TWI596362B - Method and system for detecting wheel slip within object distance using structured light - Google Patents

Description

Inner wheel differential warning method and system using structured light sensing object distance

The present invention relates to an alert system, and more particularly to an inner wheel differential warning method and system for utilizing a structured light sensing object distance for alerting an object within an inner wheel difference range of different mobile vehicles.

As the most common mobile vehicle in daily life, the car has at least a left rear mirror, a right rear mirror, and a rear rear mirror for images of the left rear, right rear and rear of the vehicle. The reflection of the rear view mirror is presented to the driver of the car, but the range of vision that can be presented to the driver by these rearview mirrors is limited, and because the rear view mirror is necessary to give the driver a wider field of view, it is necessary to use a convex lens, but the convex lens The image is a reduced and erect virtual image, which will produce the illusion that the object at a close distance has a distant object when imaging through the convex lens, which makes it difficult for the driver to grasp the actual distance from the object.

And when the car is driving on the road, in addition to the limited range of vision and the sense of distance, it is more likely that the life safety of the driver, passengers and pedestrians will be threatened because of mental fatigue or other non-compliance with the passers-by. . In order to improve safety, many passive safety equipments have been equipped as standard equipment for vehicles, and active safety equipment has been continuously developed under the efforts of major manufacturers.

In the prior art, there are some safety warning function devices that permit immediate warning of the user, such as setting the signal transmitter and the signal receiver as the parking sensor when reversing. When other objects are near the rear of the car, the driver's equipment is alerted with sound. However, for the driver, there is still a specific visual dead angle in the car, especially in the range of the inner wheel difference generated by the car when turning, which is more likely to cause a visual dead angle. The so-called inner wheel difference is the difference between the turning radius of the front inner wheel and the turning radius of the inner inner wheel when the car turns. In the process of observing the turning of the car, it can be found that when the car turns, the inner wheel moves as a fulcrum, and the areas where the front and rear wheels travel are actually different. In general, small cars will produce an inner wheel difference of about 0.6 meters, while the inner wheel difference of large tour buses and large trucks will exceed 1.5 meters.

In the prior art, there is also a photographic device installed outside the vehicle, and the image capturing device is used to obtain an image and displayed on the display device in the vehicle for reference by the driver. However, the image capturing device has a limited image range and needs to be obtained. Fixed in the same position, so that the shooting range of the image capture cannot be changed according to the angle of the car when turning, so that some visual dead angles will occur, and the image captured by the image capturing device is a flat image. It is difficult for the driver to judge the distance to the object based on this image. Some manufacturers now add reference lines to the image as the basis for the driver to judge the distance. However, in this way, the driver can only know the approximate distance and cannot accurately determine whether the object is within the range of the inner wheel difference.

An object of the present invention is to provide an inner wheel differential warning method for sensing an object distance by using a structured light, which is reflected by a structured light projection module and a structured light receiving module mounted on a mobile vehicle. An optical image signal, and when the moving vehicle turns, determines that an object is approaching the mobile vehicle and sends a warning signal to alert the driver of the mobile vehicle.

Another object of the present invention is to provide an inner wheel differential warning method and system using a structured light sensing object distance, which is received by a structured light projection module and a structured light receiving module mounted on a mobile vehicle. Reflecting a plurality of optical image signals, and determining whether there is an object within the range of the inner wheel difference when the moving vehicle turns, determining that an object is within the range of the inner wheel difference, and issuing a warning signal to remind the driving of the mobile vehicle personnel.

In order to achieve the above-mentioned various purposes and effects, an embodiment of the present invention discloses an inner wheel differential warning method using a structured light sensing object distance, the steps of which include: the processing unit calculates the inner wheel differential warning distance according to the turning angle, The structured light projection module and the structured light receiving module receive a plurality of optical image signals reflected by the object, and the processing unit calculates the distance of the object by the optical image signal, and the processing unit adjusts the distance according to the distance of the object and the inner wheel difference Warning information is obtained in the database, and the warning module issues a warning based on the warning information.

In an embodiment of the present invention, in the step of using the alert module to issue the alert notification, the alert notification is sent by using at least one sound effect unit of the alert module.

In an embodiment of the present invention, the alert module controls the frequency at which the sound effect unit issues the alert notification according to the alert information.

In an embodiment of the invention, the processing unit further calculates one piece of movement information of the object according to the light image information.

