CN106781262A - A kind of suitable road bow race safety trip device and its barrier-avoiding method - Google Patents
A kind of suitable road bow race safety trip device and its barrier-avoiding method Download PDFInfo
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- CN106781262A CN106781262A CN201710029666.3A CN201710029666A CN106781262A CN 106781262 A CN106781262 A CN 106781262A CN 201710029666 A CN201710029666 A CN 201710029666A CN 106781262 A CN106781262 A CN 106781262A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
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Abstract
The invention provides a kind of suitable road bow race safety trip device and its barrier-avoiding method, including：Sensor acquisition module, comprising GPS module, camera module, range sensor and sound collector, for obtaining location information, view data, range data and voice data；Microprocessor module, according in environment where device at and abnormity point positional information, and abnormity point acoustic information, output safety indicator；Power module, for powering；Output module, by the way of be by safety instruction presentation of information on the mobile terminal device or shielding mobile terminal device.The device helps user to evade danger in time by the analysis to depth image and acoustic information.Orientation and avoidance can not only be guided using existing trip information, and the abnormal sounds such as such as vehicle whistle can be reacted in real time, to realize safe trip.
Description
Technical field
The present invention relates to intelligent danger early warning technical field, more particularly to a kind of suitable road is bowed the safe traveling clothing of race
Put and its barrier-avoiding method.
Background technology
The development of wireless network and the popularization of intelligent mobile terminal product, bring greatly convenient to our life,
But due to the quickening of rhythm of life, more people's Selection utilizations scrappy time, such as the time walked, carried out by mobile terminal
Amusement and recreation." road bow race " has become a huge population, grave danger is constituted to traffic safety.How to allow they
It is the problem of current whole world facing without " step by step soul-stirring " in trip.Conventional complementary safety trip device is only
Being aimed at vision or the sense of hearing has the crowd of obstacle, and simply makes up the defect of single aspect.It is most of existing for outward appearance
There is equipment all to seem clumsy inconvenient, easily attract difference concern.It is notice point in trip so needing a special equipment
Scattered crowd provides warning function, ensures the safety of these crowds, reduces the generation of traffic accident.
The content of the invention
Bowed it is an object of the invention to provide a kind of suitable road the safety trip devices and methods therefor of race, it is existing to solve
When the race of bowing having goes on a journey, the problem of more serious potential safety hazard is caused due to absent minded.
To achieve the above object, the invention provides a kind of suitable road bow race safety trip device, including：
Sensor acquisition module, including GPS module, camera module, range sensor and sound collector, are respectively used to
Obtain the view data of surrounding environment, range data and voice data where real-time location information, harvester；
Microprocessor module, for processing the location information, view data and range data, to obtain environment
At where middle device and abnormity point positional information, and the voice data is processed, to obtain the sound of abnormity point
Information, and according to the positional information and acoustic information output safety indicator；
Power module, for being other module for power supply；
Output module, under the control of the safe indicator, output safety indication signal to mobile terminal to set
It is standby, to control the mobile terminal device display safety instruction information, or control to shield the mobile terminal device.
It is preferred that also including：
Trip logging modle, for during trip to traffic path, travel time, the position of abnormity point, abnormity point
Voice data and view data recorded, so as to for the microprocessor again go on a journey when as output safety indicate
The reference of instruction；
Human-computer interaction module, for after access network, reception preset travel time, destination and macroscopical route,
The order of offline map is downloaded, and according to the record of the trip logging modle, carries out the corresponding abnormity point on macroscopical route
Screening, and the abnormity point confirmed after screening is sent to the microprocessor module with output safety indicator.
It is preferred that also including memory, the memory is connected with the microprocessor, for storing sound model data
Storehouse, the Voice model database includes some voice data models and corresponding safe indicator, for described micro-
Processor module calls the Voice model database to carry out and the comparing of voice data and match, according to the knot for comparing and match
Fruit obtains safe indicator, and whether the safe indicator includes alarming to output module, the order that type of alarm is related.
It is preferred that the sensor acquisition module also includes digital signal processor, the digital signal processor is used for
After the sound collector collects voice data, noise is amplified and filtered to the signal of the voice data.
It is preferred that microprocessor module also includes camera module control module, for obtaining different in microprocessor module
Open command to the camera module is often sent after the positional information or acoustic information of point adopts the camera module unlatching
Collection view data.
