CN107992091B - Balance vehicle following method and system based on signal intensity - Google Patents
Balance vehicle following method and system based on signal intensity Download PDFInfo
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- 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
- G05D1/12—Target-seeking control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
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- G—PHYSICS
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- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
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- 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
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Abstract
The invention discloses a balance car following method and system based on signal intensity. The balance car following method based on the signal intensity comprises the following steps: starting a following mode; setting the initial position of the balance car as a coordinate origin; receiving a wireless signal of the intelligent equipment according to a preset time interval; calculating the distance and the direction between the intelligent equipment and the balance car according to the strength of the wireless signal; marking the coordinates of the intelligent equipment relative to the origin of coordinates according to the distance and the orientation; forming a moving track; the balance car moves along the moving track. The invention can improve the following identification accuracy of the balance car and has simple scheme.
Description
Technical Field
The invention relates to the field of balance car control, in particular to a balance car following method and system based on signal intensity.
Background
The operation principle of the electric balance car, namely a balance car and a thinking car, is mainly established on the basic principle called dynamic stability, the gyroscope and the acceleration sensor in the car body are utilized to detect the change of the posture of the car body, and the servo control system is utilized to accurately drive the motor to carry out corresponding adjustment so as to keep the balance of the system.
The conventional electric balance car generally has two types, one type is that a car body is provided with an operating lever, and a user stands on a pedal platform of the electric balance car to operate the operating lever so as to move forward, backward and stop, and the control is also called manual control. The other is that the vehicle body is composed of two parts, the left part and the right part rotate mutually through a rotating mechanism, and therefore foot control is achieved.
At present, many application occasions do not allow balancing vehicle-mounted people, and users only need to hold the vehicle with hands to carry the vehicle, so that the vehicle-mounted people balancing device is very inconvenient. It is therefore desirable to provide an automatic tracking technique so that the balance car can automatically follow the user's actions.
An existing online learning visual tracking algorithm needs a user to specify a region (which is usually a rectangular region and needs the user to draw the region through a frame operation) where a tracking target is located in a video picture, so that the region is defined as a tracking template. The online learning visual tracking algorithm has higher requirements on the precision of the tracking template, an oversize tracking template easily contains more interference backgrounds, and an undersize tracking template does not have enough discrimination. This interactive mode of defining the tracking template based on the user-specified area requires that the tracking target must be in a stationary state during the user-specified area to give the user enough time to accurately specify the area. However, if the tracking target is in a moving state, the user does not have enough time to accurately define the area where the tracking target is located, and thus the tracking template meeting the requirements cannot be obtained, and the tracking target in motion cannot be visually tracked.
Another object tracking method and electronic device improve accuracy by actively selecting a tracking object by a user. However, the clothes, accessories, hairstyle and the like of the tracked user are all variable, so that the user needs to set the target point every time the target point is used, the use is very inconvenient, the user has difficulty in selecting the target point, and the target point is selected from an area with high recognition degree with the surrounding environment, so that the accuracy is improved.
Disclosure of Invention
The invention aims to provide a balance car following method and system based on signal intensity, which improve the identification accuracy and have a simple scheme.
The purpose of the invention is realized by the following technical scheme:
a balanced vehicle following method based on signal strength comprises the following steps:
starting a following mode;
setting the initial position of the balance car as a coordinate origin;
receiving a wireless signal of the intelligent equipment according to a preset time interval;
calculating the distance and the direction between the intelligent equipment and the balance car according to the strength of the wireless signal;
marking the coordinates of the intelligent equipment relative to the origin of coordinates according to the distance and the orientation; forming a moving track;
the balance car moves along the moving track.
Further, the method for the balance car to move along the moving track further comprises the following steps:
calculating the moving speed of the mobile intelligent equipment according to the moving track;
the balance car adjusts the following speed according to the moving speed.
The speed of the balance car is preferably kept consistent with the speed of the user, so that the proper tracking distance can be controlled to avoid interfering with the user's action or losing the user.
