Intelligent skiing anti-collision early warning system and method

Abstract

The invention discloses an intelligent skiing anti-collision early warning system and method in the technical field of intelligent obstacle avoidance and safety early warning, and the method comprises the steps: monitoring the motion information of a skier in real time, and judging whether the skier is in a motion state or not; when the skier is in the motion state, a detection signal is sent to the periphery of the skier, and whether an external feedback signal is received or not is detected; when responding to a received external feedback signal, sending a distance measurement signal to the periphery of the skier, and receiving a distance measurement signal fed back by the outside; calculating the distance between the skier and the feedback signal source based on the time interval between the distance measuring signal fed back by the outside and the sent distance measuring signal; when the distance between the skier and the feedback signal source is smaller than a specified threshold value, an early warning signal is sent to the periphery of the skier, and an early warning signal fed back by the outside world is received. According to the invention, timely warning can be provided, so that a skier has sufficient time to respond, injury caused by collision is avoided, and accidental injury in a match is reduced to the greatest extent.

Description

Technical Field

[0001] The present invention relates to an intelligent skiing anti-collision warning system and method, belonging to the technical field of intelligent obstacle avoidance and safety warning. Background Art

[0002] Skiing is a competitive sport in which athletes attach skis to the soles of their boots and perform speed, jumping and skiing on snow. Skis are made of a mixture of wood, metal and plastic. Alpine skiing consists of downhill skiing, slalom and giant slalom (mogul skiing). The alpine skiing mixed event consists of the above three events. People stand upright, hold ski poles and slide on the snow surface with skis on their feet. "Standing", "boarding", "snow" and "sliding" are the key elements of skiing.

[0003] Skiing itself is accompanied by certain risks, especially on busy ski slopes. Existing ski goggles only have simple functions such as wind protection and ultraviolet protection, and cannot provide timely warnings before potential sports collisions occur. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide an intelligent skiing anti-collision warning system and method, which can provide timely warnings, allowing skiers to have sufficient time to react and avoid injuries caused by collisions. This is especially crucial in protecting the safety of the general public's skiing activities and minimizing accidental injuries in competitions to the greatest extent.

[0005] To achieve the above purpose, the present invention is implemented by the following technical solutions:

[0006] In the first aspect, the present invention provides an intelligent skiing anti-collision warning method, including:

[0007] Real-time monitoring of the skier's movement information to determine whether the skier is in a moving state;

[0008] In response to the skier being in a moving state, sending a detection signal around the skier and detecting whether an external feedback signal is received;

[0009] In response to receiving an external feedback signal, sending a ranging signal around the skier and receiving the externally feedbacked ranging signal;

[0010] Calculating the distance between the skier and the feedback signal source based on the time interval between the externally feedbacked ranging signal and the sent ranging signal;

[0011] In response to the distance between the skier and the feedback signal source being lower than a specified threshold, sending a warning signal around the skier and receiving the externally feedbacked warning signal;

[0012] When the time interval between the warning signal fed back from the outside world and the warning signal already sent out is higher than the warning threshold, the alarm program is exited; otherwise, an alarm signal is sent out.

[0013] Furthermore, the motion information of the skier is the speed of the skier obtained by detecting the skier through an acceleration sensor and an electronic clock.

[0014] Furthermore, the ranging signal is sent out by at least one ranging device, and the ranging device includes a laser rangefinder, an ultrasonic sensor, and a binocular vision camera.

[0015] Furthermore, the signal propagation speed during the ranging of the ultrasonic sensor is:

[0016] C = C0 + 0.607×T

[0017] In the formula: C represents the propagation speed of ultrasonic waves; C0 represents the sound wave propagation speed at 0°C; T represents the actual temperature.

[0018] Furthermore, the distance between the skier and the feedback signal source is calculated after multiple cycles of ranging, and the calculation formula is:

[0019] Δx = c*Δt / 2n

[0020] In the formula: Δx is the distance between the skier and the feedback signal source, c is the signal propagation speed, Δt is the time interval between the first signal sent and the last signal received, and n is the number of cycles of the ranging signal.

