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WO2018006302A1 - Dispositif et procédé d'évitement d'obstacle de véhicule d'équilibrage - Google Patents

Dispositif et procédé d'évitement d'obstacle de véhicule d'équilibrage Download PDF

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Publication number
WO2018006302A1
WO2018006302A1 PCT/CN2016/088853 CN2016088853W WO2018006302A1 WO 2018006302 A1 WO2018006302 A1 WO 2018006302A1 CN 2016088853 W CN2016088853 W CN 2016088853W WO 2018006302 A1 WO2018006302 A1 WO 2018006302A1
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WO
WIPO (PCT)
Prior art keywords
obstacle
information
threshold
balance vehicle
balance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/088853
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English (en)
Chinese (zh)
Inventor
尚艳燕
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to PCT/CN2016/088853 priority Critical patent/WO2018006302A1/fr
Publication of WO2018006302A1 publication Critical patent/WO2018006302A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features

Definitions

  • 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.
  • 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.
  • 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.
  • a method for circumventing a barrier obstacle avoidance includes:
  • 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.
  • the object feature includes height information, and the balance car plans a bypass route according to the height information.
  • the object is relatively low, it can be pressed directly.
  • the object is relatively high, it needs to be bypassed.
  • 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.
  • the obstacle is a brick, the width is very short, and the balance car is easily offset in advance.
  • 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.
  • the object feature includes trait information, height information, and width information
  • 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 car is controlled to climb from the top of the obstacle.
  • 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.
  • the method for determining the motion state of the obstacle includes:
  • the method for reducing speed or suspending operation when the obstacle is in motion include:
  • the present invention discloses a balance vehicle obstacle avoiding device, comprising:
  • 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.
  • the balance car can accurately determine the obstacle feature, the avoidance route can be better planned, thereby improving the accuracy.
  • the invention only recognizes the obstacle in the static state, greatly reduces the calculation amount, and further improves the calculation efficiency and accuracy. Sex.
  • FIG. 1 is a schematic view of an obstacle avoiding method for a balance car of the present invention
  • FIG. 2 is a schematic view of the balance vehicle obstacle avoiding device of the present invention.
  • 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.
  • 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.
  • 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 method for avoiding obstacles of the balance vehicle disclosed by the present invention includes:
  • 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.
  • the object feature includes height information, and the balance car plans a bypass route according to the height information.
  • the object is relatively low, it can be pressed directly.
  • the object is relatively high, it needs to be bypassed.
  • 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.
  • the obstacle is a brick, the width is very short, and the balance car is easily offset in advance.
  • 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.
  • the object feature includes trait information, height information, and width information
  • 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 car is controlled to climb from the top of the obstacle.
  • 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.
  • the method for determining the motion state of the obstacle includes:
  • the method for reducing speed or suspending operation when the obstacle is in motion includes:
  • the first threshold to the fourth threshold are based on user requirements or a limited number of trials, and are not exemplified herein.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Business, Economics & Management (AREA)
  • Strategic Management (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Resources & Organizations (AREA)
  • Remote Sensing (AREA)
  • Economics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Quality & Reliability (AREA)
  • Tourism & Hospitality (AREA)
  • General Business, Economics & Management (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Operations Research (AREA)
  • Marketing (AREA)
  • Development Economics (AREA)
  • Game Theory and Decision Science (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne un dispositif et un procédé d'évitement d'obstacle de véhicule d'équilibrage. Le procédé d'évitement d'obstacle de véhicule d'équilibrage consiste : à déterminer un état de mouvement d'un obstacle ; lorsque l'obstacle est dans un état stationnaire, à capturer une image de l'obstacle, à mettre en réseau en vue d'identifier une caractéristique d'objet, et à planifier un itinéraire de contournement conformément à un résultat d'identification ; lorsque l'obstacle se trouve dans un état de déplacement, à réduire la vitesse ou à interrompre l'opération.
PCT/CN2016/088853 2016-07-06 2016-07-06 Dispositif et procédé d'évitement d'obstacle de véhicule d'équilibrage Ceased WO2018006302A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/088853 WO2018006302A1 (fr) 2016-07-06 2016-07-06 Dispositif et procédé d'évitement d'obstacle de véhicule d'équilibrage

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/088853 WO2018006302A1 (fr) 2016-07-06 2016-07-06 Dispositif et procédé d'évitement d'obstacle de véhicule d'équilibrage

Publications (1)

Publication Number Publication Date
WO2018006302A1 true WO2018006302A1 (fr) 2018-01-11

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115808906A (zh) * 2022-06-16 2023-03-17 宁夏理工学院 一种工厂自动配料平衡车

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090326713A1 (en) * 2008-06-09 2009-12-31 Hitachi, Ltd. Autonomous mobile robot system
CN104443140A (zh) * 2014-12-10 2015-03-25 柳州铁道职业技术学院 平衡车障碍检测装置
CN105223952A (zh) * 2015-09-28 2016-01-06 小米科技有限责任公司 平衡车的控制方法及装置
CN105652873A (zh) * 2016-03-04 2016-06-08 中山大学 一种基于Kinect的移动机器人避障方法
CN106156742A (zh) * 2016-07-06 2016-11-23 尚艳燕 一种平衡车障碍物规避方法和装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090326713A1 (en) * 2008-06-09 2009-12-31 Hitachi, Ltd. Autonomous mobile robot system
CN104443140A (zh) * 2014-12-10 2015-03-25 柳州铁道职业技术学院 平衡车障碍检测装置
CN105223952A (zh) * 2015-09-28 2016-01-06 小米科技有限责任公司 平衡车的控制方法及装置
CN105652873A (zh) * 2016-03-04 2016-06-08 中山大学 一种基于Kinect的移动机器人避障方法
CN106156742A (zh) * 2016-07-06 2016-11-23 尚艳燕 一种平衡车障碍物规避方法和装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115808906A (zh) * 2022-06-16 2023-03-17 宁夏理工学院 一种工厂自动配料平衡车

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