Further, the method for the balance car to move along the moving track further comprises the following steps: adjusting the following speed of the balance car according to the distance; when the distance between the balance car and the intelligent equipment is smaller than a preset first distance, reducing the following speed of the balance car; when the distance between the balance car and the intelligent equipment is larger than the preset second distance, the following speed of the balance car is increased. The speed of the balance car is adjusted based on the distance, so that the tracking distance can be controlled more accurately, and the tracking effect is improved.
Further, the method further comprises a method of avoiding an obstacle:
detecting the size, distance, moving route and speed of a front obstacle by adopting ultrasonic waves;
when the barrier is in a moving state, judging whether the current running state of the balance car collides with the barrier; if yes, controlling the balance car to decelerate or stop running, and improving the following speed of the balance car when the obstacle is removed; if not, keeping the current running state;
and when the obstacle is in a static state, adjusting the offset angle according to the current speed of the balance car, the distance between the balance car and the obstacle and the size of the obstacle. In the occasion of short distance, the ultrasonic wave can effectively range, and the cost is lower.
Further, after receiving the instruction of pause following, the balance car automatically goes to the nearest parking place; when a specific voice command is received in the map to the nearest parking place, the balance car stops running and receives a start command of any person. The technical scheme is particularly suitable for a large shopping center, the shopping center can adopt the balance car as a tool for sharing travel, and after a specific user is followed, the balance car can be called by other users, so that the utilization efficiency of the balance car is improved.
Further, the signal strength-based balance car following method further comprises the following steps:
driving to a designated shop according to the internal map of the building and the indoor positioning system;
scanning the two-dimensional code in the shop; and storing the parking coordinates of the parking place which is recorded by the two-dimensional code and is closest to the shop.
The balance car receives the parking instruction and then reaches the designated parking place through the positioning system and the parking coordinate;
and adjusting the parking posture of the balance car and the distance between the balance car and the peripheral obstacles.
The balance car reads parking coordinates of parking places according to the two-dimensional codes; the location at which the vehicle can be parked can then be found precisely by the positioning system. The two-dimension code is simple to implement and low in cost; the existing positioning system is also very mature, so that the balance car can be accurately parked with low cost. In a shopping mall, customers often see while walking, the randomness is high, and a lot of time is needed to find a specific shop and a desired commodity. At the moment, the balance car can be used as a walking tool in the shopping center to share data with the shopping center, the balance car can call map, shops and commodity information in a building, so that a customer inputs own requirements, the balance car can automatically lead and fix specified commodities, then the customer gets off the building and slowly chooses to buy in the shop, and the balance car can be parked at parking places around the commodities to wait for calling of any customer.
Further, the method also comprises an automatic parking method when the positioning system fails:
the balance car receives a parking instruction;
starting a camera to rotate in place for one circle, and shooting a panoramic image;
uploading a server to perform scene recognition and select a parking place;
planning a driving route to a specified parking place;
and adjusting the parking posture of the balance car and the distance between the balance car and the peripheral obstacles.
And the balance car judges the scene according to the image identification and autonomously judges the parking place where the balance car should park. Based on the analysis of big data, can let the balance car have stronger adaptability, can find suitable berthing place in the scene of difference, and intelligent degree is higher, and need not to make any change to current building, scene, implements low cost. In addition, the balance car can adjust the parking posture and control the distance with the place barrier of berthhing, guarantee the uniformity like this when berthhing at every turn, avoided the problem that the people park to be difficult to target in place and disorderly.
Further, the method for selecting a stop location by the upload server for scene recognition includes: identifying a blank wall pattern; and selecting the position close to the wall as a parking place. The wall is the biggest barrier in the room, and the wall is preferred as the place of berthing, can furthest utilize the space, occupies activity space as little as possible.
Further, the method for selecting a stop location by the upload server for scene recognition includes: when other parked balance vehicles are identified, setting the balance vehicle position as a parking place;
when a plurality of parked balance cars exist, identifying the parked balance cars as a car team, and judging the vacant space at the head and tail positions of the car team through image identification; the balance car is parked at one end with more vacant space; if the vacant spaces at the head and the tail of the motorcade are not enough for parking the balance cars; move to a stop at a position juxtaposed to either end of the fleet.
