate position of the distance data group in the reference coordinate system based on the coordinate system angle and a preset coordinate position relationship.

[0075] There are multiple ways to "determine the second coordinate position of the distance data set in the reference coordinate system" in steps 2031A to 2032A, illustratively including:

[0076] (1) When the orientation angle is positive and the detection angle is greater than or equal to the orientation angle, the negative number of the difference between the detection angle and the orientation angle is used as the coordinate system angle of the distance data group in the reference coordinate system; based on the coordinate system angle and a preset first coordinate relationship, the coordinate system angle of the distance data group in the reference coordinate system is determined, wherein the first coordinate relationship is used to indicate the relationship between the coordinate system angle and the second coordinate position when the orientation angle is positive and the coordinate system angle is negative.

[0077] When the orientation angle is positive and the detection angle is smaller than the orientation angle, the difference between the orientation angle and the detection angle is used as the coordinate system angle of the distance data group in the reference coordinate system; based on the coordinate system angle and a preset second coordinate relationship, the coordinate system angle of the distance data group in the reference coordinate system is determined, wherein the second coordinate relationship is used to indicate the relationship between the coordinate system angle and the second coordinate position when the orientation angle is positive and the coordinate system angle is positive.

[0078] For example, taking the above situation ① as an example (i.e., the angle θ sensor is positive: θ sensor =0.5*angle_fov), such as Figure 6 As shown in (b), when the angle θ sensor When the distance data set is collected, the detection angle θ of the object detection sensor is firstly d With the orientation angle θ sensor For comparison, if the detection angle θ d Greater than or equal to the angle θ sensor , then determine the coordinate system angle θ w is negative (i.e. the distance data set falls in the 4th quadrant), and the detection angle θ d With the orientation angle θ sensor The negative of the difference between the distance data set and the reference coordinate system angle (denoted as θ w ), that is: θ w =-(θ d -θ sensor )=θ sensor -θ d Then, according to the coordinate system angle θ w and the preset first coordinate relationship, determine the second coordinate position (denoted as Pw) of the distance data set in the reference coordinate system; specifically, the coordinate system angle θ wSubstitute the preset first coordinate relationship into the second coordinate position. At this time, the first coordinate relationship is used to indicate when the angle θ sensor is positive, the coordinate system angle θ w When it is negative, the coordinate system angle θ w The relationship between the second coordinate position Pw, that is, the first coordinate relationship is: Pw = (-distance*cos(θw), distance*sin(θw)).

[0079] For example, taking the above situation ① as an example (i.e., the angle θ sensor is positive: θ sensor =0.5*angle_fov), such as Figure 6 As shown in (a), when the angle θ sensor When the distance data set is collected, the detection angle θ of the object detection sensor is firstly d With the orientation angle θ sensor For comparison, if the detection angle θ d Less than the angle θ sensor , then determine the coordinate system angle θ w is positive (i.e. the distance data set falls in the first quadrant) and will be directed towards the angle θ sensor With the detection angle θ d The difference between the distance data set and the reference coordinate system is the coordinate angle θ w , that is: θ w =θ sensor -θ d Then, according to the coordinate system angle θ w and a preset second coordinate relationship, determine the second coordinate position Pw of the distance data set in the reference coordinate system; specifically, the coordinate system angle θ w Substitute into the preset second coordinate relationship to calculate the second coordinate position. At this time, the second coordinate relationship is used to indicate when the direction angle θ sensor is positive, the coordinate system angle θ w When is positive, the coordinate system angle θ w The relationship between the second coordinate position Pw, that is, the second coordinate relationship is: Pw = (distance*cos(θw), distance*sin(θw)).

[0080] (2) When the orientation angle is negative and the detection angle is less than the absolute value of the orientation angle, the negative of the difference between the absolute value of the orientation angle and the detection angle is used as the coordinate system angle of the distance data group in the reference coordinate system; based on the coordinate system angle and a preset third coordinate relationship, the coordinate system angle of the distance data group in the reference coordinate system is determined, wherein the third coordinate relationship is used to indicate the relationship between the coordinate system angle and the second coordinate position when the orientation angle is negative and the coordinate system angle is negative.

