CN108062101A

CN108062101A - The intelligent personal vehicles and its control method, dispatching method and storage medium

Info

Publication number: CN108062101A
Application number: CN201711389121.XA
Authority: CN
Inventors: 张玉新; 蔡少骏; 罗赛; 安鹏
Original assignee: Uisee Technologies Beijing Co Ltd
Current assignee: Uisee Technologies Beijing Co Ltd
Priority date: 2017-12-20
Filing date: 2017-12-20
Publication date: 2018-05-22

Abstract

The main purpose of at least one embodiment of the disclosure is to provide a kind of intelligent personal vehicles and its control method, dispatching method, storage medium and computer system, to reduce the manual operation during Personal Transporter's use.The control module of the intelligent personal vehicles can set instruction to determine driving path according to user in the first driving path that Subscriber Interface Module SIM inputs, and control running gear according to the driving path and by perceiving the location information collected with locating module.So as to realize the automatic Pilot of the intelligent personal vehicles, the manual operation during Personal Transporter's use is reduced.

Description

The intelligent personal vehicles and its control method, dispatching method and storage medium

Technical field

Embodiment of the disclosure is related to Personal Transporter field more particularly to a kind of intelligent personal vehicles and its control Method processed, dispatching method, storage medium and computer system.

Background technology

Personal Transporter is always the hot spot of vehicle manufacturer and Chevron Research Company's concern.Personal Transporter at present Main Types include new bicycle, electric car, motorcycle, wheelchair, slide plate, balance car, scooter etc..

Inventor has found that in the prior art, general Personal Transporter needs during to relation technological researching More manual operation is wanted, is so unfavorable for being promoted the usage experience of user.For some old men or physical disabilities, mistake More manual operations results even in these people can not use these Personal Transporters at all.

It is illustrated below with wheelchair.

Wheelchair for handicapped crowd bring conveniently, with the progress of social civilization, general wheelchair due to Some shortcomings of its own, the trend of the substituted manual wheelchair of electric wheelchair.Electric wheelchair generally comprises car body, front and back wheel, drive Dynamic motor, control stick and motor driver, driving motor drive trailing wheel by storage battery power supply, and being sitting in people on wheelchair only need to be by Dynamic operation lever, you can realize that the advance, retrogressing and left and right of wheelchair are turned.

Existing electric wheelchair is required to user oneself and controls manually or rearward wheelchair is promoted to walk by other people. When needing old man or disabled person oneself controling wheelchair is walked, there is many inconveniences, such as upper limb disabled, eyesight Decline personage etc. is difficult with；It is even more labor intensive to promote walking by other people, and use cost is higher.

The content of the invention

The main purpose of at least one embodiment of the disclosure is to provide a kind of intelligent personal vehicles and its controlling party Method, dispatching method, storage medium and computer system, to reduce the manual operation during Personal Transporter's use.

The embodiment of the present disclosure provides a kind of intelligent personal vehicles, including：Control module and it is coupled to the control Running gear, perception and the locating module of molding block, Subscriber Interface Module SIM and the first memory module；First memory module is used In storage preset path；

The control module, is used for：

It obtains the first driving path inputted by the Subscriber Interface Module SIM and instruction is set；

According to first driving path instruction is set to determine that first driving path sets instruction in the described first storage Corresponding driving path in module；

After driving path is determined, the traveling of the intelligent personal vehicles is controlled under automatic driving mode, specifically Including：

The location information of the intelligent personal vehicles is gathered with locating module by the perception；

The running gear is controlled according to the driving path and the location information.

In some embodiments, the intelligent personal vehicles further include the operation machine for being coupled to the control module Structure；

The control module is additionally operable to gather pilot steering operation by the operating mechanism, described artificial collecting During driver behavior, pilot steering pattern is switched to；And under pilot steering pattern, according to pilot steering operation control Running gear.

In some embodiments, the control module is additionally operable to when detecting that the pilot steering operation stops, switching To automatic driving mode.

In some embodiments, the operating mechanism is handle.

In some embodiments, the control module is additionally operable to, and the intelligent personal is being determined according to the location information When in the preset path that the vehicles are located in first memory module and being currently at pilot steering pattern, user's choosing is prompted Select automatic driving mode；After user selects automatic driving mode, into automatic driving mode.

In some embodiments, the control module is additionally operable to when the intelligent personal vehicles meet with barrier, Send warning information.

In some embodiments, it is described that the running gear, bag are controlled according to the driving path and the location information It includes：

When the intelligent personal vehicles meet with barrier, the running gear is controlled to stop advancing.

In some embodiments, the intelligent personal vehicles further include the operation machine for being coupled to the control module Structure；It is described that the running gear is controlled according to the driving path and the location information, including：

When the intelligent personal vehicles meet with barrier, user is prompted manually to be driven by the operating mechanism Sail operation；After pilot steering operation is detected, pilot steering pattern is switched to；And under pilot steering pattern, according to described Pilot steering operation controls the running gear.

In some embodiments, the perception includes avoidance sensor with locating module；

The control module is additionally operable to gather obstacle information by the avoidance sensor；

It is described that the running gear is controlled according to the driving path and the location information, including：

According to the obstacle information determine the intelligent personal vehicles on direct of travel close to barrier and When judging the barrier for moveable barrier, the running gear is controlled to stop advancing；

After judging that the barrier is removed from driving path, controlled according to the driving path and the location information The running gear continues on.

According to the obstacle information determine the intelligent personal vehicles on direct of travel close to barrier and When the barrier is immovable barrier, user is prompted to carry out pilot steering operation by the operating mechanism.

In some embodiments, the control module is additionally operable to judging the intelligent personal vehicles avoiding obstacles Afterwards, user is prompted to select automatic driving mode；After user selects automatic driving mode, into automatic driving mode.

In some embodiments, the intelligent personal vehicles are wheelchair.

In some embodiments, the perception includes a monocular cam with locating module；

The location information for gathering the intelligent personal vehicles with locating module by perceiving, including：Pass through institute State the location information that monocular cam gathers the intelligent personal vehicles.

In some embodiments, the control module includes central controller and is coupled to the second of the central controller Memory module, second memory module for storing computer instruction, for performing described second deposit by the central processing unit The computer instruction stored in storage module.

In some embodiments, the intelligent personal vehicles further include：It is coupled to the channel radio of the control module Believe module；

The control module is additionally operable to the second driving path for receiving external equipment by the wireless communication module and sending Instruction is set；When user inputs first driving path not over the Subscriber Interface Module SIM and sets instruction, according to institute It states the setting instruction of the second driving path and determines what second driving path set instruction corresponding in first memory module Driving path.