[0021] Furthermore, the alarm signal is a sound, light, or vibration signal.

[0022] Furthermore, the motion information of the skier and the alarm signal are transmitted to the mobile device terminal through a Bluetooth or Wi-Fi connection communication module for storage, and the motion information of different skiers forms cellular data through mutual transmission and sharing.

[0023] In a second aspect, the present invention provides an intelligent skiing anti-collision warning system, including:

[0024] Monitoring module: Monitor the motion information of the skier in real time and determine whether the skier is in a moving state;

[0025] Detection module: When the skier is in a moving state, send out a detection signal around the skier and detect whether an external feedback signal is received;

[0026] Ranging module: When an external feedback signal is received, send out a ranging signal around the skier, and receive the ranging signal fed back from the outside;

[0027] Calculation module: Calculate the distance between the skier and the feedback signal source based on the time interval between the ranging signal feedback from the outside world and the ranging signal already sent.

[0028] Warning module: When the distance between the skier and the feedback signal source is lower than the specified threshold, send a warning signal around the skier, and receive the warning signal feedback from the outside world.

[0029] Alarm module: When the time interval between the warning signal feedback from the outside world and the warning signal already sent is higher than the warning threshold, exit the alarm program; otherwise, send an alarm signal.

[0030] Thirdly, the present invention provides an intelligent skiing anti-collision warning device, including a processor and a storage medium;

[0031] The storage medium is used to store instructions;

[0032] The processor is used to operate according to the instructions to execute the steps of the method according to any one of the above.

[0033] Fourthly, the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the method according to any one of the above are implemented.

[0034] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0035] First, the present invention uses advanced sensing technologies and intelligent algorithms to timely identify and predict potential collision risks between skiers and obstacles as well as between multiple skiers, and reminds skiers by sending real-time alarms to avoid possible accidents. The research and development of skiing anti-collision warning devices is of great significance;

[0036] Second, the present invention can not only send warnings in a timely manner when potential collision risks occur, giving skiers sufficient time to react, but also improve the overall skiing safety level. By integrating advanced technologies into skiing, the sense of security of athletes can be enhanced, attracting more people to participate in this sport. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The attached drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0038] Figure 1 It is a laser ranging schematic diagram of an intelligent skiing anti-collision warning method provided by Embodiment 1 of the present invention;

[0039] Figure 2Hardware composition diagram of the ultrasonic sensor for an intelligent skiing anti-collision warning method provided in Embodiment 1 of the present invention;

[0040] Figure 3 Ideal binocular camera imaging model diagram for an intelligent skiing anti-collision warning method provided in Embodiment 1 of the present invention;

[0041] Figure 4 Binocular camera imaging parallax comparison diagram for an intelligent skiing anti-collision warning method provided in Embodiment 1 of the present invention. Detailed implementation manners

[0042] The present invention will be described in detail below with reference to the drawings and in conjunction with embodiments. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0043] The following detailed descriptions are all exemplary descriptions, aiming to provide further detailed descriptions of the present invention. Unless otherwise specified, all technical terms adopted by the present invention have the same meaning as commonly understood by those of ordinary skill in the art to which the present invention pertains. The terms used in the present invention are only for describing specific implementation manners and are not intended to limit the exemplary embodiments according to the present invention.

[0044] Embodiment 1:

[0045] This solution provides an intelligent skiing anti-collision warning system, which combines multiple sensing technologies, such as laser ranging, ultrasonic ranging, binocular vision ranging, etc., to monitor and analyze the speed, direction of the skier and the surrounding environment in real time. Once the system detects that the skier's speed is too fast or the distance between the skier and other obstacles (including other skiers) is too close, it will immediately issue an alarm to remind the skier to take evasive measures to improve the safety during skiing. It includes the following technical contents:

[0046] Multi-sensor fusion technology: Utilize multiple sensors such as lasers, ultrasonic waves, and binocular vision to synchronously monitor the movement trajectory, speed of the skier, and the distance from surrounding skiers or obstacles.