[0081] When the heading angle is negative and the detection angle is greater than or equal to the absolute value of the heading angle, the difference between the detection angle and the absolute value of the heading angle is used as the coordinate system angle of the distance data group in the reference coordinate system; based on the coordinate system angle and a preset fourth coordinate relationship, the coordinate system angle of the distance data group in the reference coordinate system is determined, wherein the fourth coordinate relationship is used to indicate the relationship between the coordinate system angle and the second coordinate position when the heading angle is negative and the coordinate system angle is positive.

[0082] For example, taking the above situation ③ as an example (i.e., the angle θ sensor Negative: θ sensor =-0.5*angle_fov), such as Figure 7 As shown in (b), when the angle θ sensor When it is negative, first, the detection angle θ of the object detection sensor when the distance data group is collected is d With the orientation angle θ sensor For comparison, if the detection angle θ d Less than the angle θ sensor The absolute value of the coordinate system angle θ is determined w is negative (i.e. the distance data set falls in the 4th quadrant) and will be towards the angle θ sensor The absolute value of the detection angle θ d The negative of the difference between the distance data set and the reference coordinate system angle (denoted as θ w ), that is: θw=-(-θ sensor -θ d )=(θ d +θ sensor ). Then, according to the coordinate system angle θ w and the preset third coordinate relationship, determine the second coordinate position (denoted as Pw) of the distance data set in the reference coordinate system; specifically, the coordinate system angle θ w Substitute the preset third coordinate relationship to calculate the second coordinate position. At this time, the third coordinate relationship is used to indicate when the orientation angle θ sensor is negative, the coordinate system angle θ wWhen it is negative, the coordinate system angle θ w The relationship between the second coordinate position Pw, that is, the third coordinate relationship is: Pw = (-distance*cos(θw), distance*sin(θw)).

[0083] For example, taking the above situation ③ as an example (i.e., the angle θ sensor is positive: θ sensor =0.5*angle_fov), such as Figure 7 As shown in (a), when the angle θ sensor When the distance data set is collected, the detection angle θ of the object detection sensor is firstly d With the orientation angle θ sensor For comparison, if the detection angle θ d Greater than or equal to the angle θ sensor The absolute value of the coordinate system angle θ is determined w is positive (i.e. the distance data set falls within the first quadrant), and the detection angle θ d With the orientation angle θ sensor The absolute value difference of the distance data set is taken as the coordinate angle θ in the reference coordinate system. w , that is: θ w =θ d -(-θ sensor )=(θ d +θ sensor ). Then, according to the coordinate system angle θ w and a preset fourth coordinate relationship, determine the second coordinate position Pw of the distance data set in the reference coordinate system; specifically, the coordinate system angle θ w Substitute the preset fourth coordinate relationship to calculate the second coordinate position. At this time, the fourth coordinate relationship is used to indicate when the orientation angle θ sensor is negative, the coordinate system angle θ w When is positive, the coordinate system angle θ w The relationship between the second coordinate position Pw, that is, the fourth coordinate relationship is: Pw = (distance*cos(θw), distance*sin(θw)).

[0084] 204. Obtain an obstacle detection result within a preset distance range of the wearable device based on the first coordinate position and the second coordinate position.

[0085] The obstacle monitoring result is used to indicate whether there is an obstacle within the preset distance range of the wearable device. Further, when there is an obstacle within the preset distance range of the wearable device, the obstacle detection result may also include the distance between the obstacle and the wearable device, and the direction of the obstacle relative to the wearable device.

[0086] In some embodiments, step 204 may specifically include the following steps 2041A to 2043A:

[0087] 2041A. Determine the distance between the obstacle corresponding to the distance data group and the wearable device based on the first coordinate position and the second coordinate position.