The embodiment of the present disclosure additionally provides a kind of control method for the intelligent personal vehicles, the described method includes：

It obtains the first driving path input by user and instruction is set；

According to first driving path instruction is set to determine that first driving path sets the corresponding traveling road of instruction Footpath；

After corresponding driving path is determined, the row of the intelligent personal vehicles is controlled under automatic driving mode It sails；It specifically includes：

Gather the location information of the intelligent personal vehicles；

In some embodiments,

The method further includes：Pilot steering operation is gathered, when collecting the pilot steering operation, is switched to manually Driving mode；And under pilot steering pattern, the running gear is controlled according to pilot steering operation.

In some embodiments, the method further includes：When detecting that the pilot steering operation stops, it being switched to certainly Dynamic driving mode.

In some embodiments, the acquisition pilot steering operation, including：Gather the pilot steering behaviour performed at handle Make.In some embodiments, the method further includes：The intelligent personal vehicles position is being determined according to the location information In in preset path and when being currently at pilot steering pattern, user is prompted to select automatic driving mode；It is automatic in user's selection After driving mode, into automatic driving mode.

In some embodiments, the method further includes：When the intelligent personal vehicles meet with barrier, send Warning information.

In some embodiments,

The method further includes：Gather obstacle information；

According to the obstacle information determine the intelligent personal vehicles on direct of travel close to barrier and When the barrier is immovable barrier, user is prompted to carry out pilot steering operation.

In some embodiments, the method further includes：Judge the intelligent personal vehicles avoiding obstacles it Afterwards, user is prompted to select automatic driving mode；After user selects automatic driving mode, into automatic driving mode.

In some embodiments,

The method further includes：

It receives the second driving path that external equipment is sent and instruction is set；First driving path is not inputted in user When instruction is set, according to second driving path instruction is set to determine that second driving path sets the corresponding traveling of instruction Path.

The embodiment of the present disclosure additionally provides a kind of computer storage media, and computer is stored in the computer storage media Instruction code；The computer instruction code performs the above-mentioned control for the intelligent personal vehicles when being computer-executed Method processed.

The embodiment of the present disclosure additionally provides a kind of method dispatched to the above-mentioned intelligent personal vehicles, the method bag It includes：

Second driving path is sent to the intelligent personal vehicles by communication, instruction is set.

In some embodiments, second row is being sent to the intelligent personal vehicles by communication Before sailing path setting instruction, the method further includes：

The intelligent personal vehicles for receiving user use request；The intelligent personal vehicles in request using including The location information of user；

According to the intelligent personal vehicles second row is generated using the location information of the user included in request It sails path and instruction is set.

The embodiment of the present disclosure additionally provides a kind of computer storage media, and computer is stored in the computer storage media Instruction code；The computer instruction code is performed when being computer-executed to above-mentioned intelligent personal vehicles scheduling Method.

The embodiment of the present disclosure additionally provides a kind of computer system, the computer system include at least one processor and One memory, the memory are coupled to the processor；The processor is configured as performing and be stored in the memory Computer instruction；The processor is performed when performing the computer instruction to above-mentioned intelligent personal vehicles tune Step in the method for degree.

In at least one embodiment of the disclosure, the control module of the intelligent personal vehicles can be according to user in user Interface module input the first driving path set instruction determine driving path, and according to the driving path and by perceive with The location information control running gear that locating module collects.So as to realize the automatic Pilot of the intelligent personal vehicles, Reduce the manual operation during Personal Transporter's use.

Description of the drawings

Fig. 1 is a kind of hardware architecture diagram for the intelligent personal vehicles that the embodiment of the present disclosure provides；

Fig. 2 is another hardware architecture diagram for the intelligent personal vehicles that the embodiment of the present disclosure provides；

Fig. 3 is a kind of application scenarios schematic diagram for the intelligent personal vehicles that the embodiment of the present disclosure provides；

Fig. 4 is another application scenarios schematic diagram for the intelligent personal vehicles that the embodiment of the present disclosure provides；

Fig. 5 is the flow diagram for the control method for the intelligent personal vehicles that the embodiment of the present disclosure provides；

Fig. 6 is a kind of flow diagram for man-machine method driven altogether that the embodiment of the present disclosure provides；

Fig. 7 is a kind of flow diagram of the method for operating mode switching that the embodiment of the present disclosure provides；

Fig. 8 is the flow diagram for the method that a kind of processing that the embodiment of the present disclosure provides meets with barrier；

Fig. 9 is a kind of flow diagram for method to the scheduling of the intelligent personal vehicles that the embodiment of the present disclosure provides.

Specific embodiment

It should be appreciated that specific embodiment described herein is only used to explain the disclosure, it is not used to limit the disclosure.

First, the intelligent personal vehicles provided the embodiment of the present disclosure illustrate.What the embodiment of the present disclosure provided The intelligent personal vehicles include various types of intelligent transportation instruments for personal use.In one embodiment, intelligence People's vehicles are wheelchair.In further embodiments, the intelligent personal vehicles include various types of intelligent bicycles, intelligence Energy electric car, Intelligent motorcycle, intelligent slide plate, intelligent balance vehicle, Intelligent scooter etc..

The control module, is used for：

Figures 1 and 2 show that the different two kind hardware knot for the intelligent personal vehicles 100 that the embodiment of the present disclosure provides Structure, the embodiment of the present disclosure do not limit the hardware configuration of the intelligent personal vehicles 100, other are with the hard of identical function Part structure is within the protection domain of the disclosure.

As depicted in figs. 1 and 2, the intelligent personal vehicles 100 that the embodiment of the present disclosure provides include：Control module 101 And the running gear 102 of control module 101 is coupled to, perceives and is deposited with locating module 103, Subscriber Interface Module SIM 104 and first Store up module 105.

Wherein, running gear 102 is in response to the control instruction sent in control module 101 so that intelligent personal traffic work The device that tool 100 is advanced.Running gear 102 includes：Motor, motor driver, alarm, brake and power supply, power supply are used for Electric energy, the work of motor driver driving motor are provided for motor driver and brake.

Perceive the location information for being used to gather the intelligent personal vehicles 100 with locating module 103.

In some embodiments, the perception includes a monocular cam with locating module；At this point, described pass through perception The location information of the intelligent personal vehicles is gathered with locating module 103, including：Institute is gathered by the monocular cam State the location information of the intelligent personal vehicles.Specifically, monocular cam can be shot in front of the intelligent personal vehicles Image, then by image transmitting to control module 101, control module 101 can be by institute's the image collected with pre-establishing Vision map matched, so that it is determined that the position of personal intelligent transportation instrument, to image and the machine vision map of acquisition The realization process for match the position of definite target may be referred to correlation technique.Details are not described herein.Using monocular cam Contribute to the whole cost of the reduction intelligent personal vehicles.It certainly, can also other classes in some other embodiments The perceptual positioning module of type, such as binocular camera shooting head etc., corresponding embodiment can also solve or part solves background technology In it is involved the technical issues of.

