Head-up display and auxiliary driving system based on head-up display

Abstract

The utility model provides a head-up display and an auxiliary driving system based on head-up display, and belongs to the technical field of auxiliary driving. The head-up display comprises a projection device and a reflection device which are detachably connected, and the projection device is used for projecting an image of driving information required by a driver to the reflection device for reflection so as to display a projected virtual image in front of the sight of the driver; the head-up display has a first use form in which the projection device and the reflection device are separately placed on the corresponding placement positions for use, and a second use form in which the projection device and the reflection device are connected and then integrally placed on the corresponding placement positions for use. The head-up display and the auxiliary driving system applying the head-up display provided by the embodiment of the utility model can be applied to different vehicle types, and the application flexibility is relatively high.

Description

Technical Field

[0001] The present application relates to the field of assisted driving technology, and in particular to a head-up display and an assisted driving system based on the head-up display. Background Art

[0002] Head Up Display (HUD) is a kind of glass imaging that projects the main information needed by the driver in the form of icons or text in front of his field of vision, allowing the driver to pay attention to the driving environment and related driving information at the same time, avoiding the driver's line of sight being diverted due to checking driving data during driving, which leads to distraction from the road conditions ahead, and can effectively increase driving safety. Therefore, in recent years, cars with standard HUD function have become more and more common.

[0003] The conventional head-up display usually adopts the structure of: using the front windshield of the car as a reflective surface, setting the projector above the dashboard, and projecting the image of the driving information required for driving onto the front windshield through the projector for a reflection, so that the projected virtual image is displayed at a certain distance in front of the driver's line of sight. The imaging position of the conventional head-up display is located directly in front of the line of sight, overlapping with the road surface, and the virtual image formed does not affect the observation of the road surface. This imaging projection method reduces the driver's visual focus switching and the distraction caused by the deviation of the line of sight. Therefore, the head-up display at this stage is equipped with a special reflector for reflecting the projected image. While the reflector is specially configured for the head-up display, the size of the position where the head-up display needs to be placed when in use is also increased. Therefore, the existing head-up display specially configured with a reflector is not suitable for use on vehicles with a small flat area above some dashboards, and the application flexibility is low. Utility Model Content

[0004] In order to solve the existing technical problems, the present application provides a head-up display that can be flexibly applied to different types of vehicles and an assisted driving system based on the head-up display.

[0005] According to a first aspect of an embodiment of the present application, a head-up display is provided, comprising a detachably connected projection device and a reflection device, wherein the projection device is used to project an image of driving information required by a driver onto the reflection device for reflection, so as to display the projected virtual image in front of the driver's sight;

[0006] The head-up display has a first usage form in which the projection device and the reflection device are separately placed at corresponding placement positions for use, and a second usage form in which the projection device and the reflection device are connected and placed as a whole at the corresponding placement position for use.

[0007] Optionally, the projection device includes a projector and a first support base for supporting the projector at a corresponding placement position, and the reflection device includes a reflector with a semi-transparent and semi-reflective property and a second support base for supporting the reflector at the corresponding placement position;

[0008] The first supporting base and the second supporting base are detachably connected, and the entirety of the projection device and the reflection device after being connected is supported by the first supporting base and the second supporting base at corresponding placement positions for use.

[0009] Optionally, the head-up display further includes an adapter plate;

[0010] The first side of the adapter plate is detachably connected to the first support base, and the second side of the adapter plate is detachably connected to the second support base.

[0011] Optionally, one of the first side of the adapter plate and the first support base is provided with a first magnetic pin, and the other is provided with a first hole seat with magnetic properties opposite to the first magnetic pin, and the first magnetic pin is used to be inserted into the first hole seat; and / or,

[0012] A second magnetic pin is disposed on one of the second side of the adapter plate and the second support base, and a second hole seat having a magnetic property opposite to that of the second magnetic pin is disposed on the other side, and the second magnetic pin is used to be inserted into the second hole seat.

[0013] Optionally, a surface of the first supporting base and / or the second supporting base that contacts the corresponding placement position is provided with an adhesive layer or a suction cup structure.