[0088] For example, if the first coordinate position is (0,0) and the second coordinate position is (3,4), the distance between the coordinate point corresponding to the object detection sensor and the coordinate point corresponding to the distance data set can be calculated (as: (3-0) 2 +(4-0) 2 =5), as the distance between the obstacle and the wearable device corresponding to the distance data group.

[0089] 2042A. If the distance between the obstacle corresponding to the distance data group and the wearable device is less than a preset distance threshold, it is determined that there is an obstacle within the preset distance range of the wearable device.

[0090] For example, if the distance between the obstacle corresponding to the distance data group and the wearable device (such as 1 meter) is less than a preset distance threshold (such as 3 meters), it is determined that there is an obstacle within the preset distance range of the wearable device.

[0091] 2043A. If the distance between the obstacle corresponding to the distance data group and the wearable device is greater than or equal to a preset distance threshold, determine that there is no obstacle within the preset distance range of the wearable device.

[0092] For example, if the distance between the obstacle corresponding to the distance data group and the wearable device (such as 5 meters) is greater than or equal to a preset distance threshold (such as 3 meters), it is determined that there is no obstacle within the preset distance range of the wearable device.

[0093] The above steps 2041A to 2043A are to illustrate the detection method of whether there is an obstacle within the preset distance range of the wearable device by taking a single distance data group as an example. It can be understood that the object detection sensor can collect multiple distance data groups at the same time within its field of view angle, and for each distance data group, the second coordinate position can be calculated by referring to the above steps 201 to 203; then, the distance between the coordinate point corresponding to the object detection sensor and the coordinate point corresponding to each distance data group is calculated as the obstacle distance of each distance data group; finally, based on the obstacle distances of multiple distance data groups, it is determined whether there is an obstacle within the preset distance range of the wearable device; when the obstacle distances of multiple distance data groups are greater than or equal to the preset distance threshold, it is determined that there is no obstacle within the preset distance range of the wearable device; when the obstacle distance of at least one distance data group among the obstacle distances of multiple distance data groups is less than the preset distance threshold, it is determined that there is an obstacle within the preset distance range of the wearable device. As a result, obstacles within a certain angle range can be detected at the same time, avoiding the problem of only being able to detect obstacles at a single point, thereby improving the safety of the wearable device when walking.

[0094] In other embodiments, in order to improve the obstacle perception speed, an obstacle perception map including n*m grids can be established in advance based on the reference coordinate system, and the grids that the distance data group falls into and the target grid whose distance from the first coordinate position is less than the preset distance threshold are compared to determine whether there is an obstacle within the preset distance range of the wearable device, thereby obtaining the obstacle detection result within the preset distance range of the wearable device. At this time, step 204 can specifically include the following steps 2041B to 2044B:

[0095] 2041B. Obtain an obstacle perception map of the target grid marked with the first coordinate position.

[0096] The obstacle perception map includes n*m grids, and the target grid is a grid whose distance from the first coordinate position is less than a preset distance threshold among the n*m ​​grids. n and m are both integers greater than 0.

[0097] 2042B. Determine which grid the distance data set falls into based on the second coordinate position and the grid coordinate position of each grid in the n*m ​​grids.

[0098] The grid coordinate position of each grid refers to the coordinate position of each grid in the reference coordinate system.

[0099] 2043B. If the fallen-in grid is the same as the target grid, it is determined that there is an obstacle within a preset distance range of the wearable device.

[0100] 2044B. If the fallen-in grid is different from the target grid, it is determined that there is an obstacle within a preset distance range of the wearable device.