In an embodiment of the present invention, in the step of the processing unit obtaining the warning information from the database, the processing unit is configured from the database according to the distance information, the movement information, and the inner wheel warning distance Obtain the warning information.

In an embodiment of the present invention, after the step of calculating, by the processing unit, the distance information of the object according to the light image information, the step of the method further comprises: Displaying the light image information in a display unit; the processing unit marks the at least one object in the display unit.

In an embodiment of the present invention, after the step of calculating, by the processing unit, the distance information of the object according to the optical image information, the step of the method further comprises: acquiring at least one image by using a camera module, The display unit displays the image.

In an embodiment of the present invention, before the step of inputting one of the moving carriers to a processing unit, the step of the method further comprises: using a traveling state sensing unit to obtain one of the moving carriers State, determining that the traveling state is a turn.

Another embodiment of the present invention discloses an inner wheel differential warning system that uses a structured light to sense an object distance, and the device is mounted on a mobile vehicle, comprising: a structured light projection module, a structured light imaging unit, a processing unit, and a warning mode. The group is configured to perform the above-mentioned inner wheel differential warning method using the structured light sensing object distance.

In an embodiment of the invention, the processing unit calculates the inner wheel differential warning distance according to a turning angle of the moving carrier.

In an embodiment of the invention, the processing unit calculates the moving direction of the object by using the light image information.

In an embodiment of the invention, the processing unit obtains a warning information from a database according to the distance between the object and the mobile vehicle, the moving direction of the object, and the warning distance of the inner wheel.

In an embodiment of the invention, a display unit is further included for displaying the light image information.

In an embodiment of the invention, an image capturing unit is further included for capturing an image, and the display unit displays the image.

In an embodiment of the invention, the alert module includes at least one sound effect unit.

In an embodiment of the invention, a traveling state sensing unit is further included for sensing the traveling state of the moving carrier.

1‧‧‧Mobile Vehicles

10‧‧‧Structural light projection module

101‧‧‧Laser light source unit

103‧‧‧ lens group

105‧‧‧Light plane

20‧‧‧Structural light camera unit

30‧‧‧Processing unit

40‧‧‧Warning module

401‧‧‧Sound unit

50‧‧‧Power supply unit

60‧‧‧ display unit

70‧‧‧Database

80‧‧‧Travel state sensing unit

90‧‧‧ camera unit

2‧‧‧ objects

The first figure is a system block diagram of an inner wheel difference warning method using a structured light sensing object distance according to a first embodiment of the present invention; the second figure is an operating structure of the first embodiment of the present invention. A schematic diagram of the application of the wheel differential warning method for measuring the distance of the light object to indicate that the light plane is projected onto the object; the third figure is the inner wheel difference of the distance of the light sensing object used in the first embodiment of the present invention The light plane of the warning method comprises a schematic diagram of a two-dimensional point array; the fourth figure is a flow chart of the method for detecting the internal wheel difference of the distance of the structured light sensing object according to the first embodiment of the present invention; It is a flowchart of an inner wheel difference warning method using a structured light sensing object distance according to a second embodiment of the present invention; and a sixth figure: it is a structural light sensing object according to a second embodiment of the present invention. System block diagram of the distance warning method within the distance.

In order to provide a better understanding and understanding of the features and the efficacies of the present invention, the preferred embodiment and the detailed description are as follows: In the prior art, since the image captured by the general image capturing device is a flat image, when the dead angle of the inner wheel difference is used, it is easy for the driver to accurately determine whether the object is within the range of the inner wheel difference, and thus the present invention An inner wheel differential warning method and system using structured light to sense the distance of an object is proposed. The actual distance between the object and the moving vehicle is calculated by the reflection of the structured light for reference by the driver, and when the object enters the inner wheel difference range, The driver made a warning.

First, referring to the first figure and the second figure together, the inner wheel differential warning system using the structured light sensing object distance disclosed in the present invention is disposed on a mobile vehicle 1 such as a car, a bus or a large truck. The inner wheel differential warning system using the structured light sensing object distance includes a structured light projection module 10, a structured light imaging unit 20, a processing unit 30, and a warning module 40. A display unit 60, a database 70 and a traveling state sensing unit 80. The above units and modules can be electrically connected to a power supply unit 50 to obtain power supply for operation.