[0047] Intelligent algorithm analysis: Analyze potential collision risks through the detection data of multiple sensors and make quick decisions to issue warning signals.

[0048] Wireless communication function: The warning device is connected to the APP, and the skier can view real-time motion data, skiing trajectory, track information, danger warnings and other information through the APP.

[0049] Warning module: Includes three warning methods: sound, light, and vibration, to ensure that the skier can notice potential dangers in time.

[0050] Specifically, the device consists of a sensor module, a processing module, an early warning module, and a communication module, which are responsible for data acquisition, analysis and processing, alarm reminder, and information transmission respectively.

[0051] (1) Data acquisition: The sensor module includes a laser rangefinder, an ultrasonic sensor, and a binocular vision camera, which are used to monitor the distance between the skier and other skiers or obstacles in real time. The GPS real-time acquisition system is a system that uses the Global Positioning System (GPS) technology to obtain relevant information such as the position and speed of the target object in real time, and then collect, transmit, and process the information. The GPS system is used to collect the actual position and skiing speed of the skier in real time.

[0052] (2) Data processing and analysis: The lidar emits a laser beam. When the laser beam encounters an object, part of the laser will be reflected back and received by the receiver of the lidar. By measuring the time difference between the laser emission and reception, multiplying it by the speed of light and then dividing by two, the distance between the lidar and the target object can be obtained. The lidar continuously emits laser beams at a certain frequency and angle range, so as to obtain a large number of distance data points. These points form a three-dimensional point cloud model of the surrounding environment. The system analyzes the data to identify the shape, position, and motion state of the target object; GPS satellites continuously send their own position and time information. After the GPS receiver receives the signals of multiple satellites, it calculates the precise position of the receiver by measuring the signal propagation time and the position of the satellites. Then, the data transmission module sends these data to the data processing center, and after processing, they are displayed on the user terminal. According to the position and speed data of the skier uploaded by the lidar and GPS, the processing module uses an embedded computing unit and adopts data fusion algorithms such as Kalman filtering and Bayesian estimation to process and fuse the data from different sensors such as ultrasonic, camera, and lidar, so as to obtain more comprehensive and accurate information about the target object, and thus more accurately judge the collision risk. The task of machine learning with Bayes' rule: Given the training data D, determine the best hypothesis in the hypothesis space H.

[0053] Best Hypothesis: One way is to define it as the most probable hypothesis given the data D and the knowledge of the prior probabilities of different hypotheses in H. Bayesian theory provides a method for calculating the probability of a hypothesis. Using the Bayesian estimation algorithm, based on the prior probability of the hypothesis, the probability of observing different data given the hypothesis, and the observed data itself, the advantage is particularly obvious. It not only focuses on the frequency characteristics of the data but also involves probabilistic modeling of the uncertainty of unknown parameters, having great flexibility and practicality in dealing with uncertainty and complex models. In the process of inferring the population, not only the population information and sample information are used, but prior information also needs to be used. The Bayesian formula provides a method for calculating the posterior probability P(h|D) from the prior probabilities P(h), P(D), and P(D|h): p(h|D) = P(D|H) * P(H) / P(D). P(h|D) increases with the increase of P(h) and P(D|h) and decreases with the increase of P(D). That is, if the possibility of observing D independently of h is greater, then the degree of support of D for h is smaller. Kalman filtering is an algorithm that uses the state equation of a linear system to optimally estimate the system state through the system input and output observation data. Since the observed data includes the influence of noise and interference in the system, the optimal estimate can also be regarded as a filtering process. Kalman filtering can be used in any dynamic system with uncertain information to make a well-founded prediction of the next direction of the system. Even with various interferences, relatively accurate predictions can be made. Using Kalman filtering in a continuously changing system is very ideal, and it has advantages such as small memory occupancy (except for the previous state quantity, no other historical data needs to be retained) and fast speed.

