WO2018006302A1 - Balancing vehicle obstacle avoidance method and device - Google Patents

Abstract

A balancing vehicle obstacle avoidance method and device. The balancing vehicle obstacle avoidance method comprises: determining a movement state of an obstacle; when the obstacle is in a stationary state, capturing an image of the obstacle, networking to identify an object feature, and planning a bypass route according to an identification result; when the obstacle is in a moving state, reducing speed or pausing operation.

Description

Balance car obstacle avoiding method and device [Technical Field]

The present invention relates to the field of balance vehicle control, and more particularly to a method and apparatus for evading a balance vehicle obstacle.

【Background technique】

Electric balance car, also called balance car, thinking car, its operation principle is mainly based on a basic principle called "dynamic stability", using the gyroscope and acceleration sensor inside the car body to detect the posture of the car body. Change, using the servo control system, accurately drive the motor to adjust accordingly to maintain the balance of the system.

There are two types of electric balance vehicles in the prior art. One type has an operating lever on the vehicle body, and the user stands on the pedal platform of the electric balance vehicle to operate the operating lever to advance, retreat and stop. Also known as "hand control." The other is that the car body is composed of two parts, and the left part and the right part are mutually rotated by the rotating mechanism, thereby realizing "foot control". When an obstacle is encountered in front of the wheel of the existing balance car, accurate identification cannot be performed, and there is a safety hazard.

[Summary of the Invention]

The technical problem to be solved by the present invention is to provide a method and device for evading a balance vehicle obstacle to improve the obstacle recognition effect and enhance the safety performance.

The object of the present invention is achieved by the following technical solutions:

According to an aspect of the invention, a method for circumventing a barrier obstacle avoidance includes:

Judging the movement state of obstacles;

When the obstacle is in a stationary state, a picture of the obstacle is photographed, the object is identified by the network, the bypass route is planned according to the recognition result, and the speed is reduced or the operation is suspended when the obstacle is in motion.

Further, the object feature includes trait information, and the balance car plans a bypass route according to the trait information. Object traits mainly refer to the soft and hard data of objects, and some items, such as sponges and haystacks, although High, but the balance car is still possible to cross the past directly. But if you change the item of the same height into a brick, you may have to circumvent it.

Further, the object feature includes height information, and the balance car plans a bypass route according to the height information. When the object is relatively low, it can be pressed directly. When the object is relatively high, it needs to be bypassed.

Further, the object feature includes width information, and the balance car plans a bypass route according to the width information. The width of the object determines the length of the line that needs to be bypassed. For example, the obstacle is a brick, the width is very short, and the balance car is easily offset in advance. For example, the obstacle is followed by wood, and the road is blocked. It is necessary to re-find the road or prompt the driver to walk across.

Further, the object feature includes trait information, height information, and width information;

When the trait information is rigid and the height exceeds the first threshold, the bypass route is planned according to the width information; or the trait information is flexible, and the height exceeds the second threshold, and the bypass route is planned according to the width information; the second threshold is greater than the first threshold .

In the same way, some items, such as sponges and haystacks, although relatively high, may still cross the past directly. But if you change the item of the same height into a brick, you may have to circumvent it.

Further, when the trait information is flexible and the height is less than or equal to the second threshold, the balance car is controlled to climb from the top of the obstacle.

Further, the object feature includes attribute information; if the attribute information is an animal or a person, the speed is reduced or suspended, and an alarm message is sent; when the obstacle is detected within a preset time, the bypass route is planned. Animals and people are active. Even if they are at rest when they are recognized, they can still be alerted by means of speakers, indicators, etc. On the one hand, this method reduces the amount of calculation of the planned route, and on the other hand, reducing the lane change is beneficial to driving safety.

Further, the method for determining the motion state of the obstacle includes:

Taking pictures of obstacles at preset time intervals;

Compare the position of the obstacle in any two pictures. If the position is the same, it is judged to be stationary; otherwise, it is judged to be motion.

Further, the method for reducing speed or suspending operation when the obstacle is in motion include:

Measure the distance between the balance car and the obstacle; when the obstacle is still in the normal driving route and the distance is less than the third threshold, reduce the running speed of the balance car; when the obstacle is still in the normal driving route and the spacing is less than the fourth threshold The control balance vehicle stops running; when the obstacle deviates from the normal driving route, the balance vehicle is controlled to accelerate the operation until the initial speed before the acceleration is recovered after crossing the obstacle; the fourth threshold is less than the third threshold.

According to another aspect of the present invention, the present invention discloses a balance vehicle obstacle avoiding device, comprising:

Means for determining the motion state of an obstacle;

It is used to take pictures of obstacles when the obstacle is at rest, to identify the characteristics of the object by network, to plan the detour route according to the recognition result, and to reduce the speed or suspend the operation when the obstacle is in motion.

Compared with the prior art, the technical effect of the invention is that the balance car uploads the picture of the obstacle to the cloud for identification, and through the huge data and computing power of the cloud, the recognition accuracy is inevitably raised to a level. When the balance car can accurately determine the obstacle feature, the avoidance route can be better planned, thereby improving the accuracy. In addition, the invention only recognizes the obstacle in the static state, greatly reduces the calculation amount, and further improves the calculation efficiency and accuracy. Sex.