The structured light projection module 10 includes a laser light source unit 101 and a lens group 103 for detecting whether there is an object in the space within several tens of meters of the side of the mobile vehicle 1 that may affect driving safety, for example, Pedestrians, animals, other mobile vehicles, or fixed fences, bushes, etc. The detection method used in the present invention is a structured light technology. The principle is to use a light source to project a controllable light spot, a light strip or a light plane on the surface of the object to be measured, and then obtain a reflected image by a sensor such as a camera. The geometric coordinates of the object can be obtained. In a preferred embodiment, the invisible laser is used as a light source, and the characteristics of good coherence, slow attenuation, long measuring distance, high precision, and the like are not easily affected by other light sources, so The light projection is better. The light source provided by the laser light source unit 101 is diverged after passing through the lens group 103, which is a light plane 105 in space. The lens group 103 used in the present invention may be included A patterned lens having a patterned microstructure such that a light plane formed by the penetrating laser source has patterned features, such as an array of spots in a two-dimensional plane, as shown in the third figure Show.

If there are other objects 2 around the moving carrier 1, when the light plane 105 is projected on the surface of the object 2, the light is reflected and received by the structured light imaging unit 20 as a light image message. Unit 20 is an imaging unit that can receive invisible lasers. The light image message is a deformation pattern formed by the irregularity reflected by the light plane 105 projected by the structured light projection module 10 on the surface of the object 2 itself. After the structured light imaging unit 20 receives the deformation pattern, the system can further utilize the image. These deformation patterns reconstruct the three-dimensional appearance of the object 2.

Processing unit 30 is an electronic component that performs arithmetic and logic operations. The warning module 40 includes a sound effect unit 401. The warning module 40 can send a warning according to the warning message after receiving the warning message, and the warning sent by the sound effect unit 401 can be sound effect, voice or other prompting to the driver. sound. The display unit 60 can be a liquid crystal screen, a plasma screen, a cathode ray tube screen or other display unit 60 that can display digital images. The database 70 is an electronic component that can store digital information, and stores at least one warning information. The database 70 is not limited to being disposed on the mobile carrier 1 or externally. The mobile carrier 1 is wired to the database 70 via wireless or wired to obtain alert information. The traveling state sensing unit 80 can sense the traveling state of the mobile vehicle 1 , and the traveling state sensing unit 80 can determine the traveling state of the mobile vehicle 1 according to the information generated by the gyroscope or other sensors that can generate the turning speed. The traveling state sensing unit 80 may also sense the traveling state of the moving carrier 1 according to the opening of the direction light of the moving carrier 1 or the rotation of the steering wheel; the traveling state sensing unit 80 may also be installed on the moving load. The tire having 1 detects the traveling state of the moving carrier 1 by sensing the rotation angle of the moving carrier tire. The power supply unit 50 can be a battery or an external power supply.

Next, the flow of the inner wheel differential warning method using the structured light sensing object distance according to the first embodiment of the present invention will be described. Referring to the fourth figure, the distance of the structured light sensing object is used in the first embodiment of the present invention. A flow chart of the method of warning of the wheel difference. As shown in the figure, the steps required for the execution of the embodiment include: step S1: determining the traveling state of the mobile vehicle; step S3: obtaining the inner wheel differential warning distance; and step S5: obtaining the plurality of light patterns by the structured light imaging unit Step S7: the processing unit calculates the movement information and distance information of the object according to the light image information; step S9: the processing unit marks the object; step S11: the processing unit obtains the warning information; and step S13: the processing unit inputs the warning Information to the alert module.

The flow of the inner wheel differential warning method using the structured light sensing object distance according to the first embodiment of the present invention will be described below. Please refer to the first, second, third and fourth figures. When the mobile vehicle 1 travels on a road and is equipped with a system that can perform the internal wheel differential warning method using the structured light sensing object distance of the present invention, steps S1 to S13 are performed.

In step S1, the traveling state of the moving carrier 1 is judged. The traveling state sensing unit 80 determines the current traveling state of the moving carrier 1, for example, when the traveling state sensing unit 80 is a gyroscope, it can be judged by the gyroscope whether the moving carrier 1 is in a straight line or a turn. When the traveling state sensing unit 80 senses the traveling state of the mobile vehicle 1 according to the opening of the direction light of the moving carrier 1, it can be judged by turning on the left or right direction light. The moving carrier 1 is turning, and when the directional lights are not turned on, it is judged that the moving carrier 1 is in a straight line. When the traveling state sensing unit 80 is mounted on the tire of the moving carrier 1, the traveling state sensing unit 80 can determine the traveling state of the moving carrier 1 according to the rotation angle of the tire of the moving carrier. When the moving carrier 1 is in a straight line, step S1 is repeated.