[0014] Optionally, the projector is rotatably connected to the first support base to adjust the projection angle of the image; and / or,

[0015] The reflector is rotatably connected to the second support base to adjust the image reflection angle.

[0016] Optionally, the projection device is provided with a suspension structure, and the projection device can be suspended at a corresponding placement position above the driving seat through the suspension structure.

[0017] According to a second aspect of an embodiment of the present application, there is provided an assisted driving system based on a head-up display, comprising a sensor, a main control system and any one of the head-up displays described above, wherein the main control system is connected to the sensor and the projection device respectively;

[0018] The sensor is used to collect environmental information of the environment where the vehicle is located, and send the environmental information to the main control system;

[0019] The main control system is used to process the environmental information to obtain environmental perception results, and to recognize the environment in which the vehicle is located based on the environmental perception results and the vehicle's own status information to obtain environmental cognition results, and to send the environmental cognition results as the driving information to the projection device.

[0020] Optionally, the auxiliary driving system further includes a human-computer interaction system connected to the main control system;

[0021] The human-computer interaction system is used to collect user instructions, send the user instructions to the main control system, and express the environmental perception results and environmental cognition results transmitted by the main control system accordingly based on the user instructions.

[0022] Optionally, the sensor includes at least one of an infrared thermal imaging sensor, a visible light imaging sensor and a ranging sensor.

[0023] The head-up display provided in the embodiment of the present application sets the projection device and the reflection device in a detachable assembly form, so that the head-up display has different usage forms to meet the application requirements of different vehicle models, and has high flexible applicability.

[0024] According to the assisted driving system provided in the embodiment of the present application, the head-up display provided in the embodiment of the present application is applied to the environmental perception assisted driving system, so as to present the results of environmental perception and cognition to the driver in the form of a head-up display, which is conducive to improving driving safety. At the same time, the assisted driving system provided in the embodiment of the present application can be flexibly applied to different models. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are only used to illustrate the embodiments and are not considered to be limitations of the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0026] Figure 1 A schematic diagram of the structure of a head-up display provided according to some embodiments of the present application;

[0027] Figure 2 A schematic diagram of a first usage configuration of a head-up display provided in accordance with some embodiments of the present application;

[0028] Figure 3 It is a schematic diagram of a second usage configuration of a head-up display provided in some embodiments of the present application;

[0029] Figure 4 This is a schematic diagram of the structure of a head-up display-based assisted driving system provided according to some embodiments of the present application. DETAILED DESCRIPTION

[0030] The technical solution of the present application is further elaborated in detail below in conjunction with the accompanying drawings and specific embodiments of the specification.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit the implementation of this application. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0032] In the description of the present application, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "row", "top", "bottom", "inside", "outside", etc., indicating positions or positional relationships, are based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0033] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0034] Figure 1 The head-up display provided in accordance with some embodiments of the present application is a schematic diagram of the structure. The head-up display provided in some embodiments of the present application includes a detachably connected projection device 1 and a reflection device 2, wherein the projection device 1 is used to project an image of driving information required by the driver to the reflection device 2 for reflection, so as to display the projected virtual image in front of the driver's line of sight. The head-up display provided in the embodiment of the present application has a first usage form in which the projection device 1 and the reflection device 2 are separately placed in corresponding placement positions for use, and a second usage form in which the projection device 1 and the reflection device 2 are connected and placed as a whole in corresponding placement positions for use.