When the balance car stops at the stopping positions of other balance cars, the image recognition difficulty can be greatly reduced and the recognition accuracy is improved due to the clear judgment targets; and the balance car is gathered and parked, so that the management is convenient, and the utilization rate of the activity space is higher. When the balance car that parks is more, judge the balance car that has parked as a whole, reduce and judge the degree of difficulty, let the balance car can find suitable parking position fast. When the balance cars are more, all the balance cars can not be put down in one row/line, and when the spare space is judged to be insufficient, the balance cars are changed in the row/line at all, so that the balance cars can be stopped at one stopping point as many as possible.
As another aspect of the present invention, the present invention also discloses a balance car following system based on signal intensity, comprising:
means for initiating a follow mode;
the device is used for setting the initial position of the balance car as a coordinate origin;
means for receiving wireless signals of the smart device at preset time intervals;
the device is used for calculating the distance and the direction between the intelligent equipment and the balance car according to the strength of the wireless signal;
the coordinate of the intelligent equipment relative to the coordinate origin is marked according to the distance and the orientation; means for forming a movement trajectory;
and the device is used for the balance car to move along the moving track.
Compared with the prior art, the invention has the technical effects that: at present, intelligent devices such as smart phones and smart watches are popularized, and almost everyone carries at least one intelligent device, so that the distance and the direction between the balance car and the user are positioned by using the strength of a wireless signal transmitted by the intelligent device, and compared with a positioning and tracking mode based on image recognition, the method has the advantages that the implementation mode is simpler, and the positioning and tracking are more accurate.
Drawings
FIG. 1 is a schematic diagram of a balance car following method based on signal strength according to an embodiment of the invention;
FIG. 2 is a schematic diagram of an embodiment of the present invention applied to a shopping mall;
FIG. 3 is a schematic diagram of a balance car parking strategy after the balance car is arranged in a full row/line;
FIG. 4 is a schematic diagram of a balance car following system based on signal strength according to an embodiment of the invention.
Detailed Description
A balanced vehicle following method based on signal strength comprises the following steps:
starting a following mode;
setting the initial position of the balance car as a coordinate origin;
receiving a wireless signal of the intelligent equipment according to a preset time interval;
calculating the distance and the direction between the intelligent equipment and the balance car according to the strength of the wireless signal;
marking the coordinates of the intelligent equipment relative to the origin of coordinates according to the distance and the orientation; forming a moving track;
the balance car moves along the moving track.
At present, intelligent devices such as smart phones and smart watches are popularized, and almost everyone carries at least one intelligent device, so that the distance and the direction between the balance car and the user are positioned by using the strength of a wireless signal transmitted by the intelligent device, and compared with a positioning and tracking mode based on image recognition, the method has the advantages that the implementation mode is simpler, and the positioning and tracking are more accurate.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations as a sequential process, many of the operations can be performed in parallel, concurrently, or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
In this context, a mobile intelligent terminal (such as a smart phone, a tablet computer, a wearable device, or smart glasses), a computer, an AI (artificial intelligence), a robot, a VR (virtual reality), an AR (augmented reality), a smart home device, or a smart industrial control device, etc. may execute a predetermined process such as numerical calculation and/or logic calculation by running a predetermined program or instruction, and may include a processor and a memory, where the processor executes a persistent instruction pre-stored in the memory to execute the predetermined process, or the processor executes the predetermined process by 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, laptops, tablets, smart phones, and the like.
Network devices include, but are not limited to, a single network server, a server group of multiple network servers, or a Cloud of numerous computers or network servers based on Cloud Computing (Cloud Computing), which is one type of distributed Computing, a super virtual computer consisting of a collection of loosely coupled computers. Wherein the computer device can be operated alone to implement the invention, or can be accessed to a network and implement the invention through interoperation 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 device, the network, etc. are only examples, and other existing or future computer devices or networks may also be included in the scope of the present invention, and are included by reference.