[Description of the Drawings]

1 is a schematic view of an obstacle avoiding method for a balance car of the present invention;

2 is a schematic view of the balance vehicle obstacle avoiding device of the present invention.

【detailed description】

Before discussing the exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as a process or method depicted as a flowchart. Although the flowcharts describe various operations as a sequential process, many of the operations can be implemented in parallel, concurrently or concurrently. In addition, various operations The order of the work can be rearranged. The process may be terminated when its operation is completed, but may also have additional steps not included in the figures. The processing may correspond to methods, functions, procedures, subroutines, subroutines, and the like.

Mobile smart terminals (such as smartphones, tablets, wearables or smart glasses), computers, AI (artificial intelligence), robots, VR (virtual reality), AR (augmented reality), smart home devices or smart The industrial control device or the like may each perform a predetermined process such as numerical calculation and/or logic calculation by executing a predetermined program or instruction, which may include a processor and a memory, and the processor executes a pre-stored survival instruction in the memory to perform predetermined processing. The process is either performed by a hardware such as an ASIC, an FPGA, or a DSP, or a combination of the two. Computer devices include, but are not limited to, servers, personal computers, notebook computers, tablets, smart phones, and the like.

The network device includes, but is not limited to, a single network server, a server group composed of multiple network servers, or a cloud computing-based cloud composed of a large number of computers or network servers, wherein the cloud computing is a kind of distributed computing, A super virtual computer consisting of a group of loosely coupled computers. Wherein, the computer device can be operated separately to implement the present invention, and can also access the network and implement the present invention by interacting with other computer devices in the network. The network in which the computer device is located includes, but is not limited to, the Internet, a wide area network, a metropolitan area network, a local area network, a VPN network, and the like.

It should be noted that the user equipment, the network equipment, the network, and the like are merely examples, and other existing or future possible computer equipment or networks, such as those applicable to the present invention, are also included in the scope of the present invention. It is included here by reference.

The methods discussed below, some of which are illustrated by flowcharts, can be implemented in hardware, software, firmware, middleware, microcode, hardware description languages, or any combination thereof. When implemented in software, firmware, middleware or microcode, the program code or code segments to carry out the necessary tasks can be stored in a machine or computer readable medium, such as a storage medium. The processor(s) can perform the necessary tasks.

The specific structural and functional details disclosed herein are merely representative and are used to describe the present invention. The purpose of the exemplary embodiment is illustrated. The present invention may, however, be embodied in many alternative forms and should not be construed as being limited only to the embodiments set forth herein.

It should be understood that although the terms "first," "second," etc. may be used herein to describe the various elements, these elements should not be limited by these terms. These terms are used only to distinguish one unit from another. For example, a first unit could be termed a second unit, and similarly a second unit could be termed a first unit, without departing from the scope of the exemplary embodiments. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

It will be understood that when a unit is referred to as "connected" or "coupled" to another unit, it can be directly connected or coupled to the other unit, or an intermediate unit can be present. In contrast, when a unit is referred to as being "directly connected" or "directly coupled" to another unit, there is no intermediate unit. Other words used to describe the relationship between the elements should be interpreted in a similar manner (eg, "between" and "directly between", "and". Than "and... directly adjacent", etc.).

The terminology used herein is for the purpose of describing the particular embodiments, The singular forms "a", "an", It is also to be understood that the terms "comprising" and """ Other features, integers, steps, operations, units, components, and/or combinations thereof.

It should also be noted that, in some alternative implementations, the functions/acts noted may occur in a different order than that illustrated in the drawings. For example, two figures shown in succession may in fact be executed substantially concurrently or sometimes in the reverse order, depending on the function/acts involved.

The invention will now be further described with reference to Figures 1, 2 and preferred embodiments.

The method for avoiding obstacles of the balance vehicle disclosed by the present invention includes:

Judging the movement state of obstacles;

When the obstacle is at a standstill, take a picture of the obstacle, and identify the object by networking, according to Identify the results and plan a detour;

When the obstacle is in motion, slow down or pause the run.

Optionally, the object feature includes trait information, and the balance car plans a bypass route according to the trait information. The object trait mainly refers to the soft and hard data of the object. Some items, such as sponges and haystacks, although relatively high, may cross the past directly. But if you change the item of the same height into a brick, you may have to circumvent it.

Optionally, the object feature includes height information, and the balance car plans a bypass route according to the height information. When the object is relatively low, it can be pressed directly. When the object is relatively high, it needs to be bypassed.

Optionally, the object feature includes width information, and the balance car plans a bypass route according to the width information. The width of the object determines the length of the line that needs to be bypassed. For example, the obstacle is a brick, the width is very short, and the balance car is easily offset in advance. For example, the obstacle is followed by wood, and the road is blocked. It is necessary to re-find the road or prompt the driver to walk across.

Optionally, the object feature includes trait information, height information, and width information;

When the trait information is rigid and the height exceeds the first threshold, the bypass route is planned according to the width information; or the trait information is flexible, and the height exceeds the second threshold, and the bypass route is planned according to the width information; the second threshold is greater than the first threshold .