[0035] The structure of the head-up display in the first usage mode is as follows: Figure 2As shown, the projection device 1 and the reflection device 2 are in a disassembled state, and the two are separately placed in their respective corresponding placement positions for use. The projection device 1 is placed at a P2 position above the driving seat, and the reflection device 2 is placed at the P1 position. The projection device 1 projects the image of the driving information from above onto the reflection device 2 from above. The P1 position can be a flat area position above the dashboard of the vehicle, and the P2 position can be a sun visor position of the vehicle. It should be noted that in the embodiment of the present application, placing the device at a certain position includes placing the device directly at the position, hanging the device at the position, bonding the device at the position, and adsorbing the device at the position. After the projection device 1 and the reflection device 2 are separated, they can be placed independently at the corresponding positions for use. Then, when the flat area above the dashboard of the vehicle is small, based on the head-up display provided in the embodiment of the present application, the user can only place the reflection device 2 on the flat area above the dashboard for use, and separate the projection device 1 and place it on the sun visor P2 above the driving seat for use. The structural schematic diagram of the head-up display in the second usage form is shown in FIG. Figure 3 As shown, when the area above the dashboard of the vehicle is relatively large, based on the needs and choices of the user, the user can connect the projection device 1 and the reflection device 2 as a whole and place them on the area above the dashboard for use. Therefore, when the head-up display provided by the embodiment of the present application is used on a vehicle, there is no high requirement for the flat area above the dashboard of the vehicle, and it can be flexibly used on vehicles of different models.

[0036] In some embodiments, the detachable connection between the projection device 1 and the reflection device 2 can be as follows: Figure 1 In the indirect detachable connection shown, the head-up display further includes an adapter plate 3, through which the projection device 1 is detachably connected to the reflection device 2. Specifically, the first side 31 of the adapter plate 3 is detachably connected to the projection device 1, and the second side 32 is detachably connected to the reflection device 2, so that the projection device 1, the adapter plate 3 and the reflection device 2 form a whole and are placed at the P1 position for realizing the head-up display. In the whole formed by the projection device 1 and the reflection device 2, the light emitting surface of the projection device 1 is opposite to the reflection surface of the reflection device 2 and has a certain distance. On the one hand, the adapter plate 3 is used to connect the projection device 1 and the reflection device into a whole for use, and on the other hand, it is used to limit the distance between the light emitting surface of the projection device 1 and the reflection surface of the reflection device 2, so as to quickly adjust the head-up display to a usable state.

[0037] In other embodiments, the projection device 1 and the reflection device 2 may be detachably connected in a manner that the projection device 1 and the reflection device 2 are directly connected, in which case the projection device 1 is provided with a first connection structure, and the reflection device 2 is provided with a second connection structure for detachably connecting to the first connection structure, and the detachable connection includes a threaded connection, a snap connection, and a latch connection, etc. When the projection device 1 and the reflection device 2 are connected together and placed as a whole at a corresponding position for use, there is a certain distance between the light emitting surface of the projection device 1 and the reflection surface of the reflection device 2.

[0038] The head-up display provided in the embodiment of the present application can be combined with the projection device 1 and the reflection device 2 to form a whole and placed in a car environment with a flat surface for head-up display, or the projection device 1 and the reflection device 2 can be disassembled and placed separately in human-machine friendly positions for imaging according to the actual use scenario. For example, when there is a flat area above the dashboard of the vehicle and the seat height is high and the field of vision is good, the head-up display can be put into the second use mode, that is, the projection device 1 and the reflection device 2 are connected as a whole and placed directly on the flat area on the dashboard, and the projection angle is adjusted to the desired position before the head-up display can be used for head-up display. For another example, when the area above the dashboard of the vehicle does not have a head-up display that can be placed in the second usage form or the angle of the front windshield is relatively vertical so that the projection angle of the head-up display in the second usage form is poor, the projection device 1 and the reflection device 2 can be disassembled and placed separately in corresponding positions for use. Specifically, the reflection device 2 can be placed in the area above the dashboard for use, and the projection device 1 can be placed at a position high above the driver's driving position for use, so as to project the image of the driving information from a top view onto the reflection surface of the reflection device 2, and then reflect the image of the driving information through the reflection device 2 to form human brain image information, thereby transmitting the driving information to the driver. The projection device 1 and the reflection device 2 are set in a detachable form, so that the head-up display has different usage forms to meet the application requirements of different models, and has high flexibility and applicability.

[0039] Please continue reading Figure 1 As shown, in some embodiments, when the adapter plate 3 connects the projection device 1 and the reflection device 2 into a whole and is placed at the P1 position for use, the bottom of the projection device 1, the reflection device 2 and the adapter plate 3 are flush and all contact with the surface of the P1 position, which is beneficial to increase the stability of the head-up display in the second usage form when placed at the P1 position.