In some embodiments, perceive with locating module 103 include avoidance sensor (such as：Ultrasonic wave, laser radar Deng), the control module 101 is additionally operable to gather obstacle information by the avoidance sensor.Obstacle information is used to characterize The front of the intelligent personal vehicles 100 whether have barrier and, if there is barrier in the front of the intelligent personal vehicles 100 Hinder object, which is moveable or immovable.In another embodiment, perceive and both wrapped with locating module 103 A monocular cam is included, and including avoidance sensor.

User interface (Human Machine Interface, HMI) module 104 is used to provide a user and intelligent personal The interface interacted between the vehicles 100.User by Subscriber Interface Module SIM 104 input driving path set instruction (under Text is known as the first driving path and sets instruction), to complete the setting to the driving path of the intelligent personal vehicles 100.One In a little embodiments, the Subscriber Interface Module SIM 104 also driving path with the real-time display intelligent personal vehicles 100, present bit It puts and the function of destination locations.

First memory module 105 is for storing preset path, and the quantity of preset path is one or more, and user can root According to itself use demand to the intelligent personal vehicles 100, one or more preset paths are set.In the quantity of preset path In the case of being one, which is the driving path of the intelligent personal vehicles 100；It is in the quantity of preset path In the case of multiple, user sets instruction by inputting the first driving path to Subscriber Interface Module SIM 104, from multiple preset paths The middle driving path for selecting a preset path as the intelligent personal vehicles 100.

Control module 101 is the information processing centre and control centre of the intelligent personal vehicles 100.In one embodiment In, as shown in Figure 1, control module 101 includes top level control device 1011 and lower floor's controller 1012.Perceive with locating module 103, 104 and first memory module 105 of Subscriber Interface Module SIM is coupled to top level control device 1011, and running gear 102 is coupled to lower floor's control Device 1012 processed.Wherein, top level control device 1011 and lower floor's controller 1012 are separated from each other, independent to lay.Top level control device 1012 In the first driving path that Subscriber Interface Module SIM 104 inputs instruction is set to determine driving path according to user, and according to the traveling Path and by perceiving the location information collected with locating module 103, generates corresponding control instruction, and by the control of generation System instruction is sent to lower floor's controller 1012, after lower floor's controller 1012 receives the control instruction, controls running gear 102 Perform the control instruction.

In another embodiment, as shown in Fig. 2, control module 101, which includes central controller 1013 and second, stores mould Block 1014, the second memory module 1014 is for storing computer instruction, and central processing unit is for the second memory module 1014 of execution The computer instruction of middle storage.The various functions of control module are realized by central controller and corresponding computer instruction. Second memory module 1014, running gear 102 perceive and locating module 103,104 and first memory module of Subscriber Interface Module SIM 105 are coupled to central controller 1013.Wherein, 1013 and second memory module 1014 of central controller combines and is equivalent to Fig. 1 In top level control device 1011 and lower floor's controller 1012 it is integrated.

With reference to various embodiments above, control module 101 is according to user on the first traveling road that Subscriber Interface Module SIM 104 inputs Footpath sets instruction to determine driving path, and according to the driving path and by perceiving the position collected with locating module 103 Information generates corresponding control instruction, and controls running gear 102 according to the control instruction of generation, so that intelligent personal The vehicles 100 are advanced according to the driving path.The automatic Pilot of the intelligent personal vehicles 100 is realized, reduces individual Manual operation during vehicles use.

By taking the intelligent personal vehicles 100 are wheelchairs as an example, control module 101 determines the driving path of wheelchair and is somebody's turn to do first Then location information of the wheelchair at current time is believed according to the driving path of the wheelchair and the wheelchair in the position at current time Breath, it is contemplated that the wheelchair then according to the wheelchair in the location information of subsequent time, determines the wheel in the location information of subsequent time The speed and corner of the left and right two-wheeled of chair, finally according to the speed and corner of the left and right two-wheeled of the wheelchair, generation is for the wheelchair Left and right two-wheeled control instruction, and according to the control instruction of the left and right two-wheeled for the wheelchair, control the left and right two of the wheelchair The rotation of wheel, so that the wheelchair is advanced according to its driving path.

With reference to various embodiments above, in another embodiment, as depicted in figs. 1 and 2, the intelligent personal vehicles 100 Further include the operating mechanism 106 for being coupled to control module 101.Operating mechanism 106 is for the user's control intelligent personal vehicles 100 components how to advance, user input pilot steering by operating mechanism 106 and operate.Illustratively, user passes through operating mechanism The 106 control intelligent personal vehicles 100 advance, retreat, turn left and turn right.

In one embodiment, operating mechanism 106 is handle.In some embodiments, handle includes：Control stick, switch, Whistle button, brake button.In another embodiment, operating mechanism 106 is speech input device.In some embodiments, Speech input device is microphone.

For including the intelligent personal vehicles 100 of operating mechanism 106, not only there is automatic Pilot, also Have the function of man-machine to drive altogether.Wherein, man-machine drive altogether is realized by implementation below：

Control module 101 gathers pilot steering by operating mechanism 106 and operates, and when collecting pilot steering operation, cuts Pilot steering pattern is changed to, and under pilot steering pattern, control running gear 102 is operated according to pilot steering, to realize people Machine is driven altogether.

In another embodiment, control module 101 detect come from operating mechanism 106 pilot steering operate stop When, automatic driving mode is switched to, to realize the seamless switching of pilot steering pattern and automatic driving mode, optimizes user's Usage experience.

In Fig. 1, control module 101 includes top level control device 1011 and lower floor's controller 1012.Operating mechanism 106 is coupled to Control module 101 refers to：Operating mechanism 106 is coupled to lower floor's controller 1012, and lower floor's controller 1012, which both received, to be come from The control instruction (hereinafter referred to as automatic Pilot instruction) of layer controller 1012, and receive and come from the artificial of operating mechanism 106 The corresponding control instruction of driver behavior (hereinafter referred to as pilot steering instruction), and the priority of pilot steering instruction is higher than automatic Steering instructions.That is, if lower floor's controller 1012 had not only received automatic Pilot instruction in synchronization, but also receive people Work steering instructions, then lower floor's controller 1012 control running gear 102 perform artificial steering instructions.As long as lower floor's controller 1012 Pilot steering instruction is received, then running gear 102 is controlled to perform artificial steering instructions, until not receiving pilot steering instruction Until (not receiving pilot steering instruction means that pilot steering operation stops).After pilot steering instruction is not received, If receiving automatic Pilot instruction, running gear 102 is controlled to perform automatic Pilot instruction.