It is preferred that the output module includes：
Mobile terminal device control device, under the control of the safe indicator, output safety indication signal
To mobile terminal device, to control the mobile terminal device display safety instruction information；
Signal shielding device of automobile, under the control of the safe indicator, sending shielded signal to shield the shifting
Dynamic terminal device.
Bowed present invention also offers a kind of suitable road the barrier-avoiding method of the safety trip device of race, including following step
Suddenly：
S1：The location information of surrounding environment, view data, range data and sound where sensor acquisition module harvester
Sound data；
S2：Microprocessor module is processed the location information, view data, range data and voice data, is carried
Take the actual range between abnormity point and device；
S3：Whether microprocessor module judges the abnormity point to continuing according to the actual range and/or voice data
Traveling is impacted, such as no, is exited, in this way, into step S4；
S4：According to the information of the abnormity point, controlled output module output safety indication signal is to moving for microprocessor module
Dynamic terminal device, to control the mobile terminal device display safety instruction information, or control to be set to shield the mobile terminal
It is standby.
It is preferred that when the microprocessor module extracts abnormity point, the abnormity point comes from offline map, or by distance
The analysis of data and voice data is obtained, or the abnormity point from trip logging modle record, wherein, when the abnormity point comes from
During offline map, the microprocessor module directly initiates signal shielding device device makes it send shielded signal, to shield movement
Terminal device, when the abnormity point that the abnormity point is recorded from trip logging modle, the microprocessor module control movement
Terminal equipment control output safety indication signal is safe to control the mobile terminal device to show to mobile terminal device
Prompt message.
It is preferred that when the microprocessor module obtains abnormity point by the analysis of range data and voice data it is specific such as
Under：
The microprocessor module judges whether the abnormity point is impacted to continuing on according to the actual range
Process be specially：First, the actual range between front abnormity point and device is extracted, when the actual range is less than predetermined threshold value
During T1, the microprocessor module controls mobile terminal device control device output safety to indicate according to the information of the abnormity point
Signal to mobile terminal device, to control the mobile terminal device display safety instruction information；When the actual range is less than
During threshold value T2, the microprocessor module directly initiates signal shielding device device according to the information of the abnormity point makes it send screen
Signal is covered, to shield the mobile terminal device, wherein, T1 ＜ T2；
The microprocessor module judges whether the abnormity point is impacted to continuing on according to the voice data
Process be specially：First, the corresponding acoustic energy of voice data is extracted, when the acoustic energy is more than predetermined threshold value N1,
The microprocessor module controls mobile terminal device control device output safety indication signal according to the information of the abnormity point
To mobile terminal device, to control the mobile terminal device display safety instruction information；When the acoustic energy is more than threshold value
During N2, the microprocessor module directly initiates the signal shielding device device according to the information of the abnormity point makes it send screen
Signal is covered, to shield the mobile terminal device, wherein, N1 ＜ N2.
It is preferred that described image data are the depth image data of two-dimensional array form, then the step S2 is specifically included：
S21：Gray level image is constructed using the depth image data, coordinate value is obtained；
S22：The depth image data for returning to two-dimensional array form searches required depth information, line displacement distance of going forward side by side
Calculating；
S23：The corresponding depth pixel of barrier is converted into the actual range between barrier and device, wherein, the reality
Border distance includes Edge Distance and depth distance；
Then the step S3 is further included：
S31：Judge whether the Edge Distance is respectively positioned on the left side, it is in this way, such as no into step S32, into step S33；
S32：The corresponding barrier of Edge Distance is considered as an entirety, and using the Edge Distance of the rightmost side as barrier
Information is with output module output safety indication signal；
S33：Judge whether the Edge Distance is respectively positioned on the right, it is in this way, such as no into step S34, into step S35；
S34：The corresponding barrier of Edge Distance is considered as an entirety, and using the Edge Distance of the leftmost side as barrier
Information is with output module output safety indication signal；
S35：Two spacing of barrier are obtained, and judges the spacing whether more than threshold value, in this way, controlled output module
The safe indication signal of straight-line pass is exported, such as no, the safe indication signal that controlled output module output avoidance passes through.