[0040] Please continue reading Figures 1 to 3As shown, in some embodiments, the projection device 1 includes a projector 11 and a first support base 11 for supporting the projector 11 at a corresponding placement position (such as P1 position or P2 position), and the reflection device 2 includes a reflector 21 with a semi-transparent and semi-reflective property and a second support base 22 for supporting the reflector 21 at a corresponding placement position (such as P1 position). Among them, the first support base 12 and the second support base 22 are detachably connected, and the entirety of the projection device 1 and the reflection device 2 after being connected is supported at a corresponding placement position (such as P1 position) for use by the first support base 12 and the second support base 22. In the head-up display provided in some embodiments of the present application, corresponding support bases are respectively configured for the projector 11 and the reflector 21, so that both can be independently supported by the corresponding bases at the corresponding positions for use, and both can also be connected as a whole by the detachably connected first support base 11 and the second support base 22, and the user can flexibly choose based on needs.

[0041] Please continue reading Figure 1 As shown, in some embodiments, the first support base 12 and the second support base 22 are detachably connected together through the adapter plate 3. Specifically, the first side 31 of the adapter plate 3 is detachably connected to the first support base 12, and the second side 32 of the adapter plate 3 is detachably connected to the second support base 22. When the projection device 1 and the reflection device 2 need to be separated for use, it is only necessary to detach the first support base 12 and the second support base 22 from the adapter plate 3 respectively.

[0042] In some embodiments, the first side 31 of the adapter plate 3 is connected to the first support base 12 and / or the second side 32 of the adapter plate 3 is connected to the second support base 22 by a latch. Further, in order to facilitate disassembly, the aforementioned latch connection is specifically a magnetic latch connection. For example, a first magnetic pin 33 is provided on the first side 31 of the adapter plate 3, and a first hole seat 13 having a magnetic property opposite to that of the first magnetic pin 31 is provided on the first support base 12, and the first magnetic pin 33 is used to insert into the first hole seat 13. In other embodiments, the first magnetic pin 33 may also be provided on the first support base 12, and the first hole seat 13 may be provided on the first side 31 of the adapter plate 3.

[0043] Furthermore, a second magnetic pin 34 is provided on the second side 32 of the adapter plate 3, and a second hole seat 23 having a magnetic property opposite to that of the second magnetic pin 34 is provided on the second support base 22, and the second magnetic pin 34 is used to be inserted into the second hole seat 23. In other embodiments, the second magnetic pin 34 may also be provided on the second support base 22, and the second hole seat 23 may be provided on the second side 32 of the adapter plate 3.

[0044] In some embodiments, in order to increase the stability of the projection device 1 when placed on the corresponding placement position, the first support base 12 is provided with an adhesive layer or a suction cup structure on the side in contact with the corresponding placement position, and the first support base 12 is adhered to the corresponding placement position through the adhesive layer, or is adsorbed on the corresponding placement position through the suction cup. Similarly, the second support base 22 may also be provided with an adhesive layer or a suction cup structure on the side in contact with the corresponding placement position. The adhesive layer may be repeatedly bonded, and the adhesiveness of the adhesive layer should satisfy the following requirements: the corresponding support base and the placement position can be fixed to each other, and the driver can separate the corresponding support base from the placement position as needed.

[0045] Please continue reading Figure 1 As shown, in some embodiments, the projector 11 is rotatably connected to the first support base 12, that is, the projector 11 can rotate a certain angle relative to the first support base 12. Specifically, the first support base 12 is further provided with a first rotating structure 14, and the projector 11 is connected to the first support base 12 through the first rotating structure 14. The rotation of the first rotating structure 14 can drive the rotation of the projector 11 to adjust the projection angle of the image.

[0046] Please continue reading Figure 1 As shown, in some embodiments, the reflector 21 and the second support base 22 can also be rotatably connected to adjust the reflection angle of the image. Specifically, the second support base is provided with a second rotating structure 24, and the reflector is connected to the second support base 22 through the second rotating structure 24. The rotation of the second rotating structure 14 can drive the rotation of the reflector 21 to adjust the reflection angle.

