CN111511335A

CN111511335A - Personal mobile device

Info

Publication number: CN111511335A
Application number: CN201780098039.3A
Authority: CN
Inventors: 刘伟荣; 李家鑫; 焦寅; 闫励
Original assignee: Sichuan Golden Ridge Intelligence Science and Technology Co Ltd
Current assignee: Sichuan Golden Ridge Intelligence Science and Technology Co Ltd
Priority date: 2017-12-28
Filing date: 2017-12-28
Publication date: 2020-08-07
Also published as: WO2019127263A1

Abstract

A personal mobility device (100) includes a seat (110). The personal mobility device (100) further comprises a mechanical leg (120), the mechanical leg (120) being mechanically connected to the underside of the seat (110); at least one sensor (130), the sensor (130) being adapted to detect movement of the personal mobile device (100) and movement of an obstacle during movement of the personal mobile device (100); and a controller (140), the controller (140) generating a control signal for controlling the movement mode of the personal mobile device (100) in response to the plurality of sensing signals generated by the at least one sensor (130).

Description

Personal mobile device

Technical Field

The present invention relates to a personal mobile device. In particular to an intelligent wheelchair device comprising bionic mechanical legs.

Background

With the continuous progress of science and technology, advanced walking tools are developed by human beings to improve the lives of the old and the disabled. At present, tools for replacing walking for the old and the disabled with lower limbs are mainly intelligent wheelchairs. The intelligent wheelchair is a personal mobile device and has the functions of automatic walking, obstacle avoidance, interaction with users and the like. However, the intelligent wheelchair is mainly suitable for walking on flat ground, but cannot solve the problems of going up and down stairs, crossing obstacles, uneven road surface, bumping and shaking and the like.

Brief description of the drawings

Aiming at the problems that the intelligent wheelchair in the prior art can not go up and down stairs, cross obstacles and the like, the invention provides a personal mobile device, namely the intelligent wheelchair comprising bionic mechanical legs.

One aspect of the present application relates to a personal mobility device including a seat. The personal mobile device includes: a mechanical leg mechanically connected to the seat underside; at least one sensor for detecting movement of the personal mobile device and movement of an obstacle during movement of the personal mobile device, the obstacle being an object surrounding the personal mobile device; and a controller, wherein the controller responds to a plurality of sensing signals generated by the at least one sensor and generates control signals for controlling the mechanical leg movement mode.

In some embodiments, the personal mobility device further comprises an input for receiving a user instruction including turning on the robotic leg, turning off the robotic leg, selecting a mode of movement of the robotic leg, or selecting a speed of movement of the robotic leg.

In some embodiments, the mechanical leg is a biomimetic leg.

In some embodiments, the biomimetic mechanical leg comprises a battery for storing kinetic energy as electrical energy.

In some embodiments, the battery includes a generator for harvesting the kinetic energy and converting the kinetic energy into the electrical energy and a battery for storing the electrical energy.

In some embodiments, the mechanical leg comprises a first state and a second state; in a first state, the mechanical legs are contracted upwards; in a second state, the mechanical legs are extended downward.

In some embodiments, the sensor comprises: the system comprises a position sensor and a radar sensor, wherein the position sensor is used for detecting the movement of the personal mobile device or the position of the personal mobile device, and the radar sensor is used for detecting the movement of an obstacle in the movement process of the personal mobile device and sending out an alarm prompt.

In some embodiments, said detecting the location of the personal mobile device comprises: obtaining map information centered on the personal mobile device; matching a navigation system with the map information; and determining a location of the personal mobile device based on the matching result, and identifying topographic information and traffic information for the location.

In some embodiments, the radar sensor for detecting movement of an obstacle during movement of the personal mobile device comprises: detecting a position of the obstacle; detecting a moving speed of the obstacle; and detecting a moving direction of the obstacle.

In some embodiments, the mechanical leg movement comprises: walking, going upstairs and downstairs, running or jumping.

In some embodiments, the personal mobile device is powered by electricity, and includes a charging unit having an automatic recharge function, the implementing the automatic recharge function including: when the electric quantity is less than or equal to a preset electric quantity, detecting a charging interface within a preset distance and planning a candidate route to the charging interface; selecting an optimal route from the candidate routes; and automatically connecting the charging unit to the charging interface after the personal mobile device reaches the charging interface.

Compared with the prior art, the beneficial effects of this application show as follows:

firstly, the intelligent wheelchair can go up and down stairs, run or jump according to actual needs through mechanical legs, and is not limited to walking on flat ground.

Secondly, the intelligent wheelchair in this application can realize converting the kinetic energy of mechanical leg into the electric energy.

The intelligent wheelchair can identify the current position, the speed and the moving direction of a moving object around the wheelchair and send out alarm reminding.