In Fig. 2, control module 101 includes 1013 and second memory module 1014 of central controller.Operating mechanism 106 couples Refer to control module 101：Operating mechanism 106 is coupled to central controller 1013.The meter stored in second memory module 1014 The virtual handover module comprising the artificial driving mode of coordination and automatic driving mode in computer instruction is included in the instruction of calculation machine. Central controller 1013 is according to handover module, the first driving path on the one hand inputted according to user in Subscriber Interface Module SIM 104 Instruction is set to determine driving path, and is believed according to the driving path and by perceiving the position collected with locating module 103 Breath, generates corresponding control instruction, is automatic Pilot instruction；On the other hand pilot steering is gathered by operating mechanism 106 to grasp Make, when collecting pilot steering operation, generate corresponding control instruction, be pilot steering instruction.If central controller 1013 had not only generated automatic Pilot instruction in synchronization, but also generated pilot steering instruction, then central controller 1013 controls Running gear 102 performs artificial steering instructions.As long as central controller 1012 generates pilot steering instruction, then walking is controlled to fill The artificial steering instructions of 102 execution are put, (can not generate pilot steering instruction means manually until that can not generate pilot steering instruction Driver behavior stops) until.After it can not generate pilot steering instruction, if generating automatic Pilot instruction, row is controlled Walking apparatus 102 performs automatic Pilot instruction.

In some embodiments, the control module can also be configured to:Described in being determined according to the location information When in the preset path that the intelligent personal vehicles are located in first memory module and being currently at pilot steering pattern, carry Show that user selects automatic driving mode；After user selects automatic driving mode, into automatic driving mode.In time to reduce Manual operation during Personal Transporter's use improves the degree of automation of Personal Transporter.

Specifically, as it was noted above, control module 101 gathers pilot steering operation by operating mechanism 106, gathering When being operated to pilot steering, pilot steering pattern is switched to, thus the intelligent personal vehicles 100 enter pilot steering pattern. During the operating mode of the intelligent personal vehicles 100 is pilot steering pattern, control module 101 passes through perception and positioning mould Block 103 gathers the location information of the intelligent personal vehicles 100 namely by perceiving and 103 real-time monitoring intelligent of locating module The location of Personal Transporter 100, and by the location of intelligent personal vehicles 100 and the first memory module 105 In multiple preset paths compare one by one, if the location of intelligent personal vehicles 100 in the first memory module 105 A preset path (hereinafter referred to as destination path) on position it is identical, then illustrate that the intelligent personal vehicles 100 advance to On the destination path, at this point, in order to reduce the manual operation during Personal Transporter's use, control module 101 is prompted User selects automatic driving mode, and user can be confirmed into automatic driving mode according to itself trip requirements or abandon entering Automatic driving mode confirmed in user into after automatic driving mode, and control module 101 is by the intelligent personal vehicles 100 Operating mode is switched to automatic driving mode, and thus the intelligent personal vehicles 100 enter automatic driving mode, and according to above-mentioned Destination path is advanced.

Wherein, since during the operating mode of the intelligent personal vehicles 100 is pilot steering pattern, intelligent personal is handed over It is to be operated to determine by pilot steering input by user that how logical instrument 100, which travels, has randomness, so intelligent personal traffic The location of instrument 100 be also it is random, thus, the mesh determined according to the location of intelligent personal vehicles 100 Path is marked, it is identical with the driving path possibility that the first driving path sets instruction corresponding in the first memory module 105, also may be used It can be different.For destination path and the first driving path, instruction driving path corresponding in the first memory module 105 is set Different situations realizes path by pilot steering operation and switches.

In some embodiments, perceive includes avoidance sensor with locating module 103, thus forms and is sensed with avoidance The intelligent personal vehicles 100 of device.For the intelligent personal vehicles 100 with avoidance sensor, obstacle is met with In the case of object, control module 101 has the control mode of running gear 102 and is not limited to following three kinds：

The first control mode：When meeting with moveable barrier, control module 101 controls running gear 102 to stop It advances, after the moveable barrier is moved to the place that the intelligent personal vehicles is not hindered to advance, controls running gear 102 continue on；

Second of control mode：When meeting with immovable barrier, control module 101 prompts user manually to be driven Operation is sailed, and control running gear 102 is operated according to the pilot steering of user, to avoid immovable barrier.

The third control mode：After moveable barrier or immovable barrier is avoided, control module 101 The operating mode of the intelligent personal vehicles 100 is switched to automatic driving mode, running gear is controlled with automatic driving mode 102。

What deserves to be explained is when implementing, for the intelligent personal vehicles for including avoidance sensor listed above 100 three kinds of control modes can also use arbitrary two kinds or use only with any one.

Specifically, as it was noted above, perceive includes avoidance sensor with locating module 103, for including avoidance sensor The intelligent personal vehicles 100, not only there is automatic Pilot, also have close to moveable barrier when stop Only advance, and the function of being continued on after the moveable barrier removes.

During control module 101 controls running gear 102 to advance, control module 101 is adopted by avoidance sensor Collect obstacle information, to determine the intelligent personal vehicles 100 on direct of travel whether close to barrier and disturbance in judgement Whether object is moveable barrier, if the intelligent personal vehicles 100 on direct of travel close to barrier, and should Barrier is moveable barrier, then running gear 101 is controlled to stop advancing namely brake, avoids intelligent personal traffic work Tool 100 knocks the barrier, improves the security during 100 use of the intelligent personal vehicles.

Since barrier is moveable, so during running gear 101 stops advancing, which can Other places that running gear 101 is not hindered to advance can be moved to, therefore, during running gear 101 stops advancing, control mould Whether block 101 continues to gather obstacle information by avoidance sensor, to determine the moveable barrier from running gear 102 Driving path on remove, and after the definite moveable barrier is removed from the driving path of running gear 102, control Running gear 102 processed continues on.During above-mentioned control, it is according to control module 101 to stop advancing and continuing on Control and be automatically performed, without human intervention, reduce the artificial behaviour during 100 use of the intelligent personal vehicles Make, improve the intelligence degree of the intelligent personal vehicles 100.

As it was noted above, perceive includes avoidance sensor with locating module 103, for including avoidance sensor and operation The intelligent personal vehicles 100 of mechanism 106 not only have the function of automatic Pilot and the man-machine function of driving altogether, also have When close to immovable barrier, by means of the function of the pilot steering operation intelligent barrier avoiding of user.Wherein, by means of with The pilot steering operation intelligent barrier avoiding at family is realized by implementation below：

As it was noted above, the obstacle information that control module 101 is collected according to avoidance sensor, determines that intelligent personal is handed over Whether close to barrier, simultaneously whether disturbance in judgement object is moveable barrier to logical instrument 100 on direct of travel, if intelligence Can Personal Transporter 100 on direct of travel close to barrier, and the barrier is immovable barrier, then carry Show that user carries out pilot steering operation by operating mechanism 106.

Since the barrier is immovable, so needing by means of pilot steering operation change driving path, avoid Immovable barrier.During user is using the intelligent personal vehicles 100, if the intelligent personal vehicles 100 on direct of travel close to immovable barrier, then can know corresponding prompting, user know the prompting it Afterwards, pilot steering operation is carried out by operating mechanism 106, thus, the intelligent personal vehicles 100 enter pilot steering pattern, Control module 101 operates control running gear 102 according to the pilot steering of user, and to change driving path, it is not removable to avoid this Dynamic barrier.