In step S3, the processing unit 30 obtains the inner wheel differential warning distance according to the turning angle of the moving carrier 1. When the traveling state sensing unit 80 is a gyroscope, the turning angle can be calculated by the turning speed generated by the gyroscope. The turning angle can also be obtained by a sensor mounted on the tire or axle. After the processing unit 30 obtains the turning angle, it calculates and obtains the inner wheel differential warning distance.

In an embodiment of the present invention, when the mobile vehicle 1 is a non-trailer vehicle, the processing unit 30 can calculate the inner wheel difference of the mobile vehicle 1 by a formula, and the formula is as follows: Where M is the inner wheel difference, R is the turning radius of the moving carrier 1, L is the wheelbase of the front and rear wheels of the moving carrier, d ₁ is the front wheel track, d ₂ is the rear wheel track, and θ is the turning angle. All the parameters except θ can be known by the manufacturer or supplier of the mobile vehicle 1. The processing unit 30 can directly use M as the inner wheel differential warning distance, and can also add a constant to increase the inner wheel differential warning distance. Give the driver more reaction time.

In an embodiment of the present invention, when the mobile vehicle 1 is a towed vehicle, the processing unit 30 can also calculate the inner wheel difference of the mobile vehicle 1 by a formula, and the formula is as follows: Wherein, L is a wheelbase of the tractor axle, L 'of the trailer to the traction pin wheelbase of the intermediate shaft, d ₂ of the tractor centerline spacing around the outside rear wheel, K is the coupling pin from the towing vehicle rear axle .

In particular, the processing unit 30 may also select other formulas that can be calculated from the turning angle of the moving carrier 1 to calculate the inner wheel differential warning distance.

In step S5, the structured light imaging unit 20 acquires a plurality of light image information. The laser light source unit 101 of the structured light projection module 10 continuously projects a plurality of light planes 105 to the surface of at least one object 2 around the moving carrier 1. The structured light-emitting imaging unit 20 obtains the surface of the object 2 through the light planes. A plurality of light image messages reflected after the projection of 105. The laser light emitted by the laser light source unit 101 is diverged after passing through the lens group 103, so the projection distance is limited and is not projected to an object far from the moving carrier 1. In one embodiment, the laser light source unit 101 emits The laser light is projected within 15 meters. In another embodiment, the power of the laser light source unit 101 can be adjusted to further increase or decrease the distance of the laser light projection. For example, when the mobile vehicle 1 is a general passenger car, the inner wheel difference range is small, so that the distance can be reduced. The power of the laser light source unit 101 is such that only the object closer to the moving carrier 1 reflects the laser light, which can reduce the power consumption and reduce the data to be processed by the processing unit 30; and when the mobile vehicle 1 is large When the passenger car or the tractor has a large inner wheel difference range, the power of the laser light source unit 101 can be increased, so that objects farther away from the mobile vehicle 1 can also reflect the laser light, thereby increasing the safety of driving.

In step S7, the processing unit 30 calculates the distance information and the movement information of the object 2 according to the light image information, and the processing unit 30 can calculate and analyze the light image information acquired by the structured light imaging unit 20, and use the change thereof. The distance information between the object 2 and the moving carrier 1 , the movement information, and the appearance contour of the object 2 are obtained. This hair In the actual application, the structured light projection module 10 continuously projects a plurality of light planes 105 on the outside of the moving carrier 1 , so when the object 2 falls within its projection range, the structured light imaging unit 20 naturally The plurality of optical image messages reflected by the object 2 are continuously obtained, so that the processing unit 30 can reconstruct a plurality of stereoscopic contours of the object 2, so the processing unit 30 can calculate the object by using a plurality of stereoscopic contours of the object 2. 2 distance information and mobile information.