[0054] (III) Warning Signal Issuance: Once a potential collision risk is detected, the warning module reminds the skier to give way in time through sound, light, or vibration signals to ensure safety.

[0055] (IV) Communication and Feedback: By connecting the communication module via Bluetooth or Wi-Fi, skiers can view real-time motion data, danger warnings, and other information on the mobile phone APP. The system also records the skiing data for subsequent analysis. Additionally, the motion information of all skiers wearing this device forms cellular data, which means the sharing of motion information among wearers and can further enhance the warning effect.

[0056] (V) Device Installation: The system can be installed on the skier's helmet, protective gear, or used as a wearable device to adapt to various skiing environments.

[0057] I. Laser Ranging

[0058] 1) Device

[0059] Light source, lens with a known focal length, CCD photosensitive array.

[0060] 2) Principle (Triangulation method)

[0061] The distance measurement by laser triangulation method calculates the distance between the target object and the rangefinder based on the offset of the spot image captured by the laser displacement sensor. Basic principle: The semiconductor laser irradiates the laser on the object surface through a convex lens to form a spot, and the reflected light of the spot is imaged on the CCD photosensitive array through the lens of the receiving unit. By measuring the imaging displacement (relative to the reference point) on the CCD photosensitive array, and then based on the distance relationship between the object and the image determined by the imaging structure of the rangefinder, the distance between the rangefinder and the target object can be determined.

[0062] The basic idea of the triangulation method is to calculate the measured distance linearly according to the triangular relationship formed by the optical path and the position structure of the transceiver. Based on this method, the following specific implementations are generally available:

[0063] The orthographic method refers to the measurement method in which the measurement line of the rangefinder is parallel to the laser emission line. As Figure 1 shown, let the starting distance be d1, the measurement range be d2, the distance of the target object from the reference point (the intersection point E of the optical axis of the receiving mirror and the emission line) be Δd, the imaging displacement be Δd' (the distance between the image point and the foot of the perpendicular of the optical axis of the receiving mirror on the CCD), and the focal length of the receiving mirror be f, then:

[0064] ∵

[0065] ∴

[0066] ∵

[0067] ∴

[0068] So:

[0069]

[0070] That is:

[0071]

[0072] Also, since CE = CF - EF, so:

[0073] CE·CF = (CF - EF)·CF = CF 2 + CF·EF

[0074] For ΔCBE', BC 2 = CE 2 + BE 2 For ΔBEF, BF 2 = EF 2 + BE 2 So:

[0075] BC 2 -BF 2 = CE 2 -EF 2 = (CF - EF) 2 -EF 2 = CF 2 - 2·CF·EF

[0076] That is:

[0077]

[0078] So:

[0079]

[0080] So:

[0081]

[0082] For △AFC, there is CF 2 = AF 2 + AC 2 , and AF = AB + BF, so:

[0083] CF 2 = (AB + BF) 2 + AC 2

[0084] So:

[0085]

[0086] For △ABC, there is BC 2 = AB 2 + AC 2 , so:

[0087]

[0088] Substituting DE' = Δd', BF = Δd, AB = d1, AC = d0 gives:

[0089]

[0090] That is:

[0091]

[0092] When Δd ≠ 0, there is:

[0093]

[0094] 3) Range and accuracy

[0095] It can be seen from this that in the shown structure, the object distance offset Δd and the imaging displacement Δd' have a non-linear relationship. At this time, the effective photosensitive range (displacement) of the CCD is affected by the focal length f. Let Δd' = v and Δd = u, then there is:

[0096]

[0097] Then, set two limit image displacements v1 and v2, and the corresponding limit object displacements u1 and u2, then:

[0098]

[0099] At this time:

[0100] Effective photosensitive range = max(|v1| + |v2|)

[0101] Range = max(|u1| + |u2|)

[0102] II. Ultrasonic ranging

[0103] 1) Project device:

[0104] Transistor, resistor, T / R40-16 piezoelectric ceramic ultrasonic sensor, transformer.