The methods discussed below, some of which are illustrated by flow diagrams, may be implemented by 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 perform the necessary tasks may be stored in a machine or computer readable medium such as a storage medium. The processor(s) may perform the necessary tasks.
Specific structural and functional details disclosed herein are merely representative and are provided for purposes of describing example embodiments of the present invention. The present invention may, however, be embodied in many alternate forms and should not be construed as limited to only the embodiments set forth herein.
It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element may be termed a second element, and, similarly, a second element may be termed a first element, without departing from the scope of example embodiments. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present. Other words used to describe the relationship between elements (e.g., "between" versus "directly between", "adjacent" versus "directly adjacent to", etc.) should be interpreted in a similar manner.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be noted that, in some alternative implementations, the functions/acts noted may occur out of the order noted in the figures. For example, two figures shown in succession may, in fact, be executed substantially concurrently, or the figures may sometimes be executed in the reverse order, depending upon the functionality/acts involved.
The present invention will be further described with reference to the accompanying drawings 1-4 and preferred embodiments.
The balance car following method based on signal intensity disclosed by the embodiment comprises the following steps:
s11, starting a following mode;
s12, setting the initial position of the balance car as a coordinate origin;
s13, receiving wireless signals of the intelligent equipment according to a preset time interval;
s14, calculating the distance and the direction between the intelligent equipment and the balance car according to the strength of the wireless signal;
s15, marking the coordinates of the intelligent equipment relative to the origin of coordinates according to the distance and the orientation; forming a moving track;
and S16, the balance car moves along the moving track.
There are currently mature schemes for ranging and positioning based on wireless signals, which are not described herein in detail.
The method for the balance car to move along the moving track further comprises the following steps:
calculating the moving speed of the mobile intelligent equipment according to the moving track;
the balance car adjusts the following speed according to the moving speed.
The speed of the balance car is preferably kept consistent with the speed of the user, so that the proper tracking distance can be controlled to avoid interfering with the user's action or losing the user.
The method for the balance car to move along the moving track further comprises the following steps: adjusting the following speed of the balance car according to the distance; when the distance between the balance car and the intelligent equipment is smaller than a preset first distance, reducing the following speed of the balance car; when the distance between the balance car and the intelligent equipment is larger than the preset second distance, the following speed of the balance car is increased. The speed of the balance car is adjusted based on the distance, so that the tracking distance can be controlled more accurately, and the tracking effect is improved.
Optionally, the invention further comprises a method of avoiding an obstacle:
detecting the size, distance, moving route and speed of a front obstacle by adopting ultrasonic waves;
when the barrier is in a moving state, judging whether the current running state of the balance car collides with the barrier; if yes, controlling the balance car to decelerate or stop running, and improving the following speed of the balance car when the obstacle is removed; if not, keeping the current running state;
and when the obstacle is in a static state, adjusting the offset angle according to the current speed of the balance car, the distance between the balance car and the obstacle and the size of the obstacle. In the occasion of short distance, the ultrasonic wave can effectively range, and the cost is lower.
Optionally, after receiving the instruction of pause following, the balance car automatically goes to the nearest parking place; when a specific voice command is received in the map to the nearest parking place, the balance car stops running and receives a start command of any person. The technical scheme is particularly suitable for a large shopping center, the shopping center can adopt the balance car as a tool for sharing travel, and after a specific user is followed, the balance car can be called by other users, so that the utilization efficiency of the balance car is improved.
Referring to fig. 2, the present embodiment also discloses a balance car tracking method particularly suitable for a shopping mall. Specifically, the method comprises the following steps:
driving to a designated shop according to the internal map of the building and the indoor positioning system;
scanning the two-dimensional code in the shop; and storing the parking coordinates of the parking place which is recorded by the two-dimensional code and is closest to the shop.
The balance car receives the parking instruction and then reaches the designated parking place through the positioning system and the parking coordinate;
and adjusting the parking posture of the balance car and the distance between the balance car and the peripheral obstacles.