In the intelligent personal vehicles 100 into during pilot steering pattern, control module 101 by avoidance sensor after Continuous acquisition obstacle information, to determine whether the intelligent personal vehicles 100 avoid immovable barrier, if really Determine the intelligent personal vehicles 100 and avoid immovable barrier, then no longer pilot steering is needed to operate.At this point, In order to reduce the manual operation during Personal Transporter's use, control module 101 prompts user to select automatic driving mode, After user selects automatic driving mode, the operating mode of the intelligent personal vehicles 100 is switched to automatically by control module 101 Driving mode, thus the intelligent personal vehicles 100 enter automatic driving mode.Thus, reduce the intelligent personal vehicles Manual operation during 100 uses.

The above are for the intelligent personal vehicles 100 including avoidance sensor, experience barrier how is handled Embodiment explanation.Below to not including the intelligent personal vehicles 100 of avoidance sensor, experience obstacle how is handled The embodiment of object illustrates.

A kind of mode is to be configured to be additionally operable to meet in the intelligent personal vehicles to hinder by the control module 101 When hindering object, warning information is sent.Specifically, for not including the intelligent personal vehicles 100 of avoidance sensor, meeting with When meeting barrier, control module 101 control in the intelligent personal vehicles 100 alarm (such as：Loudspeaker, indicator light etc.) hair Go out warning information, barrier met with to alert user's intelligent personal vehicles 100, user perceive warning information it Afterwards, pilot steering operation can be carried out, gets around barrier.

Yet another approach is to be configured to the control module 101 to meet with obstacle in the intelligent personal vehicles 100 During object, the running gear is controlled to stop advancing.Specifically, to not including the intelligent personal vehicles of avoidance sensor For 100, when meeting with barrier, control module 101 controls running gear 102 to stop advancing, that is, brakes, such one side energy The damage of the intelligent personal vehicles 100 is enough avoided, in addition objectively can also play the purpose of prompting user.

Yet another approach is to be configured to the control module 101：Barrier is met in the intelligent personal vehicles When, user is prompted to carry out pilot steering operation；After pilot steering operation is detected, pilot steering pattern is switched to；And in people Under work driving mode, the running gear is controlled according to pilot steering operation.Specifically, to not including avoidance sensor And for the intelligent personal vehicles 100 including operating mechanism 106, when meeting with barrier, control module 101 prompts user Pilot steering operation is carried out by operating mechanism 106.For example voice can be sent, the content of voice can be that " there is obstacle in front Object, row pilot steering that come in ".During user is using the intelligent personal vehicles 100, if the intelligent personal vehicles 100 have met with barrier, then can know corresponding prompting, and user is after the prompting is known, by operating mechanism 106 into pedestrian Work driver behavior, thus, the intelligent personal vehicles 100 enter pilot steering pattern, and control module 101 is according to the artificial of user Driver behavior controls running gear 102, to change driving path, avoids the barrier.

What deserves to be explained is when not comprising avoidance sensor, control module 101 is still that may determine that intelligent personal is handed over Whether logical instrument 100 has suffered from barrier.Specifically, 100 row of the intelligent personal vehicles is controlled in control module 101 Into when, the intelligent personal vehicles 100 may suffer from barrier and can not advance.The position of the intelligent personal vehicles 100 at this time Confidence breath generally there will be no variation before barrier removal, and such control module 101 can be according to the location information Situation of change determines whether to have met with barrier.It can not advance in addition, the intelligent personal vehicles 100 may suffer from barrier Afterwards, the output power of motor may also can increase, and can also judge intelligence according to the output power of motor at this time Whether people's vehicles 100 have suffered from barrier.

What deserves to be explained is when implementing, for the intelligent personal traffic work for not including avoidance sensor listed above Three kinds of processing modes of tool 100 can also use arbitrary two kinds or use only with any one.

In some embodiments, the intelligent personal vehicles further include：Wireless communication module；The control module, It is additionally operable to the second driving path setting instruction for receiving external equipment by the wireless communication module and sending；It is illogical in user When crossing the Subscriber Interface Module SIM and inputting first driving path instruction is set, set and instructed according to second driving path Determine setting instruction driving path corresponding in first memory module.

With reference to various embodiments above, the intelligent personal vehicles 100 further include the wireless communication for being coupled to control module 101 Module 107.For including the intelligent personal vehicles 100 of wireless communication module 107, application scenarios are various.Fig. 3 and Fig. 4 Show the different two kind application scenarios for the intelligent personal vehicles 100 that the embodiment of the present disclosure provides.

As shown in figure 3, in one embodiment, which includes：Intelligent personal with wireless communication module 107 The vehicles 100 and the external equipment 200 with wireless communication module.The intelligent personal vehicles 100 pass through wireless communication Module 107 and the wireless communication module of external equipment 200 establish wireless communication, and then external equipment 200 passes through side wireless communication Formula sends driving path to the wireless communication module 107 of the intelligent personal vehicles 100 and sets instruction (the hereinafter referred to as second traveling Path sets instruction).

The second driving path setting that control module 101 receives the transmission of external equipment 200 by wireless communication module 107 refers to Order.When user inputs the first driving path not over Subscriber Interface Module SIM 104 and sets instruction, control module 101 is according to next Instruction is set from the second driving path in external equipment 200, determines that setting instruction is corresponding in the first memory module 105 Driving path, then according to the driving path and by perceiving the location information collected with locating module 103, generate phase The control instruction answered, and running gear 102 is controlled according to the control instruction of generation, so that the intelligent personal vehicles 100 It advances according to the driving path.It as a result, can be from multiple preset paths in the first memory module 105 by external equipment 200 The middle driving path for selecting a preset path as the intelligent personal vehicles 100 so that the intelligent personal vehicles 100 are pressed It is travelled according to 200 selected preset path of external equipment.Thus, external equipment 200 is equivalent to remote control intelligent personal traffic The remote controler of instrument 100 so that the intelligent personal vehicles 100 including wireless communication module 107 are removed with automatic Pilot Outside function, also there is remote control driving.

During using including the intelligent personal vehicles 100 of wireless communication module 107, user can be by using Family interface module 104 inputs the first driving path and sets instruction so that the intelligent personal vehicles 100 are according to the first driving path It sets and instructs corresponding driving path traveling namely travelled according to the driving path of user oneself selection, can not also input First driving path sets the operation of instruction, but inputs the second traveling in external equipment 200 by the user of external equipment 200 Path sets instruction, and the wireless communication module for passing through external equipment 200 is sent to the channel radio of the intelligent personal vehicles 100 Believe module 107 so that the intelligent personal vehicles 100 are set according to the second driving path instructs corresponding driving path to travel, Namely it is travelled according to the driving path of user's selection of external equipment.Thus, the intelligent personal including wireless communication module 107 is handed over Logical instrument 100 is suitable for old man or disabled person oneself inputs the scene that driving path sets instruction to have any problem, and is particularly suitable for Limb has disabled, hypopsia personage, can remotely help the user of the intelligent personal vehicles 100 using external equipment by other people Driving path is selected, reduces use cost.