In the same way, some items, such as sponges and haystacks, although relatively high, may still cross the past directly. But if you change the item of the same height into a brick, you may have to circumvent it.

Optionally, when the trait information is flexible and the height is less than or equal to the second threshold, the balance car is controlled to climb from the top of the obstacle.

Optionally, the object feature includes attribute information; if the attribute information is an animal or a person, the speed is reduced or suspended, and an alarm message is sent; when the obstacle is detected within a preset time, the bypass route is planned. Animals and people are active. Even if they are at rest when they are recognized, they can still be alerted by means of speakers, indicators, etc. On the one hand, this method reduces the amount of calculation of the planned route, and on the other hand, reducing the lane change is beneficial to driving safety.

Optionally, the method for determining the motion state of the obstacle includes:

Taking pictures of obstacles at preset time intervals;

Compare the position of the obstacle in any two pictures. If the position is the same, it is judged to be stationary; otherwise, it is judged to be motion.

Optionally, the method for reducing speed or suspending operation when the obstacle is in motion includes:

Measure the distance between the balance car and the obstacle; when the obstacle is still in the normal driving route and the distance is less than the third threshold, reduce the running speed of the balance car; when the obstacle is still in the normal driving route and the spacing is less than the fourth threshold The control balance vehicle stops running; when the obstacle deviates from the normal driving route, the balance vehicle is controlled to accelerate the operation until the initial speed before the acceleration is recovered after crossing the obstacle; the fourth threshold is less than the third threshold.

There are many ways to achieve ranging, such as ultrasonic and infrared, and the distance measurement function can be realized.

The first threshold to the fourth threshold are based on user requirements or a limited number of trials, and are not exemplified herein.

As another embodiment of the present invention, the present invention discloses a balance vehicle obstacle avoiding device, including:

Judging device 10: for determining an obstacle motion state;

The evasing device 20 is configured to photograph a picture of an obstacle when the obstacle is in a stationary state, identify an object feature by networking, and plan a bypass route according to the recognition result; when the obstacle is in a motion state, reduce the speed or suspend the operation.

The device can be used to implement the balance car obstacle avoidance method of the present invention.

The above is a further detailed description of the present invention in connection with the specific preferred embodiments, and the specific embodiments of the present invention are not limited to the description. It will be apparent to those skilled in the art that the present invention may be made without departing from the spirit and scope of the invention.

Claims (10)

A method for circumventing obstacles in a vehicle, including: Judging the movement state of obstacles; When the obstacle is in a stationary state, a picture of the obstacle is photographed, the object is identified by the network, the bypass route is planned according to the recognition result, and the speed is reduced or the operation is suspended when the obstacle is in motion. The balance vehicle obstacle avoiding method according to claim 1, wherein the object feature includes trait information, and the balance vehicle plans a bypass route according to the trait information. The balance vehicle obstacle avoiding method according to claim 1, wherein the object feature includes height information, and the balance vehicle plans a bypass route based on the height information. The balance vehicle obstacle avoiding method according to claim 1, wherein the object feature includes width information, and the balance vehicle plans a bypass route based on the width information. The balance vehicle obstacle avoiding method according to claim 1, wherein the object feature comprises trait information, height information, and width information; When the trait information is rigid and the height exceeds the first threshold, the bypass route is planned according to the width information; or the trait information is flexible, and the height exceeds the second threshold, and the bypass route is planned according to the width information; the second threshold is greater than the first threshold . The balance vehicle obstacle avoiding method according to claim 5, wherein when the trait information is flexible and the height is less than or equal to the second threshold, the balance car is controlled to climb from the top of the obstacle. The balance vehicle obstacle avoiding method according to claim 1, wherein the object feature includes attribute information; if the attribute information is an animal or a person, the speed is reduced or suspended, and an alarm message is issued; and the detection is performed within a preset time. Go to the obstacles and avoid planning to bypass the route. The balance vehicle obstacle avoiding method according to claim 1, wherein the method for determining an obstacle motion state comprises: Taking pictures of obstacles at preset time intervals; Compare the position of the obstacle in any two pictures, if the position is the same, it is judged to be stationary; Judging as exercise. The balance vehicle obstacle avoiding method according to claim 1, wherein the method of reducing speed or suspending operation when the obstacle is in a motion state comprises: Measure the distance between the balance car and the obstacle; when the obstacle is still in the normal driving route and the distance is less than the third threshold, reduce the running speed of the balance car; when the obstacle is still in the normal driving route and the spacing is less than the fourth threshold The control balance vehicle stops running; when the obstacle deviates from the normal driving route, the balance vehicle is controlled to accelerate the operation until the initial speed before the acceleration is recovered after crossing the obstacle; the fourth threshold is less than the third threshold. A balance vehicle obstacle avoiding device, which comprises: Means for determining the motion state of an obstacle; It is used to take pictures of obstacles when the obstacle is at rest, to identify the characteristics of the object by network, to plan the detour route according to the recognition result, and to reduce the speed or suspend the operation when the obstacle is in motion.

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