Fourth, the intelligent wheelchair in this application sends when electric power is not enough and reminds, possesses automatic function of recharging.

Description of the drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the description of the embodiments will be briefly introduced below. It is obvious that the drawings in the following description are only some embodiments of the application, and that it is also possible for a person skilled in the art to apply the application to other similar scenarios without inventive effort on the basis of these drawings. Unless otherwise apparent from the context of language or otherwise indicated, like reference numerals in the figures refer to like structures and operations.

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the description of the embodiments will be briefly introduced below.

FIG. 1 is an exemplary personal mobile device shown in accordance with some embodiments of the present application;

FIG. 2 is a flow diagram illustrating a method of determining a movement pattern of a personal mobile device according to some embodiments of the present application;

FIG. 3 is a flow diagram illustrating a process for determining movement of a personal mobile device according to some embodiments of the present application; and

fig. 4 is a flow chart illustrating implementation of a personal mobile device auto-recharge function according to some embodiments of the present application.

DETAILED DESCRIPTIONS

In the following detailed description, numerous specific details of the present application are set forth by way of examples in order to provide a thorough understanding of the relevant disclosure. It will be apparent, however, to one skilled in the art that the present application may be practiced without these specific details. It should be understood that the use of the terms "system," "apparatus," "unit" and/or "module" herein is a method for distinguishing between different components, elements, portions or assemblies at different levels of sequential arrangement. However, these terms may be replaced by other expressions if they can achieve the same purpose.

It will be understood that when an apparatus, unit or module is referred to as being "on … …", "connected to" or "coupled to" another apparatus, unit or module, it can be directly on, connected or coupled to or in communication with the other apparatus, unit or module, or there may be intermediate apparatuses, units or modules, unless the context clearly dictates otherwise. For example, as used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present application. As used in the specification and claims of this application, the terms "a", "an", and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" are intended to cover only the explicitly identified features, integers, steps, operations, elements, and/or components, but not to constitute an exclusive list of such features, integers, steps, operations, elements, and/or components.

These and other features and characteristics of the present application, as well as the methods of operation and functions of the related elements of structure and the combination of parts and economies of manufacture, will be better understood upon consideration of the following description and the accompanying drawings, which form a part of this specification. It is to be expressly understood, however, that the drawings are for the purpose of illustration and description only and are not intended as a definition of the limits of the application. It will be understood that the figures are not drawn to scale.

Furthermore, the present application describes only a biomimetic mechanical leg, it being understood that the description in the present application is merely one example.

The term "user" in this application may refer to a person (e.g., elderly, disabled lower limb, pregnant, etc.) who desires to use a personal mobile device. In some scenarios, the technology of personal mobile devices may be used in the transportation field (e.g., transporting couriers, transporting emergency rescue items, etc.), infant products (e.g., baby strollers that include mechanical legs), gaming field (e.g., bumper cars that include mechanical legs), and so forth.

Various block diagrams are used in this application to illustrate various variations of embodiments according to the application. It should be understood that the foregoing and following structures are not intended to limit the present application. The protection scope of this application is subject to the claims.

FIG. 1 is an exemplary personal mobile device shown in accordance with some embodiments of the present application. As shown in fig. 1, the personal mobility device 100 may include a seat 110, a robotic leg 120, a sensor 130, and a controller 140. In some embodiments, the personal mobility device 100 may include drive and guide wheels (not shown in fig. 1) that may be stowed or deployed. When the driving wheels and the guide wheels are released, the personal mobility device 100 can manually or automatically walk on the flat ground through the driving wheels and the auxiliary wheels, such as an intelligent wheelchair. When the drive wheels and guide wheels are stowed, the personal mobility device 100 may perform walking, stair climbing, running, jumping, etc. on flat or non-flat ground via the robotic legs 120. The personal mobility device 100 may or may not include both the robotic legs 120 and the drive and guide wheels.

In some embodiments, the chair 110 may include a seat, a back, armrests, pedals, and the like. The base, the backrest, the armrests and the pedals can be integrally formed or mechanically connected. Wherein the angle of the chair back, the position of the armrests and/or the position of the pedals can be adjusted. For example, the chair back angle may be 180 degrees (i.e., horizontally disposed), and the position of the armrest and/or the pedal may be adjusted according to the user's needs (e.g., a user with a small height may require a higher armrest position and a lower pedal position). The primary material of the seat may be a metallic material (e.g., aluminum alloy, magnesium alloy, steel, etc.), a non-metallic material (e.g., plastic, carbon fiber composite, silicone, rubber, etc.), or any combination thereof. Wherein the materials of the seat, back, arm rests and pedals may be the same or different. For example, the seat and the backrest may be made of the same material, mainly carbon fiber composite, the armrests made of aluminum alloy, and the pedals made of steel. In some embodiments, a seat cushion is disposed above the seat of the chair 110. A semiconductor refrigerating sheet is arranged between the cushion and the chair seat. The user using the personal mobile device 100 may experience a warm in winter and cool in summer effect by changing the direction of the current through the cooling fins. In some embodiments, the seat back of the seat 110 is provided with a plurality of rows of raised massage units (e.g., raised hemispherical silicone) or neck protection units (e.g., U-shaped pillows).