As shown in figure 4, in another embodiment, which includes：N number of intelligence with wireless communication module 107 It can Personal Transporter 100, the dispatching platform 300 with wireless communication module and the user's end to communicate with dispatching platform 300 End 400, wherein, N is the integer more than or equal to 1.When N is 1, dispatching platform 300 is equivalent to the external equipment 200 in Fig. 3；When When N is more than 1, dispatching platform 300 uses request, generation second according to the intelligent personal vehicles for coming from user terminal 400 Driving path sets instruction, to one or more of N number of intelligent personal vehicles 100 with wireless communication module 107 It is scheduled.Fig. 4 is by taking the quantity of the intelligent personal vehicles 100 with wireless communication module 107 is 3 as an example.

Dispatching platform 300 is used for the operation pipe to N number of intelligent personal vehicles 100 with wireless communication module 107 Reason, for example, dispatching platform 300 is the intelligent electric wheelchair operation platform for home for destitute, for underground parking, with more nothings People's vehicle provides operation platform for the service of plugging into, etc. for multiple inlet and outlet jointly.

N number of intelligent personal vehicles 100 pass through the wireless communication module 107 of itself nothing with dispatching platform 300 respectively Line communication module establishes wireless communication, and then dispatching platform 300 has according to dispatching requirement by communication to N number of , it is necessary to the channel radio of the intelligent personal vehicles 100 of scheduling in the intelligent personal vehicles 100 of wireless communication module 107 Believe that module 107 sends driving path and sets instruction (namely the second driving path sets instruction), and then realize scheduling.

The user of user terminal 400 inputs when needing using the intelligent personal vehicles 100 in user terminal 400 The intelligent personal vehicles are shown using request, the intelligent personal vehicles using the location information that user is included in request User needs to take the intelligent personal vehicles using the intelligent personal vehicles and by where.User terminal 400 will The intelligent personal vehicles are sent to dispatching platform 300 using request, and dispatching platform 300 receives the intelligent personal vehicles After request, according to location information therein and the N number of intelligent personal vehicles dispatched by the dispatching platform 300 100 respective positions information, the second driving path of generation sets instruction, then by communication to apart from user terminal The nearer intelligent personal vehicles of 400 user send the second driving path and set instruction, so that apart from user terminal 400 The nearer intelligent personal vehicles of user are automatically proceeded on the position where the user of user terminal 400, whole convenient for user The user at end 400 uses the intelligent personal vehicles 100.

Based on same inventive concept, the embodiment of the present disclosure additionally provides a kind of controlling party for the intelligent personal vehicles Method, this method is applied to the intelligent personal vehicles, and the intelligent personal vehicles include control module and are coupled to control Running gear, perception and the locating module of molding block, Subscriber Interface Module SIM and the first memory module, and the first memory module is used for Store preset path.

Fig. 5 is the flow diagram for the control method for the intelligent personal vehicles that the embodiment of the present disclosure provides.Such as Shown in Fig. 5, this method comprises the following steps：

Step S51：It obtains the first driving path input by user and instruction is set；

Step S52：According to corresponding to first driving path sets instruction to determine first driving path setting instruction Driving path；

Step S53：The traveling of the intelligent personal vehicles is controlled under automatic driving mode；

Wherein, step S53 is specifically included：

Gather the location information of the intelligent personal vehicles；

The control method for the intelligent personal vehicles that the embodiment of the present disclosure provides is by the intelligent personal vehicles Control module perform, control module is as shown in Figure 1 or 2；In addition in the specific implementation, above-mentioned method implemented other Hardware environment can also be with reference to the associated description in figure 1 or Fig. 2, and details are not described herein.

Control module sets instruction to determine driving path according to user in the first driving path that Subscriber Interface Module SIM inputs, And according to the driving path and by perceiving the location information collected with locating module, corresponding control instruction is generated, and Running gear is controlled according to the control instruction of generation, so that the intelligent personal vehicles are advanced according to the driving path.It is real Show the automatic Pilot of the intelligent personal vehicles, reduce the manual operation during Personal Transporter's use.

In some embodiments, the intelligent personal vehicles further include the operation machine for being coupled to the control module Structure；The method further includes：At control module, pilot steering is gathered by the operating mechanism and is operated, it is described collecting When pilot steering operates, pilot steering pattern is switched to；And under pilot steering pattern, operated and controlled according to the pilot steering The running gear.

For the intelligent personal vehicles of the operating mechanism including being coupled to control module, control module also passes through Operating mechanism acquisition pilot steering operation, when collecting pilot steering operation, is switched to pilot steering pattern, and is manually driving It sails under pattern, control running gear is operated according to pilot steering, man-machine is driven altogether with realizing.

For the intelligent personal vehicles of the operating mechanism including being coupled to control module, control module is also being examined When measuring the pilot steering operation stopping for coming from operating mechanism, automatic driving mode is switched to, to realize pilot steering pattern With the seamless switching of automatic driving mode, the usage experience of user is optimized.

Fig. 6 is a kind of flow diagram for man-machine method driven altogether that the embodiment of the present disclosure provides.This method is by having behaviour The control module made in the intelligent personal vehicles of mechanism performs.As shown in fig. 6, this method comprises the following steps：

Step S61：It obtains the first driving path input by user and instruction is set；

Step S62：Determine that user starts Function for Automatic Pilot；

Step S63：According to the first driving path instruction is set to determine that first driving path sets the corresponding row of instruction Path is sailed, the traveling of the intelligent personal vehicles is controlled under automatic driving mode；

Step S64：It detects whether to collect pilot steering operation, when detecting pilot steering operation, enter step S65；When pilot steering operation is not detected, return to step S63；

Step S65：Pilot steering pattern is switched to, and under pilot steering pattern, control row is operated according to pilot steering Walking apparatus；

Step S66：Whether detection pilot steering operation stops, and when pilot steering operates stopping, entering step S67, When pilot steering operation does not stop, return to step S65；

Step S67：It is switched to automatic driving mode.

The method further includes：At control module, the intelligent personal traffic work is being determined according to the location information When in the preset path that tool is located in first memory module and being currently at pilot steering pattern, prompt user that selection is automatic Driving mode；After user selects automatic driving mode, into automatic driving mode.

For the intelligent personal vehicles of the operating mechanism including being coupled to control module, there are two types of work for tool Pattern：Automatic driving mode and pilot steering pattern.Control module 101 is additionally operable to the work in the intelligent personal vehicles 100 When pattern is pilot steering pattern, according to the location information of the intelligent personal vehicles 100 and selection information input by user, By the operating mode of the intelligent personal vehicles 100 from pilot steering pattern switching be automatic driving mode, in time to reduce Manual operation during Personal Transporter's use improves the degree of automation of Personal Transporter.