[0101] For example, Figure 8 As shown, first, an obstacle perception map can be established based on the reference coordinate system. The obstacle perception map includes n*m grids, each grid is 0.1m*0.1m in size, and the obstacle perception map identifies the target grid at the first coordinate position (such as Figure 8 As shown in the dotted rectangle box, Figure 8 The network in the dotted rectangle is the target grid); then, after calculating the second coordinate position of each distance data group in the reference coordinate system, the grid where the second coordinate position falls (i.e., the grid where the distance data falls) is set to red (e.g. Figure 8 Finally, compare the red grid with the target grid. If the red grid is the same as the target grid (such as Figure 8 ), it is determined that there is an obstacle within the preset distance range of the wearable device. Conversely, if the red grid is different from the target grid (such as Figure 8 ), it is determined that there are no obstacles within the preset distance range of the wearable device.

[0102] The above steps 2041B to 2044B are used as an example to illustrate the detection method of whether there is an obstacle within the preset distance range of the wearable device. It can be understood that the object detection sensor can collect multiple distance data groups at the same time within its field of view angle, and the second coordinate position can be calculated for each distance data group by referring to the above steps 201 to 203; then, based on the grid coordinate position of each grid in the n*m ​​grids, the grid into which the second coordinate position of each distance data group in the reference coordinate system falls is determined as the falling grid of each distance data group; finally, the falling grid of each distance data group is compared with the target grid. If the falling grid of each distance data group is different from the target grid, it is determined that there is no obstacle within the preset distance range of the wearable device. Otherwise, if the falling grid of at least one distance data group in the multiple distance data groups is the same as the target grid, it is determined that there is an obstacle within the preset distance range of the wearable device. Thus, obstacles within a certain angle range can be detected at the same time, avoiding the problem of only being able to detect obstacles at a single point, thereby improving the safety of the wearable device in walking conditions.

[0103] Furthermore, in order to improve the obstacle perception range of the wearable device, the wearable device can be provided with multiple object detection sensors at the same time, and for each object detection sensor, it is determined whether there is an obstacle within the preset distance range of the wearable device by referring to the above steps 201 to 204; when multiple object detection sensors all detect that there is no obstacle within the preset distance range of the wearable device, the obstacle detection result within the preset distance range of the wearable device is finally determined to be that there is no obstacle within the preset distance range of the wearable device. Otherwise, when at least one object detection sensor among the multiple object detection sensors detects that there is an obstacle within the preset distance range of the wearable device, the obstacle detection result within the preset distance range of the wearable device is finally determined to be that there is an obstacle within the preset distance range of the wearable device.

[0104] Furthermore, in order to improve the safety of the wearable device, when an obstacle is detected within a preset distance range of the wearable device, the wearable device is controlled to output an alarm message. The alarm message includes at least one of a page alarm message, a music prompt message, and a voice alarm message. The alarm message carries the detection angle and / or the second coordinate position, so that the wearer of the wearable device can know in advance whether there is an obstacle ahead and the specific location of the obstacle according to the alarm message, thereby improving the safety of the wearable device.

[0105] Therefore, this embodiment obtains the orientation angle of the object detection sensor of the wearable device and the first coordinate position of the object detection sensor in the reference coordinate system; based on the detection distance, the detection angle and the orientation angle, determines the second coordinate position of the distance data group within the field of view of the object detection sensor in the reference coordinate system; based on the first coordinate position and the second coordinate position, obtains the obstacle detection result within the preset distance range of the wearable device; on the one hand, since the obstacle detection within the preset distance range of the wearable device is realized by collecting the distance data group through the object detection sensor, there is no need to use the image recognition algorithm for detection, which avoids the problem of increased power consumption and volume of the wearable device caused by relying on the camera to collect images, and reduces the problem of high power consumption of the wearable device caused by the large amount of data processing of the image recognition algorithm itself; on the other hand, since the distance data group of any angle within the field of view of the object detection sensor can be obtained for obstacle identification, it can realize the simultaneous detection of obstacles within a certain angle range, avoiding the problem of only being able to detect obstacles at a single point, thereby improving the safety of the wearable device. It can be seen that this embodiment can reduce the power consumption of obstacle detection of the wearable device and improve the safety of the wearable device.