The beneficial effects of the invention are as follows：
The suitable road that the present invention is provided bow race safety trip device by real-time position information and conventional abnormal
Positional information is analyzed, and adjust the distance information and acoustic information analysis, help use in terms of both macro and micro two
Person evades danger in time.Interactively with existing trip information, and user can not only be in real time allowed to barrier
And the abnormal sound such as such as vehicle whistle, it is also possible to reaction in time.In addition, the present invention is changed on the basis of common knapsack
Enter, be in appearance that a box-like device of black is provided with shoulder strap for bag, it is to avoid cause passerby's difference eye, be adapted to warp
Walk roadside and listen " road bow race " that song or bow plays mobile phone to use in normal side.
Brief description of the drawings
The device composition schematic diagram that Fig. 1 is provided for preferred embodiment；
The device composition schematic diagram that Fig. 2 is provided for another preferred embodiment；
Fig. 3 uses schematic diagram for the device part-structure that preferred embodiment is provided.
Specific embodiment
For the present invention is better described, hereby with a preferred embodiment, and accompanying drawing is coordinated to elaborate the present invention, specifically
It is as follows：
The safety trip device of race as shown in figure 1, the suitable road that the present embodiment is provided is bowed, including：
Sensor acquisition module 10, including GPS module 11, camera module 12, range sensor 13 and sound collector
14, it is respectively used to obtain the view data of surrounding environment, range data and sound number where real-time location information, harvester
According to；
Microprocessor module 20, for obtain respectively from GPS module 11, camera module 12, range sensor 13 and
The location information of sound collector 14, view data, infrared distance measurement data and voice data, and to location information, view data,
Infrared distance measurement data and voice data are processed, to obtain in environment at where device and abnormity point positional information, and
The voice data is processed, it is to obtain the acoustic information of abnormity point and defeated according to the positional information and acoustic information
Go out safe indicator；
Power module 30, for being other module for power supply；
Output module 40, sets for output safety indication signal to the mobile terminal under the control of the safe indicator
For to control mobile terminal device display safety instruction information or the control, to shield mobile terminal device 80.Wherein, safety
Indication signal is sent to mobile terminal device in wireless form, and output module of the invention can be by opening bluetooth, being connected into
The mode such as WiFi network or mobile communications network carries out radio communication with mobile terminal device.
Further, the device also includes memory 50, and memory 50 is connected with microprocessor 20, for storing sound mould
Type database, wherein, the Voice model database includes some voice data models and corresponding safe indicator, with
The Voice model database is called to carry out and the comparing of voice data and match for microprocessor module 20, according to comparing and match
Result obtain safe indicator, whether safe indicator here includes alarming to output module, type of alarm is related
Order.
In another preferred embodiment, as shown in Fig. 2 the device also includes：
Trip logging modle 60, for during trip to traffic path, travel time, the position of abnormity point, exception
The voice data and view data of point are recorded, to refer to as output safety when going on a journey again for the microprocessor
Show the reference of instruction；
Human-computer interaction module 70, for after access network, reception to preset travel time, destination and macroscopical road
Line, the order for downloading offline map, and according to the record of the trip logging modle, carry out the corresponding exception on macroscopical route
The screening of point, and the abnormity point confirmed after screening is sent to the microprocessor module with output safety indicator.
Wherein, it is depth camera that above-mentioned image acquisition device 11 is preferably, and the depth camera is used for sampling depth figure
As data, and the microprocessor obtains position and the size of abnormity point (such as barrier) according to depth image data treatment
Etc. information.Range sensor 12 is preferably infrared transmitter, for the distance between direct detection barrier and device.And sound is adopted
Storage 13 is preferably microphone.
Above-mentioned sensor acquisition module 10 also includes digital signal processor 15, and digital signal processor 15 is used in sound
After sound collector 14 collects voice data, noise is amplified and filtered to the signal of voice data.Certainly, the data signal
Processor 15 can also be used for carrying out further optimization processing to the signal from camera module 12, range sensor 13, this
Invention does not limit its concrete function only to process voice signal.
Further, referring to Fig. 2, the output module 40 in the present embodiment also includes：
Mobile terminal device control device 41, for the output safety indication signal under the control of safe indicator to shifting
Dynamic terminal device shows safety instruction information to control the mobile terminal device；
Signal shielding device of automobile 42, it is described mobile whole to shield for sending shielded signal under the control of safe indicator
End equipment.