Fig. 7 is a kind of flow diagram of the method for operating mode switching that the embodiment of the present disclosure provides.This method is by having There is the control module in the intelligent personal vehicles of operating mechanism to perform.As shown in fig. 7, this method comprises the following steps：

Step S71：It obtains the first driving path input by user and instruction is set；

Step S72：Determine that user starts Function for Automatic Pilot；

Step S73：According to the first driving path instruction is set to determine that first driving path sets the corresponding row of instruction Path is sailed, the traveling of the intelligent personal vehicles is controlled under automatic driving mode；

Step S74：It detects whether to collect pilot steering operation, when detecting pilot steering operation, enter step S75；When pilot steering operation is not detected, return to step S73；

Step S75：Pilot steering pattern is switched to, and under pilot steering pattern, control row is operated according to pilot steering Walking apparatus；

Step S76：According to the location information of the intelligent personal vehicles, determine whether the intelligent personal vehicles are located at the In a preset path in one memory module, it is located at a default road in the first memory module in the intelligent personal vehicles When on footpath, S77 is entered step；When the intelligent personal vehicles are not located in any preset path in the first memory module, Return to step S75；

Step S77：Prompt user select automatic driving mode, and determine user whether select automatic driving mode, with When family selects automatic driving mode, return to step S73；In the non-selected automatic driving mode of user, return to step S74；

In some embodiments, the perception in the intelligent personal vehicles includes avoidance sensor with locating module； The method further includes：At control module, obstacle information is gathered by the avoidance sensor；It is described according to the traveling Path and the location information control the running gear, including：

For including the intelligent personal vehicles of avoidance sensor, control module also gathers obstacle by avoidance sensor Object information, with determine the intelligent personal vehicles on direct of travel whether close to barrier and disturbance in judgement object whether be can Mobile barrier, if the intelligent personal vehicles on direct of travel close to barrier, and the barrier is removable Dynamic barrier then controls running gear to stop advancing namely brake, the intelligent personal vehicles is avoided to knock the barrier, Improve the security during intelligent personal vehicles use.

During running gear stops advancing, control module continues to gather obstacle information by avoidance sensor, with true Whether the fixed moveable barrier removes from the driving path of running gear, and in the definite moveable barrier from row After being removed on the driving path of walking apparatus, control running gear continues on.During above-mentioned control, stop advance and after It continues into being automatically performed according to the control of control module, without human intervention, reduces the intelligent personal vehicles Manual operation during use improves the intelligence degree of the intelligent personal vehicles.

For including the intelligent personal vehicles of avoidance sensor and operating mechanism, control module is sensed according to avoidance The obstacle information that device collects, determines whether the intelligent personal vehicles close to barrier and judge to hinder on direct of travel Hinder whether object is moveable barrier, if the intelligent personal vehicles on direct of travel close to barrier, and should Barrier is immovable barrier, then user is prompted to carry out pilot steering operation by operating mechanism.User is knowing this After prompting, pilot steering operation is carried out by operating mechanism, thus, the intelligent personal vehicles enter pilot steering pattern, Control module operates control running gear according to the pilot steering of user, to change driving path, avoids immovable barrier Hinder object.

During the intelligent personal vehicles enter pilot steering pattern, control module continues to gather by avoidance sensor Obstacle information, to determine whether the intelligent personal vehicles avoid immovable barrier, if it is determined that intelligence People's vehicles avoid immovable barrier, then no longer pilot steering are needed to operate.At this point, in order to reduce individual Manual operation during vehicles use, control module prompting user selects automatic driving mode, automatic in user's selection After driving mode, the operating mode of the intelligent personal vehicles is switched to automatic driving mode by control module, thus intelligence People's vehicles enter automatic driving mode.Thus, reduce the manual operation during intelligent personal vehicles use.

Fig. 8 is the flow diagram for the method that a kind of processing that the embodiment of the present disclosure provides meets with barrier.This method by Control module in the intelligent personal vehicles with operating mechanism and avoidance sensor performs.As shown in figure 8, this method bag Include following steps：

Step S81：It obtains the first driving path input by user and instruction is set；

Step S82：Determine that user starts Function for Automatic Pilot；

Step S83：According to the first driving path instruction is set to determine that first driving path sets the corresponding row of instruction Path is sailed, the traveling of the intelligent personal vehicles is controlled under automatic driving mode；

Step S84：Obstacle information is gathered, determines the intelligent personal vehicles on direct of travel whether close to obstacle Object in the intelligent personal vehicles when on direct of travel close to barrier, enters step S85；In intelligent personal traffic work Tool is when on direct of travel not close to barrier, return to step S83；

Step S85：It determines whether barrier moves, when barrier is moveable barrier, enters step S86； When barrier is immovable barrier, S87 is entered step；

Step S86：Running gear is controlled to stop advancing, and whether disturbance in judgement object removes from driving path, in obstacle When object is removed from driving path, return to step S83；Otherwise, continue waiting for, and repeat step S86；

Step S87：User is prompted to carry out pilot steering operation, when detecting pilot steering operation, according to pilot steering Operation control running gear；

Step S88：Judge the intelligent personal vehicles whether avoiding obstacles, avoid obstacle in the intelligent personal vehicles During object, return to step S83；In the non-avoiding obstacles of the intelligent personal vehicles, return to step S87.

When the intelligent personal vehicles meet with barrier, user is prompted to carry out pilot steering operation；It is detecting After pilot steering operation, pilot steering pattern is switched to；And under pilot steering pattern, operated and controlled according to the pilot steering The running gear.

For not including the intelligent personal vehicles of avoidance sensor, when meeting with barrier, control module control In the intelligent personal vehicles alarm components (such as：Loudspeaker, indicator light etc.) warning information is sent, to alert user's intelligence People's vehicles have met with barrier, and user is prompted to take care.

In another embodiment, for not including the intelligent personal vehicles of avoidance sensor, barrier is met with When, control module control running gear stops advancing, that is, brakes, the intelligent personal vehicles is avoided to knock the barrier, improve Security during intelligent personal vehicles use.

In another embodiment, to do not include avoidance sensor and the intelligent personal vehicles including operating mechanism and Speech, when meeting with barrier, control module prompts user to carry out pilot steering operation by operating mechanism.It is detected in control module When carrying out pilot steering operation by operating mechanism to user, control running gear is operated according to the pilot steering of user, to change Become driving path, avoid the barrier.

In one embodiment, perceive includes a monocular cam with locating module, and monocular cam can be to intelligence Environment residing for Personal Transporter is perceived, and gathers image data, then obtains intelligence according to the image collected data The location information of energy Personal Transporter.

In some embodiments, the method further includes：

It receives the second driving path that external equipment is sent and instruction is set；First driving path is not inputted in user When instruction is set, according to second driving path instruction is set to determine the corresponding driving path of setting instruction.