[0047] In some embodiments, the projection device 1 is provided with a suspension structure, and the projection device 1 can be suspended at a corresponding placement position above the driver's seat through the suspension structure. After the projection device 1 is separated from the reflection device 1, the projection device 1 is fixed above the driver's seat through the suspension structure or fixed to the corresponding placement position above the driver's seat through the bottom adhesive layer or suction cup of the first support base 12, so that the projection device 1 is suspended above the reflection device 2 to look down at the projection. Therefore, the head-up display provided according to the embodiment of the present application can also be a suspended head-up display in the first use form, and a dashboard head-up display in the second use form. Users can flexibly select a specific use form according to their needs.

[0048] The head-up display provided in the embodiment of the present application can be flexibly applied to vehicles of different models. In order to further improve its applicability, the present application also provides an assisted driving system based on the head-up display. Figure 4As shown, it is a structural schematic diagram of the assisted driving system provided by the present application. In some embodiments, the assisted driving system provided by the present application includes a sensor 4, a main control system 5 and a head-up display provided in accordance with any of the embodiments of the present application, the head-up display includes a projection device 1 and a reflection device 2, and the main control system 5 is connected to the sensor 4 and the projection device 1 respectively. The sensor 1 is used to collect environmental information of the environment in which the vehicle is located, and send the environmental information to the main control system 5. The main control system 5 is used to process the environmental information, obtain environmental perception results, and recognize the environment in which the vehicle is located based on the environmental perception results and the state information of the vehicle itself, obtain environmental cognition results, and send the environmental cognition results as driving information to the projection device 1. The projection device 1 generates a corresponding image from the driving information, and projects the image from the reflection device 2. The reflection device 2 reflects the projected image to form virtual driving information at a certain position in front of the driver's line of sight for the driver to observe.

[0049] The perception result includes information such as the category, position and size of the target object obtained by the main control system 5 through perception of the target object in the surrounding environment of the vehicle, and the recognition result includes the main control system 5 recognizing the target object in the surrounding environment based on the information of the perceived target object and the state information of the vehicle itself, so as to judge whether there are risk targets, targets that need to be warned or targets that need to be prompted, etc. in the surrounding environment. The graphic information and image information of the driving information projected by the projection device 1 are finally virtually displayed based on the head-up display.

[0050] According to the assisted driving system provided in the embodiment of the present application, the head-up display provided in the embodiment of the present application is applied to the environmental perception assisted driving system, so as to present the results of environmental perception and cognition to the driver in the form of a head-up display, which is conducive to improving driving safety. At the same time, the assisted driving system provided in the embodiment of the present application can be flexibly applied to different models.

[0051] In some embodiments, in order to enhance the driver's experience, the assisted driving system provided according to the embodiment of the present application further includes a human-computer interaction system 6 connected to the main control system 5. The human-computer interaction system 6 is used to collect user instructions, send the user instructions to the main control system 5, and express the environmental perception results and environmental cognition results transmitted by the main control system 5 accordingly based on the user instructions.

[0052] The human-computer interaction system 6 collects user commands input by the user based on touch, gesture, voice command, etc., and sends the collected user commands to the main control system 5. The main control system 5 sends the corresponding environmental perception results and environmental cognition results to the human-computer interaction system 6 according to the user commands, so that the human-computer interaction system 6 can express the results. Specifically, the human-computer interaction system 6 expresses the environmental perception results and environmental cognition results in images, sounds, and texts based on the user commands, so as to deliver the environmental perception results and environmental cognition results obtained by the main control system 5 based on the environmental information perceived by the sensor 4 to the user in the manner required by the user.

[0053] In some embodiments, the sensor 4 includes at least one of an infrared thermal imaging sensor, a visible light imaging sensor, and a distance measuring sensor. When the sensor 4 includes multiple different types of sensors, multiple different types of sensors constitute a sensor array to collect environmental information of the environment where the vehicle is located and send it to the main control system 5. The distance sensor can be a laser radar or a millimeter wave radar. The combination of the imaging sensor and the distance sensor to collect environmental information is conducive to improving the accuracy of the perception results and cognitive results.