[0105] 2) Project principle:

[0106] The principle of ultrasonic ranging is to utilize the known propagation speed of ultrasonic waves in the air, measure the time when the sound wave is reflected back after encountering an obstacle after being emitted, and calculate the actual distance from the emission point to the obstacle according to the time difference between emission and reception. That is:

[0107] L = CT

[0108] In the formula, L is the measured distance length; C is the propagation speed of ultrasonic waves in the air [in the air, C = 331.4×(1 + 1 / 273) m / s, t is the Celsius temperature]. When high ranging accuracy is not required, generally, C can be considered a constant, taking C = 340 m / s; T is the time difference for measuring the distance propagation (T is half of the time value from emission to reception).

[0109] The hardware composition of the ultrasonic sensor is as Figure 2 shown. The ultrasonic transmission circuit consists of a transistor, a resistor, a T / R40-16 piezoelectric ceramic ultrasonic sensor, and a transformer. It can be known from relevant materials that ultrasonic waves with a frequency of about 40 kHz have the best propagation efficiency in the air. Its working principle is as Figure 2 shown:

[0110] Initially, the single-chip microcomputer initializes the ports through software programming, making the pin RA2 at a low level. At this time, the ultrasonic emission circuit does not work. After the system initialization is completed, the single-chip microcomputer controls the RA2 pin to output a high level through software, making the collector of the transistor become a low level. The transformer increases the voltage and loads it across both ends of the ultrasonic sensor T40 to generate ultrasonic waves. If there is an object to be measured within the effective ranging azimuth, the echo sent out by the previous ultrasonic wave should be received before the next ultrasonic wave is sent out, otherwise it is considered that there is no obstacle in front.

[0111] The maximum measurement distance range of the system is 9.99m. Therefore, the pulse interval time is t = 2s / v = 2×9.99m / 340m / s = 59ms. The ultrasonic circuit consists of an ultrasonic receiving sensor and a three-stage amplification and filtering circuit. The working principle is as follows: Since in the case of a relatively long distance, the echo of the ultrasonic wave will become very weak, the amplitude of the electrical signal converted by the ultrasonic receiving sensor is also small, so the signal needs to be amplified. When the ultrasonic receiving sensor receives the ultrasonic wave signal, after passing through a three-stage amplification circuit, the R40 pin changes from a low level to a high level, and the single-chip microcomputer stops counting and calculates the distance.

[0112] 3) Analysis of ultrasonic ranging error

[0113] According to the formula of ultrasonic ranging, the main reasons for the error in ranging are the propagation speed of ultrasonic waves in the medium and the time required for ultrasonic waves to propagate when measuring the distance.

[0114] The propagation speed of ultrasonic waves is related to the density of the medium. The higher the density, the faster the propagation speed of ultrasonic waves. When the medium is air, the density of air is related to temperature. Therefore, the propagation speed of ultrasonic waves is affected by temperature.

[0115] The relationship between the propagation speed of ultrasonic waves and temperature is known as follows:

[0116] C = C0 + 0.607×T

[0117] In the formula: C represents the propagation speed of ultrasonic waves; C0 represents the sound wave propagation speed at 0°C; T represents the actual temperature.

[0118] III. Binocular ranging

[0119] 1) Device

[0120] A binocular camera ×1 with known focal length f and left and right camera baseline b.

[0121] 2) Principle

[0122] Binocular ranging can directly measure the distance of the front scene by calculating the disparity of two images.

[0123] A binocular camera can perceive the distance of an object because there are differences in the images of the same object presented by the two cameras, which is also called "parallax".

[0124] Parallax is the offset of the position of the same object in two images due to the baseline distance between the cameras when the object appears in both the left and right images simultaneously. It can be obtained by calculating the distance difference between corresponding pixel points in the two images. The farther the object is from the binocular camera, the smaller the parallax; conversely, the larger the parallax.