[0106] In addition, in order to better implement the obstacle detection method in the embodiment of the present application, on the basis of the obstacle detection method, an obstacle detection device is also provided in the embodiment of the present application, such as Fig. 9 FIG. 1 is a schematic diagram of the structure of an embodiment of an obstacle detection device provided in an embodiment of the present application. The obstacle detection device 900 includes:

[0107] A first acquisition unit 901 is used to acquire an orientation angle of an object detection sensor of a wearable device and a first coordinate position of the object detection sensor in a reference coordinate system;

[0108] A second acquisition unit 902 is used to acquire a distance data group within the field of view angle range of the object detection sensor, wherein the distance data group includes a detection distance of the object detection sensor and a detection angle of the object detection sensor;

[0109] A determining unit 903, configured to determine a second coordinate position of the distance data group in the reference coordinate system based on the detection distance, the detection angle and the orientation angle;

[0110] The detection unit 904 is used to obtain an obstacle detection result within a preset distance range of the wearable device based on the first coordinate position and the second coordinate position.

[0111] In some embodiments, the determining unit 903 is specifically configured to:

[0112] determining a coordinate system angle of the distance data set in the reference coordinate system based on the detected distance, the detected angle and the orientation angle;

[0113] Based on the coordinate system angle and a preset coordinate relationship, a second coordinate position of the distance data set in the reference coordinate system is determined.

[0114] In some embodiments, one of the coordinate axes of the reference coordinate system is on the same straight line as the center line of the horizontal field of view angle of the object detection sensor, and the determining unit 903 is specifically configured to:

[0115] When the orientation angle is positive and the detection angle is greater than or equal to the orientation angle, the negative of the difference between the detection angle and the orientation angle is used as the coordinate system angle of the distance data group in the reference coordinate system; based on the coordinate system angle and a preset first coordinate relationship, the coordinate system angle of the distance data group in the reference coordinate system is determined, wherein the first coordinate relationship is used to indicate the relationship between the coordinate system angle and the second coordinate position when the orientation angle is positive and the coordinate system angle is negative.

[0116] In some embodiments, one of the coordinate axes of the reference coordinate system is on the same straight line as the center line of the horizontal field of view angle of the object detection sensor, and the determining unit 903 is specifically configured to:

[0117] When the orientation angle is positive and the detection angle is smaller than the orientation angle, the difference between the orientation angle and the detection angle is used as the coordinate system angle of the distance data group in the reference coordinate system; based on the coordinate system angle and a preset second coordinate relationship, the coordinate system angle of the distance data group in the reference coordinate system is determined, wherein the second coordinate relationship is used to indicate the relationship between the coordinate system angle and the second coordinate position when the orientation angle is positive and the coordinate system angle is positive.

[0118] In some embodiments, one of the coordinate axes of the reference coordinate system is on the same straight line as the center line of the horizontal field of view angle of the object detection sensor, and the determining unit 903 is specifically configured to:

[0119] When the heading angle is negative and the detection angle is smaller than the absolute value of the heading angle, the negative of the difference between the absolute value of the heading angle and the detection angle is used as the coordinate system angle of the distance data group in the reference coordinate system; based on the coordinate system angle and a preset third coordinate relationship, the coordinate system angle of the distance data group in the reference coordinate system is determined, wherein the third coordinate relationship is used to indicate the relationship between the coordinate system angle and the second coordinate position when the heading angle is negative and the coordinate system angle is negative.

[0120] In some embodiments, one of the coordinate axes of the reference coordinate system is on the same straight line as the center line of the horizontal field of view angle of the object detection sensor, and the determining unit 903 is specifically configured to:

[0121] When the heading angle is negative and the detection angle is greater than or equal to the absolute value of the heading angle, the difference between the detection angle and the absolute value of the heading angle is used as the coordinate system angle of the distance data group in the reference coordinate system; based on the coordinate system angle and a preset fourth coordinate relationship, the coordinate system angle of the distance data group in the reference coordinate system is determined, wherein the fourth coordinate relationship is used to indicate the relationship between the coordinate system angle and the second coordinate position when the heading angle is negative and the coordinate system angle is positive.