The balance car reads parking coordinates of parking places according to the two-dimensional codes; the location at which the vehicle can be parked can then be found precisely by the positioning system. The two-dimension code is simple to implement and low in cost; the existing positioning system is also very mature, so that the balance car can be accurately parked with low cost. In a shopping mall, customers often see while walking, the randomness is high, and a lot of time is needed to find a specific shop and a desired commodity. At the moment, the balance car can be used as a walking tool in the shopping center to share data with the shopping center, the balance car can call map, shops and commodity information in a building, so that a customer inputs own requirements, the balance car can automatically lead and fix the balance car to a specified commodity, then the customer gets off the balance car to the shop to select slowly, and the balance car can stop at a stopping place around the commodity to wait for calling of any customer (refer to fig. 3).
The embodiment also discloses an automatic parking method when the positioning system fails, which comprises the following steps:
the balance car receives a parking instruction;
starting a camera to rotate in place for one circle, and shooting a panoramic image;
uploading a server to perform scene recognition and select a parking place;
planning a driving route to a specified parking place;
and adjusting the parking posture of the balance car and the distance between the balance car and the peripheral obstacles.
And the balance car judges the scene according to the image identification and autonomously judges the parking place where the balance car should park. Based on the analysis of big data, can let the balance car have stronger adaptability, can find suitable berthing place in the scene of difference, and intelligent degree is higher, and need not to make any change to current building, scene, implements low cost. In addition, the balance car can adjust the parking posture and control the distance with the place barrier of berthhing, guarantee the uniformity like this when berthhing at every turn, avoided the problem that the people park to be difficult to target in place and disorderly.
Optionally, the method for selecting a stop location by the upload server for scene recognition includes: identifying a blank wall pattern; and selecting the position close to the wall as a parking place. The wall is the biggest barrier in the room, and the wall is preferred as the place of berthing, can furthest utilize the space, occupies activity space as little as possible.
Optionally, the method for selecting a stop location by the upload server for scene recognition includes: when other parked balance vehicles are identified, setting the balance vehicle position as a parking place;
when a plurality of parked balance cars exist, identifying the parked balance cars as a car team, and judging the vacant space at the head and tail positions of the car team through image identification; the balance car is parked at one end with more vacant space; if the vacant spaces at the head and the tail of the motorcade are not enough for parking the balance cars; move to a stop at a position juxtaposed to either end of the fleet. When the balance car stops at the stopping positions of other balance cars, the image recognition difficulty can be greatly reduced and the recognition accuracy is improved due to the clear judgment targets; and the balance car is gathered and parked, so that the management is convenient, and the utilization rate of the activity space is higher. When the balance car that parks is more, judge the balance car that has parked as a whole, reduce and judge the degree of difficulty, let the balance car can find suitable parking position fast. When the balance cars are more, all the balance cars can not be put down in one row/line, and when the spare space is judged to be insufficient, the balance cars are changed in the row/line at all, so that the balance cars can be stopped at one stopping point as many as possible.
As another aspect of the present invention, the present invention also discloses a balance car following system based on signal intensity, comprising:
the starting device 10: means for initiating a follow mode;
setting means 20: the device is used for setting the initial position of the balance car as a coordinate origin;
the reception device 30: means for receiving wireless signals of the smart device at preset time intervals;
the computing device 40: the device is used for calculating the distance and the direction between the intelligent equipment and the balance car according to the strength of the wireless signal;
the planning device 50: the coordinate of the intelligent equipment relative to the coordinate origin is marked according to the distance and the orientation; means for forming a movement trajectory;
the control device 60: and the device is used for the balance car to move along the moving track.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (9)
1. A balance car following method based on signal intensity is characterized by comprising the following steps:
starting a following mode;
setting the initial position of the balance car as a coordinate origin;
receiving a wireless signal of the intelligent equipment according to a preset time interval;
calculating the distance and the direction between the intelligent equipment and the balance car according to the strength of the wireless signal;
marking the coordinates of the intelligent equipment relative to the origin of coordinates according to the distance and the orientation; forming a moving track; the balance car moves along the moving track;
the method also comprises an automatic parking method when the positioning system fails:
the balance car receives a parking instruction;
starting a camera to rotate in place for one circle, and shooting a panoramic image;
uploading a server to perform scene recognition and select a parking place;
planning a driving route to a specified parking place;
and adjusting the parking posture of the balance car and the distance between the balance car and the peripheral obstacles.