In step S9, the processing unit 30 marks the object 2. In this step, the display unit 60 displays the light image information reflected by the object 2, and the processing unit 30 marks the object 2 on the light image information displayed by the display unit 60 according to the appearance contour of the object 2, whereby the driver can The presence of the object 2 is known through the display unit 60. The processing unit 30 can mark the distance between the object 2 and the moving carrier 1 on the display unit 60. For example, when the object 2 is within 3 meters of the moving carrier 1, the light image of the object 2 on the display unit 60 The message unit 3 is marked next to the message; the processing unit 30 can change the color of the light image information on the display unit 60 according to the distance information of the object 2, for example: when the object 2 is within 3 meters of the moving carrier 1 The light image message of the object 2 is displayed in red on the display unit 60. When the object 2 is within 10 meters of the moving carrier 1, the light image information of the object 2 is displayed in green. On unit 60.

In step S11, the processing unit 30 obtains warning information. The processing unit 30 obtains the warning information in a database according to the distance information and the inner wheel difference warning distance. When the distance information is smaller than the inner wheel difference warning distance, it represents a danger of collision. At this time, the processing unit 30 obtains the warning from the database. News.

In step S13, the processing unit 30 inputs the warning information to the alert module 40. In this step, the processing unit 30 inputs the warning information obtained in step S11 to the warning module 40, and the warning module 40 controls the sound effect unit 401 to issue an alert according to the warning information.

In an embodiment of the present invention, in step S11, the processing unit 30 obtains the warning information from the database according to the movement information, the distance information, and the inner wheel differential warning distance. The processing unit 30 determines that the object 2 is within the inner wheel difference warning distance and moves to the mobile vehicle 1 according to the movement information, the distance information and the inner wheel difference warning distance information, and the processing unit 30 obtains the first warning information from the database 70; The unit 30 determines that the object 2 is within the inner wheel difference warning distance and is parallel to the moving direction of the moving vehicle 1 according to the movement information, the distance information and the inner wheel difference warning distance, and the processing unit 30 obtains the second warning information from the database 70; The unit 30 determines that the object 2 is outside the inner wheel differential warning distance and moves to the mobile vehicle 1 according to the movement information, the distance information and the inner wheel differential warning distance, and the processing unit 30 obtains the third warning information from the database 70. In other situations, for example, when the object 2 is outside the inner wheel differential warning distance and parallel to the moving direction of the moving vehicle 1, or the object 2 is within the inner wheel differential warning distance and is moving away from the moving vehicle 1, it is safe for driving. Less insignificant, it is only necessary to mark the object 2 on the display unit 60 (step S7).

In an embodiment of the present invention, in step S13, when the warning message is the first warning message, the warning module 40 controls the sound effect unit 401 to continuously sound or be a voice because there is a danger of immediateness. Informing the driver that there is an object 2 approaching within the range of the wheel difference; when the warning message is the second warning message, the warning module 40 controls the sound effect unit 401 to intermittently sound or remind because there is no immediate danger. The voice informs the driver that there is an object 2 within the range of the wheel difference; when the warning message is the third warning message, since the object 2 still has a sufficient safety distance from the moving vehicle 1, the warning module 40 controls the sound effect unit 401 to issue A sound reminder or a voice is used to inform the driver that there is an object outside the range of the wheel. When the sound effect unit 401 alerts the driver with an audible sound, the frequency of the sound emitted by the sound effect unit 401 according to the first warning message is higher than the frequency of the sound emitted by the sound effect unit 401 according to the second warning message.

After the above steps are performed, the inner wheel difference warning method using the structured light sensing object distance of the first embodiment of the present invention is completed. The invention can obtain the movement information and the distance information of the object on the side of the mobile vehicle according to the structured light, and judge whether the object will cause danger when the moving vehicle turns according to the movement information, the distance information and the inner wheel difference information, and the invention further By judging the traveling state of the mobile vehicle, the processing unit can issue warning information only when the moving vehicle turns, avoiding the fact that an object approaches the moving vehicle during normal straight or parking, and also issues a warning to remind the driver to drive. When a person receives too much information while driving, it can also reduce the amount of processing of the processing unit.

Next, a description will be given of an inner wheel difference warning method using a structured light sensing object distance according to a second embodiment of the present invention. Please refer to the fifth and sixth figures, which are structural light sensing objects according to a second embodiment of the present invention. The flow chart and system block diagram of the wheel difference warning method within the distance. The difference between this embodiment and the first embodiment is that the system of the embodiment further includes an imaging unit 90, and the imaging unit 90 is a camera or other device capable of continuously capturing images. In the flow of the embodiment, step S8 is further included: displaying an image of the object. The rest of the embodiment is the same as the first embodiment, and details are not described herein again.