[0125] The ideal binocular camera imaging model is as Figure 3 shown. For the left camera pixel point (x l , y l ) and the right camera pixel point (x r , y r ), the parallax d = x l - x r . Let x = b - x l + x r . According to the law of similar triangles:

[0126]

[0127] Substituting gives:

[0128]

[0129] That is:

[0130]

[0131] 3) Influence factors of accuracy

[0132] The larger the baseline distance, the larger the object parallax and the higher the ranging accuracy; the larger the focal length, the smaller the parallax and the higher the ranging accuracy; the larger the viewing angle, the more obvious the pixel difference of the object in the image and the higher the ranging accuracy; the richer the surface texture, the more obvious the parallax and the higher the ranging accuracy.

[0133] From Figure 4 it can be seen that the points closer to the image plane (larger viewing angle) have a larger parallax in the left and right cameras; the points farther from the image plane (smaller viewing angle) have a smaller parallax in the left and right cameras.

[0134] 4) Application process

[0135] Binocular ranging can directly measure the distance of the front scene by calculating the parallax of two images without having to judge the type of obstacles ahead. Therefore, for oncoming skiers, the principle of binocular ranging can be used to judge the change of distance information, so as to give necessary warnings or braking.

[0136] (1) Image capture by the left and right cameras

[0137] (2) Image input;

[0138] (3) Image correction;

[0139] (4) Calculate the disparity using the BM or SGBM algorithm;

[0140] (5) Calculate the distance.

[0141] The establishment of the theoretical model is described below (all the following discussions are based on both Party A and Party B, and the same applies to multiple people):

[0142] Project supplies: 2 acceleration sensors, 2 oscillation circuits that can emit electrical signals of specific frequencies, 2 receivers that can receive electrical signals of specific frequencies, 2 alarms, 2 electronic clocks.

[0143] Experimental procedure:

[0144] 1. Assume that there are two people, A and B, wearing this project device respectively (assuming B is relatively stationary and A is skiing).

[0145] 1.1 Alarm process

[0146] Step1. Speed measurement: Measure the speed of the wearer through the acceleration sensor (using the acceleration sensor and the electronic clock)

[0147] The principle is: ∫Δv = ∫Δa * Δt, where Δv is the change in speed, Δa is the change in acceleration, and Δt is the change in time.

[0148] Thereby determining whether the wearer is skiing;

[0149] Step2. Distance measurement: ① Determine whether there are people around; ② Determine whether to enter the alarm program;

[0150] ① Assume that the wearer A is skiing and he is wearing alarm a, and assume that the wearer B remains stationary and he is wearing alarm b. At this time, a emits a detection signal (note: the frequency of sending the signal is relatively slow, 1 time per second to 2 times per second), and after b receives the signal sent by a, it will emit a signal identical to a, and a starts to measure the distance after receiving the signal;

[0151] ② a emits a ranging signal, and after b receives the ranging signal, it immediately emits a ranging signal identical to a, and a immediately emits the same ranging signal after receiving the signal. The above process is looped n times (note: gradually amplify the signal to reduce the error). At this time, a measures the time interval Δt between the first signal sent and the last signal received, thereby measuring the distance Δx between a and b;

[0152] Principle: Assume that the signal propagation speed is c;

[0153] Δx = c * Δt / 2n

[0154] When Δx is lower than the specified threshold, the device enters the alarm procedure.

[0155] Step 3. Enter the alarm procedure: a emits a warning signal at intervals of ΔT0. When b receives the signal emitted by a, b immediately emits the same signal. After a receives the signal emitted by b, a immediately emits a warning signal and measures the signal interval twice, denoted as ΔT1. Repeat the above process. When ΔTn > the warning threshold, it is determined that the two people are moving away from each other, and at this time, the alarm procedure is exited. When ΔTn ≤ the warning threshold, it is determined that the distance between the two people is too close, and at this time, the alarm is triggered;

[0156] Step 4. Alarm: a emits a sharp popping sound and sends an alarm signal to b. After b receives the signal, b starts to alarm.