As shown in figure 3, in the present embodiment the GPS module of sensor acquisition module 10 (GPS module is built-in module, in Fig. 3
It is not shown), camera module 12, range sensor 13 and sound collector 14 can be integrally attached to knapsack, wherein, image head mould
Group 12, range sensor 13 and sound collector 14 can integrally disposed be integral type structure, also dependent on needing to be set to split
Formula structure.Specifically, the sensor acquisition module of apparatus of the present invention can by set one connect the connector such as clip or safety pin with
Backpack strip is connected, and its position can be adjusted according to the actual demand of user, typically may be adjusted to the front shoulder of user
Portion position, so that the direction of camera is forward.Certainly, in other preferred embodiments, sensor collection mould can also be set
Block is connected on clothing or baldric, and the present invention does not limit its specific attachment, as long as it disclosure satisfy that is connected to user's
Can be measured after on finery (including the articles for use such as knapsack, walking stick) obtain user front or surrounding barrier range data and
The voice data of surrounding environment.
Wherein, the microprocessor module in the present embodiment includes an embedded microprocessor, and it uses the frame based on ARM
Structure, is capable of achieving monitor in real time, and memory can be just read and write and change without the operation for stopping processor.In addition in stability, work(
The aspects such as consumption, performance are all of good performance.Due to chip, memory capacity is little in itself, so being deposited using external in the present embodiment
Reservoir, for storage depth view data and the data of Voice model database.And output module uses bracelet vibration mode
Realize, mainly facilitate and remind obstacle positions and the dangerous notice reminded, improve user, prevent the notice because continuing
Dispersion, and cause danger.Power module is used to be other module for power supply.Embedded microprocessor based on ARM frameworks, storage
The modules such as device, power supply are placed in inside backpacks.In other preferred embodiments, the mould such as embedded microprocessor, memory, power supply
Block can be set to the miniature integrated morphology with sensor assembly one, while be connected on finery, it is convenient to be used in different occasions.
Bowed present invention also offers a kind of suitable road the barrier-avoiding method of the safety trip device of race, including following step
Suddenly：
S1：The location information of surrounding environment, view data, range data and sound where sensor acquisition module harvester
Sound data；
S2：Microprocessor module is processed the location information, view data, range data and voice data, is carried
Take the actual range between abnormity point and device；
S3：Whether microprocessor module judges the abnormity point to continuing according to the actual range and/or voice data
Traveling is impacted, such as no, is exited, in this way, into step S4；
S4：Microprocessor module is according to the information controlled output module output safety indication signal of the abnormity point to movement
Terminal device shows safety instruction information or control to shield the mobile terminal device to control the mobile terminal device.
Wherein, microprocessor module is when abnormity point is extracted, the abnormity point of extraction from microprocessor obtain from people
The offline map that machine interactive module is downloaded, or obtained by the analysis of the range data and voice data of current collection, or come from
The abnormity point of trip logging modle record, wherein, when the abnormity point comes from offline map, the microprocessor module is direct
Enabling signal shielding device device makes it send shielded signal, to shield mobile terminal device, when the abnormity point is remembered from trip
During the abnormity point of record module record, the microprocessor module controls mobile terminal device control device output safety indication signal
To mobile terminal device, to control the mobile terminal device display safety instruction information.
Microprocessor module is specific as follows when obtaining abnormity point by the analysis of range data and voice data：
The microprocessor module judges whether the abnormity point is impacted to continuing on according to the actual range
Process be specially：First, the actual range between front abnormity point and device is extracted, when the actual range is less than predetermined threshold value
During T1, the microprocessor module controls mobile terminal device control device output safety to indicate according to the information of the abnormity point
Signal to mobile terminal device, to control the mobile terminal device display safety instruction information；When the actual range is less than
During threshold value T2, the microprocessor module directly initiates signal shielding device device according to the information of the abnormity point makes it send screen
Signal is covered, to shield the mobile terminal device, wherein, value those skilled in the art of T1 ＜ T2, T1 and T2 can be as needed
Self-defined setting.