[0122] In some embodiments, the detection unit 904 is specifically used for:

[0123] Determine the distance between the obstacle corresponding to the distance data group and the wearable device based on the first coordinate position and the second coordinate position;

[0124] If the distance between the obstacle corresponding to the distance data group and the wearable device is less than a preset distance threshold, it is determined that there is an obstacle within the preset distance range of the wearable device.

[0125] In some embodiments, the detection unit 904 is specifically used for:

[0126] Acquire an obstacle perception map of a target grid marked with the first coordinate position, wherein the obstacle perception map includes n*m grids, the target grid is a grid whose distance from the first coordinate position is less than a preset distance threshold among the n*m ​​grids, and n and m are both integers greater than 0;

[0127] Determine the grid into which the distance data set falls based on the second coordinate position and the grid coordinate position of each grid in the n*m ​​grids;

[0128] If the fallen grid is the same as the target grid, it is determined that there is an obstacle within the preset distance range of the wearable device.

[0129] In some embodiments, the obstacle detection device further includes an alarm unit (not shown in the figure), which is specifically used to:

[0130] When there is an obstacle within a preset distance range of the wearable device, the wearable device is controlled to output an alarm message, wherein the alarm message includes at least one of a page alarm message, a music prompt message, and a voice alarm message, and the alarm message carries the detection angle and / or the second coordinate position.

[0131] In specific implementation, the above units can be implemented as independent entities, or can be arbitrarily combined and implemented as the same or several entities. The specific implementation of the above units can refer to the above obstacle detection method embodiment, which will not be repeated here.

[0132] A person skilled in the art will appreciate that all or part of the steps in the above obstacle detection method may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0133] To this end, an embodiment of the present application provides a computer-readable storage medium, in which multiple computer programs are stored. The computer programs can be loaded by a processor to execute any obstacle detection method provided by the embodiment of the present application.

[0134] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0135] In the above obstacle detection device, computer-readable storage medium, and wearable device embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process and beneficial effects of the obstacle detection device, computer-readable storage medium, wearable device and its corresponding units described above can refer to the description of the obstacle detection method in the above embodiment, and will not be repeated here.

[0136] The above is a detailed introduction to an obstacle detection method, apparatus, wearable device and computer-readable storage medium provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. An obstacle detection method, characterized in that: The method comprises: Acquire a direction angle of an object detection sensor of the wearable device and a first coordinate position of the object detection sensor in a reference coordinate system; Acquire a distance data group within the field of view angle range of the object detection sensor, wherein the distance data group includes a detection distance of the object detection sensor and a detection angle of the object detection sensor; Determine a second coordinate position of the distance data group in the reference coordinate system based on the detection distance, the detection angle and the orientation angle; Based on the first coordinate position and the second coordinate position, an obstacle detection result within a preset distance range of the wearable device is obtained.

2. The obstacle detection method according to claim 1, characterized in that: The determining, based on the detected distance, the detected angle, and the orientation angle, a second coordinate position of the distance data group in the reference coordinate system comprises: determining a coordinate system angle of the distance data set in the reference coordinate system based on the detected distance, the detected angle and the orientation angle; Based on the coordinate system angle and a preset coordinate relationship, a second coordinate position of the distance data set in the reference coordinate system is determined.