2. The signal strength based balance car following method according to claim 1,
the method for the balance car to move along the moving track further comprises the following steps:
calculating the moving speed of the mobile intelligent equipment according to the moving track;
the balance car adjusts the following speed according to the moving speed.
3. The balance car following method based on signal strength according to claim 1, wherein the method for the balance car to follow the movement track further comprises: adjusting the following speed of the balance car according to the distance; when the distance between the balance car and the intelligent equipment is smaller than a preset first distance, reducing the following speed of the balance car; when the distance between the balance car and the intelligent equipment is larger than the preset second distance, the following speed of the balance car is increased.
4. The signal strength based balance car following method according to claim 1,
the method also comprises
Method of obstacle avoidance:
detecting the size, distance, moving route and speed of a front obstacle by adopting ultrasonic waves;
when the barrier is in a moving state, judging whether the current running state of the balance car collides with the barrier; if yes, controlling the balance car to decelerate or stop running, and improving the following speed of the balance car when the obstacle is removed; if not, keeping the current running state;
and when the obstacle is in a static state, adjusting the offset angle according to the current speed of the balance car, the distance between the balance car and the obstacle and the size of the obstacle.
5. The balance car following method based on the signal strength according to any one of claims 1 to 4, wherein the balance car automatically goes to the nearest parking place after receiving the command of stopping following; when a specific voice command is received in the map to the nearest parking place, the balance car stops running and receives a start command of any person.
6. The signal strength based balance car following method according to claim 5, wherein the signal strength based balance car following method is based on a signal
The intensity balance car following method further comprises the following steps:
driving to a designated shop according to the internal map of the building and the indoor positioning system; scanning the two-dimensional code in the appointed shop; storing parking coordinates of a parking place which is recorded by the two-dimensional code and is closest to the specified shop;
the balance car receives the parking instruction and then reaches the designated parking place through the positioning system and the parking coordinate;
and adjusting the parking posture of the balance car and the distance between the balance car and the peripheral obstacles.
7. The signal strength-based balance car following method according to claim 1, wherein the method for selecting a parking place by the uploading server for scene recognition comprises the following steps: identifying a blank wall pattern; and selecting the position close to the wall as a parking place.
8. The signal strength-based balance car following method according to claim 1, wherein the method for selecting a parking place by the uploading server for scene recognition comprises the following steps: when other parked balance vehicles are identified, setting the balance vehicle position as a parking place;
when a plurality of parked balance cars exist, identifying the parked balance cars as a car team, and judging the vacant space at the head and tail positions of the car team through image identification; the balance car is parked at one end with more vacant space; if the vacant spaces at the head and the tail of the motorcade are not enough for parking the balance cars; move to a stop at a position juxtaposed to either end of the fleet.
9. A balanced vehicle following system based on signal strength, comprising:
means for initiating a follow mode;
setting means for setting an initial position of the balance car as a coordinate origin;
a receiving device for receiving the wireless signal of the intelligent device according to a preset time interval;
the calculating device is used for calculating the distance and the direction between the intelligent equipment and the balance car according to the strength of the wireless signal;
the planning device is used for marking the coordinates of the intelligent equipment relative to the origin of coordinates according to the distance and the direction to form a moving track;
the control device is used for balancing the device that the vehicle moves along the moving track;
the balance car following system is further used for receiving a parking instruction when the positioning system fails, starting the camera to rotate in place for a circle, shooting a panoramic image, uploading the panoramic image to the server for scene recognition, selecting a parking place, planning a driving route to the designated parking place, and adjusting the parking posture of the balance car and the distance between the balance car and peripheral obstacles.
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