Whether microprocessor module judges the abnormity point to continuing on the mistake for impacting according to the voice data
Journey is specially：First, the corresponding acoustic energy of voice data is extracted, it is described when the acoustic energy is more than predetermined threshold value N1
Microprocessor module controls mobile terminal device control device output safety indication signal to shifting according to the information of the abnormity point
Dynamic terminal device, to control the mobile terminal device display safety instruction information；When the acoustic energy is more than threshold value N2,
The microprocessor module directly initiates the signal shielding device device according to the information of the abnormity point makes it send shielding letter
Number, to shield the mobile terminal device, wherein, value those skilled in the art of N1 ＜ N2, N1 and N2 can make by oneself as needed
Justice is set.
Wherein, the voice data of sensor acquisition module collection surrounding environment passes to microprocessor module, microprocessor
Module obtains acoustic energy by the analysis to voice data.
In another preferred embodiment, to judge whether the acoustic information needs to be alarmed specific for microprocessor module
Process is：Voice data is included into some voice data models and corresponding safe indicator sound model data with one
Storehouse is compared and matches, to obtain corresponding safe indicator, whether safe indicator includes alarming with output module,
The related order of type of alarm.
In the present embodiment, microprocessor module obtains the flow of abnormity point by image real time transfer, specifically includes：
S401：Depth image data stream is obtained by camera module, depth data is streaming to the processor of microprocessor module.
S402：After microprocessor module carries out the identification of barrier, the actual range between barrier and people is calculated.Wherein, composition has
Imitate the position of condition and the object of barrier and relevant with the relative size of people.All motion-impeding objects all can determine whether to be barrier
Hinder (one kind that obstacle is the abnormity point for acquiring in real time).S403：Relative size according to Obstacle Position and with people, judges
Whether it is effectively to hinder.In this way, into step S404：According to the offset distance that the actual conditions of barrier, calculating are avoided, then enter
Enter step S405：Select smallest offset apart from the route at place for emergency route carries out avoidance.By the corresponding peace of the emergency route
All referring to showing that signal output is supplied to output module as the safe indication signal that avoidance passes through.Such as no, return to step S402 continuation
Obtain depth image data.Wherein, the method for cognitive disorders thing uses binaryzation determination methods in image processing process, specifically
For：The object beyond 1m is set to safe distance first, then its value is 0；Convex closure face of the barrier in view data is calculated again
Product, when area is less than predetermined threshold value, then its value is also 0；The corresponding object of the convex closure is otherwise exported for barrier, and exports convex
Bag coordinate, to be provided as the positional information of barrier.
Wherein, the view data for being collected in the present embodiment is the depth image data of two-dimensional array form, then described
Step S2 is specifically included：
S21：Gray level image is constructed using the depth image data, coordinate value is obtained；
S22：The depth image data for returning to two-dimensional array form searches required depth information, line displacement distance of going forward side by side
Calculating；
S23：The corresponding depth pixel of barrier is converted into the actual range between barrier and device, wherein, the reality
Border distance includes Edge Distance and depth distance.
Here processor is read out judgement to data according to certain geometrical relationship.In the present embodiment, it is only necessary to
Two distances of X-direction and Z-direction, i.e. Edge Distance and depth distance.
For the raised barrier in a ground, it there may be three kinds of position relationships, be closed according to different positions
System, receives corresponding Edge Distance and is subsequently calculated.Judge that two barriers there is a possibility that to merge.The then step
S3 is further included：
S31：Judge whether the Edge Distance is respectively positioned on the left side, it is in this way, such as no into step S32, into step S33；
S32：The corresponding barrier of Edge Distance is considered as an entirety, and using the Edge Distance of the rightmost side as barrier
Information is with output module output safety indication signal；
S33：Judge whether the Edge Distance is respectively positioned on the right, it is in this way, such as no into step S34, into step S35；
S34：The corresponding barrier of Edge Distance is considered as an entirety, and using the Edge Distance of the leftmost side as barrier
Information is with output module output safety indication signal；
S35：Two spacing of barrier are obtained, and judges the spacing whether more than threshold value, in this way, controlled output module
The safe indication signal of straight-line pass is exported, such as no, the safe indication signal that controlled output module output avoidance passes through.Here
The safe indication signal that avoidance passes through includes the offset distance avoided that processor is calculated automatically, selects keeping away for smallest offset distance
Barrier route, to be supplied to the user of device by output module.