3. The obstacle detection method according to claim 2, characterized in that: One of the coordinate axes of the reference coordinate system is on the same straight line as the center line of the horizontal field of view angle of the object detection sensor, and determining the coordinate system angle of the distance data group in the reference coordinate system based on the detection distance, the detection angle and the orientation angle includes: When the orientation angle is positive and the detection angle is greater than or equal to the orientation angle, the negative number of the difference between the detection angle and the orientation angle is used as the coordinate system angle of the distance data set in the reference coordinate system; Determining a second coordinate position of the distance data group in the reference coordinate system based on the coordinate system angle and a preset coordinate relationship includes: When the orientation angle is positive and the detection angle is greater than or equal to the orientation angle, the coordinate system angle of the distance data group in the reference coordinate system is determined based on the coordinate system angle and a preset first coordinate relationship, wherein the first coordinate relationship is used to indicate the relationship between the coordinate system angle and the second coordinate position when the orientation angle is positive and the coordinate system angle is negative.

4. The obstacle detection method according to claim 2, characterized in that: One of the coordinate axes of the reference coordinate system is on the same straight line as the center line of the horizontal field of view angle of the object detection sensor, and determining the coordinate system angle of the distance data group in the reference coordinate system based on the detection distance, the detection angle and the orientation angle includes: When the orientation angle is negative and the detection angle is less than the absolute value of the orientation angle, the negative number of the difference between the absolute value of the orientation angle and the detection angle is used as the coordinate system angle of the distance data set in the reference coordinate system; Determining a second coordinate position of the distance data group in the reference coordinate system based on the coordinate system angle and a preset coordinate relationship includes: When the orientation angle is negative and the detection angle is less than the absolute value of the orientation angle, the coordinate system angle of the distance data group in the reference coordinate system is determined based on the coordinate system angle and a preset third coordinate relationship, wherein the third coordinate relationship is used to indicate the relationship between the coordinate system angle and the second coordinate position when the orientation angle is negative and the coordinate system angle is negative.

5. The obstacle detection method according to claim 1, characterized in that: The obtaining, based on the first coordinate position and the second coordinate position, an obstacle detection result within a preset distance range of the wearable device includes: Determine, based on the first coordinate position and the second coordinate position, a distance between the obstacle corresponding to the distance data group and the wearable device; If the distance between the obstacle corresponding to the distance data group and the wearable device is less than a preset distance threshold, it is determined that there is an obstacle within the preset distance range of the wearable device.

6. The obstacle detection method according to claim 1, characterized in that: The obtaining, based on the first coordinate position and the second coordinate position, an obstacle detection result within a preset distance range of the wearable device includes: Acquire an obstacle perception map of a target grid marked with the first coordinate position, wherein the obstacle perception map includes n*m grids, the target grid is a grid whose distance from the first coordinate position is less than a preset distance threshold among the n*m ​​grids, and n and m are both integers greater than 0; Determining the grid into which the distance data set falls based on the second coordinate position and the grid coordinate position of each grid in the n*m ​​grids; If the fallen grid is the same as the target grid, it is determined that there is an obstacle within the preset distance range of the wearable device.

7. The obstacle detection method according to claim 1, characterized in that: The method further comprises: When there is an obstacle within a preset distance range of the wearable device, the wearable device is controlled to output an alarm message, wherein the alarm message includes at least one of a page alarm message, a music prompt message, and a voice alarm message, and the alarm message carries the detection angle and / or the second coordinate position.

8. An obstacle detection device, characterized in that: The obstacle detection device comprises: A first acquisition unit, configured to acquire an orientation angle of an object detection sensor of a wearable device and a first coordinate position of the object detection sensor in a reference coordinate system; a second acquisition unit, configured to acquire a distance data group within a field of view angle range of the object detection sensor, wherein the distance data group includes a detection distance of the object detection sensor and a detection angle of the object detection sensor; a determining unit, configured to determine a second coordinate position of the distance data group in the reference coordinate system based on the detection distance, the detection angle and the orientation angle; A detection unit is used to obtain an obstacle detection result within a preset distance range of the wearable device based on the first coordinate position and the second coordinate position.

9. A wearable device, characterized in that: The invention comprises a processor and a memory, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the obstacle detection method according to any one of claims 1 to 7 is executed.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and the computer program is loaded by a processor to execute the obstacle detection method according to any one of claims 1 to 7.

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