In step S8, the imaging unit 90 acquires an image by continuously capturing the surroundings, and the processing unit 30 displays the object 2 on the display unit 60 according to the contour of the object 2 acquired in step S5 and the position of the object 2.

In the second embodiment of the present invention, the driver can more accurately determine the type of the object by the image of the object displayed on the display unit 60, because only the object of the contour obtained in step S5 is displayed on the display unit 60. The image, therefore, does not give the driver too much information, can improve the safety of driving.

The above is only the preferred embodiment of the present invention, and is not intended to limit the scope of the practice of the present invention. Equivalent changes and modifications of the structure, features and spirits are intended to be included in the scope of the invention.

Claims (13)

An inner wheel differential warning method for sensing an object distance using a structured light, which is used for a mobile vehicle, the method comprising: inputting a turning angle of the moving carrier to a processing unit, and the processing unit calculates the turning angle according to the turning angle An inner wheel differential warning distance; at least one object continuously projecting a plurality of light planes around the moving carrier by using a structured light projection module disposed on one of the moving carriers; using a structure light camera disposed on one of the moving carriers The unit receives a plurality of light image messages reflected by the surface of the object through the projections of the light planes; the processing unit calculates distance information of the object according to the light image information; the processing unit is based on the distance information and the inner The wheel warning distance obtains a warning message from a database; and a warning module issues a warning notice according to the warning information. The method for detecting an internal wheel difference of a structured light sensing object according to the first aspect of the patent application, wherein in the step of using the warning module to issue the warning notification, at least one sound effect unit of the warning module is used. The warning notification is sent, and the warning module controls the frequency at which the sound effect unit sends the warning notification according to the warning information. The inner wheel differential warning method using the structured light sensing object distance according to the first aspect of the patent application, wherein the processing unit further calculates one piece of movement information of the object according to the light image information. The method for detecting an internal wheel difference of a structured light sensing object according to the third aspect of the patent application, wherein in the step of the processing unit obtaining the warning information from the database, the processing unit is based on the distance information, The mobile information and The inner wheel differential warning distance obtains the warning information from the database. The method for detecting the distance of the object by using the structured light sensing object according to the first aspect of the patent application, wherein the processing unit calculates the distance information of the object according to the light image information, the method The step further includes: displaying the light image information reflected by the object on a display unit; and the processing unit marking the object on the light image information displayed by the display unit according to the appearance contour of the object. The method for detecting the distance of the object by using the structured light sensing object according to the first aspect of the patent application, wherein the processing unit calculates the distance information of the object according to the light image information, the method The step further includes: obtaining at least one image by using a camera module, and the display unit displays the image. An internal wheel differential warning method using a structured light sensing object distance according to the first aspect of the patent application, wherein the step of the method further comprises: before inputting a turning angle of the moving carrier to a processing unit: A traveling state sensing unit is used to obtain a traveling state of one of the moving carriers, and the traveling state is determined to be a turn. An inner wheel differential warning system using a structured light sensing object distance, which is used for a mobile vehicle, comprising: a structured light projection module disposed on one side of the moving carrier, which projects a plurality of light planes on At least one object surrounding the moving carrier; a structured light imaging unit disposed on the side of the moving carrier, receiving a plurality of optical image messages reflected by the surface of the object through the projections of the optical planes; The processing unit is electrically connected to the structured light imaging unit, and uses the light image information to calculate the distance between the object and the moving carrier and the movement of the object And a warning information is obtained from a database according to the distance between the object and the mobile vehicle and an inner wheel difference warning distance; and a warning module is electrically connected to the processing unit, and is sent according to the warning information A warning notice. The inner wheel differential warning system using the structured light sensing object distance according to the eighth aspect of the patent application, wherein the processing unit calculates the inner wheel differential warning distance according to a turning angle of the moving carrier. The inner wheel differential warning system using the structured light sensing object distance according to the eighth aspect of the patent application, further comprising a display unit for displaying the light image information. The inner wheel differential warning system using the structured light sensing object distance according to the ninth aspect of the patent application, further comprising an image capturing unit for capturing an image, the display unit displaying the image. The inner wheel differential warning system using the structured light sensing object distance according to the eighth aspect of the patent application, wherein the warning module comprises at least one sound effect unit. The inner wheel differential warning system using the structured light sensing object distance according to the eighth aspect of the patent application, further comprising a traveling state sensing unit for sensing the traveling state of the moving carrier.