Specifically, sensor includes digital signal processor, can be used to strengthen the definition for receiving sound place simultaneously
Reason noise.Our department's split flow includes：S401：Determine sound monitored area.Limited due to being received angle of coverage by sound, connect
It is defaulted as being sent from front sound source after receiving sound.So the present invention takes sound to receive and the separable side of visual reception device
Method, according to the different demands of user, targetedly locks sound monitored area.
S402：Microphone receives voice signal, and calculates the energy of voice signal.
S403：Judge the energy of voice signal whether more than threshold value N1 or N2.When the energy of voice signal is more than threshold value N1
When, voice data is further analyzed, into step S404：Extract audio frequency range and high frequency is held time
Feature, and S405：The sound characteristic parameter stored in the Voice model database set up with early stage and different classes of sound mould
Type is matched.Realize the classification of sound and carry out corresponding early warning.As acoustic energy is more than threshold value N2, then direct early warning is carried out
The operation of shielded signal.As acoustic energy is not more than threshold value, then feedback step S402 continues to voice signal, recalculates new
The energy of voice signal, not early warning.
Include in sound model major class：People's acoustic model and horn for vehicle acoustic model.The energy of described voice signal refers to
The amplitude of sound.According to the classification of sound, microprocessor gives user feedback by output module, reminds race's raising of bowing
Notice, the arriving that danger.
In the present embodiment, when vision avoidance and sound early warning start simultaneously, principle is preferentially hidden using the sense of hearing.That is sound
The general generation source of sound early warning is dynamic, and the reaction time for giving user is short, so using sense of hearing priority principle.
The above, specific embodiment only of the invention, but protection scope of the present invention is not limited thereto, and it is any
Those skilled in the art the invention discloses technical scope in, to the present invention deformation or replacement done, should all cover
Within protection scope of the present invention.Therefore, protection scope of the present invention should be defined by described scope of the claims.
Claims (10)
1. a kind of suitable road bow race safety trip device, it is characterised in that including：
Sensor acquisition module, including GPS module, camera module, range sensor and sound collector, are respectively used to obtain
Real-time location information, the view data of surrounding environment, range data and voice data where harvester；
Microprocessor module, for processing the location information, view data and range data, is filled with obtaining in environment
At where putting and abnormity point positional information, and the voice data is processed, to obtain the acoustic information of abnormity point,
And according to the positional information and acoustic information output safety indicator；
Power module, for being other module for power supply；
Output module, under the control of the safe indicator, output safety indication signal to mobile terminal device, with
The mobile terminal device display safety instruction information, or control is controlled to shield the mobile terminal device.
2. suitable road according to claim 1 bow race safety trip device, it is characterised in that also include：
Trip logging modle, for during trip to traffic path, the travel time, the position of abnormity point, abnormity point sound
Sound data and view data are recorded, so as to for the microprocessor again go on a journey when as output safety indicator
Reference；
Human-computer interaction module, for after access network, reception to preset travel time, destination and macroscopical route, downloads
The order of offline map, and according to the record of the trip logging modle, carry out the sieve of the corresponding abnormity point on macroscopical route
Choosing, and the abnormity point confirmed after screening is sent to the microprocessor module with output safety indicator.
3. suitable road according to claim 1 bow race safety trip device, it is characterised in that also including storage
Device, the memory is connected with the microprocessor, and for storing Voice model database, the Voice model database includes
Some voice data models and corresponding safe indicator, so that the microprocessor module calls the sound model
Database is carried out and the comparing of voice data and matched, and safe indicator, the peace are obtained according to the result for comparing and matching
Whether full indicator includes alarming to output module, the order that type of alarm is related.
4. suitable road according to claim 1 bow race safety trip device, it is characterised in that the sensor is adopted
Collection module also includes digital signal processor, and the digital signal processor is used to collect sound number in the sound collector
According to rear, noise is amplified and filtered to the signal of the voice data.
5. suitable road according to claim 1 bow race safety trip device, it is characterised in that microprocessor module
Also include camera module control module, for microprocessor module obtain abnormity point positional information or acoustic information after,
Open command is sent to the camera module, the camera module is opened collection view data.