[0157] Special note: The thresholds of each procedure can be a function of the skier's speed (experimental data collection and analysis are required). When the skier's speed is lower than a certain threshold, this skier is marked as stationary, and all procedures are interrupted.

[0158] If both A and B are moving at this time, according to the principle of Galilean transformation, the situation is the same as the above situation, and it can be rigorously proved using a mathematical matrix. Details are not elaborated here.

[0159] Example 2:

[0160] An intelligent skiing anti-collision warning system that can implement an intelligent skiing anti-collision warning method described in Example 1, including:

[0161] Monitoring module: Real-time monitor the movement information of the skier and determine whether the skier is in a moving state;

[0162] Detection module: When the skier is in a moving state, send a detection signal around the skier and detect whether an external feedback signal is received;

[0163] Range measurement module: When an external feedback signal is received, send a range measurement signal around the skier and receive the externally feedback range measurement signal;

[0164] Calculation module: Based on the time interval between the externally feedback range measurement signal and the range measurement signal already sent, calculate the distance between the skier and the feedback signal source;

[0165] Warning module: When the distance between the skier and the feedback signal source is lower than the specified threshold, send a warning signal around the skier and receive the externally feedback warning signal;

[0166] Alarm module: When the time interval between the early warning signal fed back from the outside and the already sent early warning signal is higher than the early warning threshold, exit the alarm program; otherwise, send an alarm signal.

[0167] Embodiment III:

[0168] The embodiment of the present invention also provides an intelligent skiing anti-collision early warning device, which can implement the intelligent skiing anti-collision early warning method described in Embodiment I, including a processor and a storage medium;

[0169] The storage medium is used to store instructions;

[0170] The processor is used to operate according to the instructions to execute the steps of the following method:

[0171] Monitor the motion information of the skier in real time and determine whether the skier is in a moving state;

[0172] In response to the skier being in a moving state, send a detection signal around the skier and detect whether an external feedback signal is received;

[0173] In response to receiving an external feedback signal, send a ranging signal around the skier and receive the ranging signal fed back from the outside;

[0174] Based on the time interval between the ranging signal fed back from the outside and the already sent ranging signal, calculate the distance between the skier and the feedback signal source;

[0175] In response to the distance between the skier and the feedback signal source being lower than the specified threshold, send an early warning signal around the skier and receive the early warning signal fed back from the outside;

[0176] Alarm module: When the time interval between the early warning signal fed back from the outside and the already sent early warning signal is higher than the early warning threshold, exit the alarm program; otherwise, send an alarm signal.

[0177] Embodiment IV:

[0178] The embodiment of the present invention also provides a computer-readable storage medium, which can implement the intelligent skiing anti-collision early warning method described in Embodiment I. A computer program is stored thereon, and when the program is executed by a processor, the steps of the following method are implemented:

[0179] Monitor the motion information of the skier in real time and determine whether the skier is in a moving state;

[0180] In response to the skier being in a moving state, send a detection signal around the skier and detect whether an external feedback signal is received;

[0181] In response to receiving an external feedback signal, send a ranging signal around the skier and receive the ranging signal fed back from the outside;

[0182] Calculate the distance between the skier and the feedback signal source based on the time interval between the ranging signal based on external feedback and the emitted ranging signal;

[0183] When the distance between the skier and the feedback signal source is lower than the specified threshold, send a warning signal around the skier, and receive the warning signal feedback from the outside;

[0184] When the time interval between the warning signal feedback from the outside and the emitted warning signal is higher than the warning threshold, exit the alarm program, otherwise, send an alarm signal.

[0185] As is known by common technical knowledge, the present invention can be implemented by other embodiments that do not depart from its spirit or essential features. Therefore, the above-disclosed embodiments are illustrative in all aspects and not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are encompassed by the present invention.