[0054] In some embodiments, in the assisted driving system provided by the present application, sensor 4 includes an infrared thermal imaging sensor. The infrared thermal imaging sensor is not affected by lighting conditions and can still provide completely clear environmental image information under conditions of weak light or even complete darkness, and the same is true in conditions of strong backlight and low visibility in foggy days. The assisted driving system provided by the embodiment of the present application combines an assisted driving system based on infrared thermal imaging with a head-up display, which can fully utilize the advantages of infrared thermal imaging sensors in extremely poor light conditions to improve safety, while also avoiding the reduction in safety caused by the obstruction of vision caused by conventional display methods, and providing a better human-computer interaction experience.

[0055] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A head-up display, characterized in that: It comprises a detachably connected projection device and a reflection device, wherein the projection device is used to project an image of driving information required by the driver onto the reflection device for reflection, so as to display the projected virtual image in front of the driver's sight; The head-up display has a first usage form in which the projection device and the reflection device are separately placed at corresponding placement positions for use, and a second usage form in which the projection device and the reflection device are connected and placed as a whole at the corresponding placement position for use.

2. The head-up display according to claim 1, characterized in that: The projection device comprises a projector and a first support base for supporting the projector at a corresponding placement position, and the reflection device comprises a reflector with a semi-transparent and semi-reflective property and a second support base for supporting the reflector at a corresponding placement position; The first supporting base and the second supporting base are detachably connected, and the entirety of the projection device and the reflection device after being connected is supported by the first supporting base and the second supporting base at corresponding placement positions for use.

3. The head-up display according to claim 2, characterized in that: Also includes an adapter plate; The first side of the adapter plate is detachably connected to the first support base, and the second side of the adapter plate is detachably connected to the second support base.

4. The head-up display according to claim 3, characterized in that: One of the first side of the adapter plate and the first support base is provided with a first magnetic pin, and the other is provided with a first hole seat with opposite magnetic properties to the first magnetic pin, wherein the first magnetic pin is used to be inserted into the first hole seat; and / or, A second magnetic pin is disposed on one of the second side of the adapter plate and the second support base, and a second hole seat having a magnetic property opposite to that of the second magnetic pin is disposed on the other side, and the second magnetic pin is used to be inserted into the second hole seat.

5. The head-up display according to claim 2, characterized in that: A surface of the first supporting base and / or the second supporting base that contacts the corresponding placement position is provided with an adhesive layer or a suction cup structure.

6. The head-up display according to claim 2, characterized in that: The projector is rotatably connected to the first support base to adjust the projection angle of the image; and / or, The reflector is rotatably connected to the second support base to adjust the image reflection angle.

7. The head-up display according to any one of claims 1 to 6, characterized in that: The projection device is provided with a suspension structure, and the projection device can be suspended at a corresponding placement position above the driving seat through the suspension structure.

8. An assisted driving system based on head-up display, characterized in that: comprising a sensor, a main control system and the head-up display according to any one of claims 1 to 7, wherein the main control system is connected to the sensor and the projection device respectively; The sensor is used to collect environmental information of the environment where the vehicle is located, and send the environmental information to the main control system; The main control system is used to process the environmental information to obtain environmental perception results, and to recognize the environment in which the vehicle is located based on the environmental perception results and the vehicle's own status information to obtain environmental cognition results, and to send the environmental cognition results as the driving information to the projection device.

9. The driving assistance system according to claim 8, characterized in that: It also includes a human-computer interaction system connected to the main control system; The human-computer interaction system is used to collect user instructions, send the user instructions to the main control system, and express the environmental perception results and environmental cognition results transmitted by the main control system accordingly based on the user instructions.

10. The driving assistance system according to claim 8, characterized in that: The sensor includes at least one of an infrared thermal imaging sensor, a visible light imaging sensor and a distance measuring sensor.

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