6. suitable road according to claim 1 bow race safety trip device, it is characterised in that the output module
Including：
Mobile terminal device control device, for the output safety indication signal under the control of the safe indicator to movement
Terminal device, to control the mobile terminal device display safety instruction information；
Signal shielding device of automobile, for sending shielded signal under the control of the safe indicator to shield the mobile terminal
Equipment.
7. a kind of suitable road bow race safety trip device barrier-avoiding method, it is characterised in that comprise the following steps：
S1：The location information of surrounding environment, view data, range data and sound number where sensor acquisition module harvester
According to；
S2：Microprocessor module is processed the location information, view data, range data and voice data, is extracted different
Often put and the actual range between device；
S3：Whether microprocessor module judges the abnormity point to continuing on according to the actual range and/or voice data
Impact, it is such as no, exit, in this way, into step S4；
S4：, according to the information of the abnormity point, controlled output module output safety indication signal to movement is eventually for microprocessor module
End equipment shows safety instruction information, or control to shield the mobile terminal device to control the mobile terminal device.
8. suitable road according to claim 7 bow race safety trip device barrier-avoiding method, it is characterised in that institute
When stating microprocessor module and extracting abnormity point, the abnormity point comes from offline map, or by range data and voice data
Analysis is obtained, or the abnormity point from trip logging modle record, wherein, it is described when the abnormity point comes from offline map
Microprocessor module directly initiates signal shielding device device makes it send shielded signal to shield mobile terminal device, when described different
During the abnormity point that often point is recorded from trip logging modle, the microprocessor module control mobile terminal device control device is defeated
Go out safe indication signal to mobile terminal device, to control the mobile terminal device display safety instruction information.
9. suitable road according to claim 8 bow race safety trip device barrier-avoiding method, it is characterised in that institute
State specific as follows when microprocessor module obtains abnormity point by the analysis of range data and voice data：
Whether the microprocessor module judges the abnormity point to continuing on the mistake for impacting according to the actual range
Journey is specially：First, the actual range between front abnormity point and device is extracted, when the actual range is less than predetermined threshold value T1
When, the microprocessor module controls mobile terminal device control device output safety to indicate letter according to the information of the abnormity point
Number to mobile terminal device, to control the mobile terminal device display safety instruction information；When the actual range is less than threshold
During value T2, the microprocessor module directly initiates signal shielding device device according to the information of the abnormity point, it is sent screen
Signal is covered, to shield the mobile terminal device, wherein, T1 ＜ T2；
Whether the microprocessor module judges the abnormity point to continuing on the mistake for impacting according to the voice data
Journey is specially：First, the corresponding acoustic energy of voice data is extracted, it is described when the acoustic energy is more than predetermined threshold value N1
Microprocessor module controls mobile terminal device control device output safety indication signal to shifting according to the information of the abnormity point
Dynamic terminal device, to control the mobile terminal device display safety instruction information；When the acoustic energy is more than threshold value N2,
The microprocessor module directly initiates the signal shielding device device according to the information of the abnormity point, it is sent shielding letter
Number to shield the mobile terminal device, wherein, N1 ＜ N2.
10. suitable road according to claim 7 bow race safety trip device barrier-avoiding method, it is characterised in that
Described image data are the depth image data of two-dimensional array form, then the step S2 is specifically included：
S21：Gray level image is constructed using the depth image data, coordinate value is obtained；
S22：The depth image data for returning to two-dimensional array form searches required depth information, the meter of line displacement distance of going forward side by side
Calculate；
S23：The corresponding depth pixel of barrier is converted into the actual range between barrier and device, wherein, the reality away from
From including Edge Distance and depth distance；
Then the step S3 is further included：
S31：Judge whether the Edge Distance is respectively positioned on the left side, it is in this way, such as no into step S32, into step S33；
S32：The corresponding barrier of Edge Distance is considered as an entirety, and using the Edge Distance of the rightmost side as obstacle information
With output module output safety indication signal；
S33：Judge whether the Edge Distance is respectively positioned on the right, it is in this way, such as no into step S34, into step S35；
S34：The corresponding barrier of Edge Distance is considered as an entirety, and using the Edge Distance of the leftmost side as obstacle information
With output module output safety indication signal；
S35：Two spacing of barrier are obtained, and judges the spacing whether more than threshold value, in this way, the output of controlled output module
The safe indication signal of straight-line pass, such as no, the safe indication signal that controlled output module output avoidance passes through.
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