[0186] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0187] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems) and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate for realizing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 the means for the functions specified in one block or multiple blocks.

[0188] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device realizes the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 the functions specified in one block or multiple blocks.

[0189] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are executed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions for implementing the functions specified in one process or multiple processes and / or one block or multiple blocks in the flow Figure 1 one process or multiple processes and / or Figure 1 steps of the functions specified in one block or multiple blocks.

[0190] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications or equivalent replacements can still be made to the specific embodiments of the present invention. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention shall be covered by the protection scope of the claims of the present invention.

Claims

1. An intelligent skiing anti-collision warning method, characterized in that: include: Monitor the skier's motion information in real time to determine whether the skier is in motion; In response to the skier being in motion, a detection signal is sent to the skier's surroundings to detect whether a feedback signal from the outside world is received; In response to receiving a feedback signal from the outside, sending a distance measurement signal to the skier's surroundings, and receiving a distance measurement signal fed back from the outside; Calculate the distance between the skier and the feedback signal source based on the time interval between the external feedback ranging signal and the sent ranging signal; In response to the distance between the skier and the feedback signal source being lower than a specified threshold, sending a warning signal to the skier's surroundings, and receiving a warning signal from external feedback; When the time interval between the warning signal fed back from the outside and the issued warning signal is higher than the warning threshold, the alarm program is exited; otherwise, an alarm signal is issued.

2. The intelligent skiing anti-collision warning method according to claim 1 is characterized in that: The movement information of the skier is the speed of the skier obtained by detecting the skier through an acceleration sensor and an electronic clock.

3. The intelligent skiing anti-collision warning method according to claim 1 is characterized in that: The distance measurement signal is sent by at least one distance measurement device, and the distance measurement device includes a laser rangefinder, an ultrasonic sensor and a binocular vision camera.

4. The intelligent skiing anti-collision warning method according to claim 3 is characterized in that: The signal propagation speed of the ultrasonic sensor when measuring distance is: C=C0+0.607×T In the formula: C represents the propagation speed of ultrasound; C0 represents the propagation speed of sound waves at 0°C; T represents the actual temperature.

5. The intelligent skiing anti-collision warning method according to claim 1 is characterized in that: The distance between the skier and the feedback signal source is calculated after multiple cycles of distance measurement, and the calculation formula is: Δx=c*Δt / 2n Where: Δx is the distance between the skier and the feedback signal source, c is the signal propagation speed, Δt is the time interval between the first signal sent and the last signal received, and n is the number of cycles of the ranging signal.

6. The intelligent skiing anti-collision warning method according to claim 1 is characterized in that: The alarm signal is a sound, light or vibration signal.

7. The intelligent skiing anti-collision warning method according to claim 1 is characterized in that: The skier's motion information and alarm signal are transmitted to the mobile device terminal for storage via a Bluetooth or Wi-Fi connection communication module, and the motion information of different skiers is shared through mutual transmission to form cellular data.

8. An intelligent skiing anti-collision warning system, characterized in that: include: Monitoring module: monitors the skier's movement information in real time and determines whether the skier is in motion; Detection module: in response to the skier being in motion, sends a detection signal to the skier's surroundings to detect whether a feedback signal from the outside world is received; Distance measurement module: in response to receiving a feedback signal from the outside, sends a distance measurement signal to the skier's surroundings, and receives a distance measurement signal fed back from the outside; Calculation module: Calculate the distance between the skier and the feedback signal source based on the time interval between the external feedback ranging signal and the sent ranging signal; Warning module: in response to the distance between the skier and the feedback signal source being lower than a specified threshold, sending a warning signal to the skier's surroundings, and receiving a warning signal from external feedback; Alarm module: When the time interval between the warning signal fed back from the outside and the issued warning signal is higher than the warning threshold, the alarm program is exited; otherwise, an alarm signal is issued.

9. An intelligent skiing anti-collision warning device, characterized in that: including processor and storage medium; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to execute the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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