For including the intelligent personal vehicles 100 of wireless communication module 107, by wireless communication module 107 with The wireless communication module of external equipment 200 establishes wireless communication, and then external equipment 200 is a to intelligence by communication The wireless communication module 107 of people's vehicles 100 sends driving path and sets instruction (i.e. the second driving path sets instruction).

Based on same inventive concept, the embodiment of the present disclosure additionally provides a kind of intelligence provided the embodiment of the present disclosure The method of people's vehicles scheduling, this method are performed by the dispatching platform that wireless communication is established with N number of intelligent personal vehicles, N is the integer more than or equal to 1.Fig. 9 is a kind of method to the scheduling of the intelligent personal vehicles that the embodiment of the present disclosure provides Flow diagram.As shown in figure 9, this method comprises the following steps：

Step S91：Second driving path is sent by communication to the intelligent personal vehicles to set Put instruction.

In some embodiments, before step S91, the method further includes：

Step S90a：The intelligent personal vehicles for receiving user use request；The intelligent personal vehicles use The location information of user is included in request；

Step S90b：According to the intelligent personal vehicles institute is generated using the location information of the user included in request It states the second driving path and instruction is set.

Dispatching platform is according to dispatching requirement, by communication to N number of intelligent personal with wireless communication module In the vehicles, it is necessary to scheduling the intelligent personal vehicles wireless communication module send driving path set instruction (namely Second driving path sets instruction), and then realize scheduling.

In some embodiments, dispatching platform also establishes wireless communication with user terminal.The user of user terminal is needing During using the intelligent personal vehicles, the intelligent personal vehicles are inputted in the user terminal using request, which hands over Logical instrument include the location information of user using request, show user need using the intelligent personal vehicles and will what Take the intelligent personal vehicles in side.The intelligent personal vehicles are sent to dispatching platform by user terminal using request, scheduling After platform receives the intelligent personal vehicles using request, according to location information therein and by the dispatching platform tune N number of intelligent personal vehicles respective positions information of degree, the second driving path of generation set instruction, then pass through channel radio Letter mode sends the second driving path to the nearer intelligent personal vehicles of the user apart from user terminal and sets instruction, so that The nearer intelligent personal vehicles of user apart from user terminal are automatically proceeded on the position where the user of user terminal, The intelligent personal vehicles are used convenient for the user of user terminal.

The embodiment of the present disclosure additionally provides a kind of computer storage media, and computer is stored in the computer storage media Instruction code；The computer instruction code when being computer-executed, perform it is above-mentioned to the intelligent personal vehicles scheduling Method.

The embodiment of the present disclosure additionally provides a kind of computer system, the computer system include at least one processor and One memory, the memory are coupled to the processor；The processor is configured as performing and be stored in the memory Computer instruction；The processor performs above-mentioned to the scheduling of the intelligent personal vehicles when performing the computer instruction Method in step.

It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row His property includes, so that process, method, article or device including a series of elements not only include those elements, and And it further includes other elements that are not explicitly listed or further includes as this process, method, article or device institute inherently Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this Also there are other identical elements in the process of element, method, article or device.

Above-mentioned embodiment of the present disclosure sequence number is for illustration only, does not represent the quality of embodiment.

Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases The former is more preferably embodiment.Based on such understanding, the technical solution of the disclosure substantially in other words does the prior art Going out the part of contribution can be embodied in the form of software product, which is stored in a storage medium In (such as ROM/RAM, magnetic disc, CD), used including some instructions so that a station terminal equipment (can be mobile phone, computer takes Be engaged in device, air conditioner or the network equipment etc.) perform each embodiment of the disclosure described in method.

It these are only preferred embodiment of the present disclosure, not thereby limit the scope of the claims of the disclosure, it is every to utilize this public affairs It opens specification and equivalent structure or equivalent flow shift that accompanying drawing content is made, is directly or indirectly used in other relevant skills Art field, is similarly included in the scope of patent protection of the disclosure.

Claims

1. a kind of intelligent personal vehicles, which is characterized in that including：Control module and the row for being coupled to the control module Walking apparatus, perception and locating module, Subscriber Interface Module SIM and the first memory module；First memory module is default for storing Path；

The control module, is used for：

According to first driving path instruction is set to determine that first driving path sets instruction in first memory module In corresponding driving path；

After driving path is determined, the traveling of the intelligent personal vehicles is controlled under automatic driving mode, is specifically included：

2. the intelligent personal vehicles according to claim 1, which is characterized in that the intelligent personal vehicles also wrap Include the operating mechanism for being coupled to the control module；

The control module is additionally operable to gather pilot steering operation by the operating mechanism, is collecting the pilot steering During operation, pilot steering pattern is switched to；And under pilot steering pattern, the walking is controlled according to pilot steering operation Device.

3. the intelligent personal vehicles according to claim 1 or 2, which is characterized in that the intelligent personal vehicles It further includes：It is coupled to the wireless communication module of the control module；

The control module is additionally operable to the second driving path setting for receiving external equipment by the wireless communication module and sending Instruction；When user inputs first driving path not over the Subscriber Interface Module SIM and sets instruction, according to described the Two driving paths set instruction to determine that second driving path sets instruction traveling corresponding in first memory module Path.

4. a kind of control method for the intelligent personal vehicles, which is characterized in that including：

It obtains the first driving path input by user and instruction is set；

According to first driving path instruction is set to determine that first driving path sets the corresponding driving path of instruction；

After corresponding driving path is determined, the traveling of the intelligent personal vehicles is controlled under automatic driving mode； It specifically includes：

Gather the location information of the intelligent personal vehicles；

According to the driving path and the running gear of the location information control intelligent personal vehicles.

5. according to the method described in claim 4, it is characterized in that, the method further includes：

Pilot steering operation is gathered, when collecting the pilot steering operation, is switched to pilot steering pattern；And it is manually driving It sails under pattern, the running gear is controlled according to pilot steering operation.

6. method according to claim 4 or 5, which is characterized in that

The method further includes：

It receives the second driving path that external equipment is sent and instruction is set；First driving path is not inputted in user to set During instruction, according to second driving path instruction is set to determine that second driving path sets the corresponding traveling road of instruction Footpath.

7. a kind of computer storage media, which is characterized in that store computer instruction code in the computer storage media；Institute Computer instruction code is stated when being computer-executed, performs such as claim 4-6 any one of them methods.

A kind of 8. method to the intelligent personal vehicles as claimed in claim 3 scheduling, which is characterized in that the method bag It includes：

9. a kind of computer storage media, which is characterized in that store computer instruction code in the computer storage media；Institute Computer instruction code is stated when being computer-executed, performs method as claimed in claim 8.

10. a kind of computer system, which is characterized in that the computer system includes at least one processor and a storage Device, the memory are coupled to the processor；The processor is configured as performing the computer stored in the memory Instruction；The processor performs the step in method as claimed in claim 8 when performing the computer instruction.