In some embodiments, the mechanical legs 120 may be biomimetic mechanical legs. The structure of the bionic mechanical leg can comprise one or more of a foot plate, an ankle joint, a lower leg, a knee joint, a thigh, a hip joint and the like. Various bionic actions can be realized through the structure based on different actual requirements. For example, two mechanical legs 120 may be respectively installed at both sides below the seat 100, and actions such as walking, going up and down stairs, running, jumping, crossing, etc. may be implemented by cooperation of the two mechanical legs 120. For another example, instead of the guide wheels, 1 mechanical leg 120 may be attached to the lower front side of the seat 110, and the mechanical leg 120 and the driving wheels may be engaged to perform walking and ascending and descending operations. Also for example, 4 mechanical legs 120 may be installed below the seat 110, and actions such as walking, going up and down stairs, running, jumping, crossing, etc. may be implemented by the cooperation of the 4 mechanical legs 120.

In some embodiments, the robotic leg 120 may include a battery for storing kinetic energy of the robotic leg 120 as electrical energy and for powering the robotic leg 120. The battery includes a generator and a battery. The generator can collect the kinetic energy of the bionic mechanical leg and convert the kinetic energy into electric energy. The battery may store the electrical energy and/or provide the electrical energy to the robotic leg 120. The mechanical legs 120 may not include a battery, but may be connected to some or all of the battery. For example, the generator is fixed outside the bionic mechanical leg to collect kinetic energy, and the storage battery is connected with the mechanical leg 120 through a circuit to supply power for the bionic mechanical leg.

In some embodiments, the mechanical leg 120 may include two states: a first state and a second state. In the first state, the mechanical legs 120 may be retracted upward; in the second state, the mechanical legs 120 may be extended downward. The specific length of contraction and extension can be determined according to actual requirements. For example, if a user encounters a low aisle for passage while using the personal mobile device 100, the mechanical legs 120 may effect passage through the low aisle by collapsing to reduce the height. For another example, if a user encounters a large puddle of water to be spanned while using the personal mobility device 100, the robotic legs 120 may be extended to increase the height to achieve spanning the large puddle of water. Also for example, if the user is located high up to use the personal mobile device 100, the mechanical legs 120 may be extended to a suitable height to facilitate the user's use of the personal mobile device 100. Also for example, when it is desired to walk using the drive wheels and the guide wheels separately, the mechanical legs can be fully retracted. Fully contracted means that the mechanical legs 120 are contracted to a length less than or equal to the diameter of the drive wheel so that the mechanical legs can be disabled or re-extended when needed for use.

In some embodiments, the sensor 130 may include a position sensor and/or a radar sensor. Movement of the personal mobile device and movement of an obstacle during movement of the personal mobile device may be detected based on sensor data of the position sensor and/or the radar sensor, and the detection results may be used to generate control signals to control the personal mobile device to select an appropriate movement pattern (e.g., walking up and down stairs, running, jumping, etc.). The obstacle may be a pedestrian, a vehicle, or the like, moving object or a road block (e.g., a utility pole) that may cause damage to people or property when the personal mobile device 100 is moved. The sensor data acquired by the sensors 130 is updated in real-time as the personal mobile device 100 moves.

The location sensors may include map sensors (e.g., depth sensors, magnetic field sensors, infrared distance sensors, etc.), cameras, and/or positioning sensors.a camera may be rotated in multiple degrees of freedom (e.g., by 360 ° rotation). a panoramic map containing the personal mobile device 100 may be acquired in real time by the camera and the map sensors. the panoramic map may be a 2D planar map or a 3D stereomap. for example, the panoramic map may be 2D planar map information centered on a circular area of 50 meters radius of the personal mobile device 100. for example, the panoramic map may be 3D stereomap information centered on a square area of 100 meters side by the personal mobile device 100. methods of constructing the panoramic map may include similar algorithms such as the S85am algorithm. by matching the panoramic map and the navigation system to identify real time locations of the personal mobile device 100 and identify the terrain information and/or traffic conditions of the location.

The radar sensor may include a combination of one or more of a millimeter-wave radar (or set of millimeter-wave radars), a laser radar (or set of laser radars), an ultrasonic radar (or set of ultrasonic radars), etc., and/or a camera, where the camera may use the same or a different camera than the position sensor. The radar sensor may detect distance information from the personal mobile device 100 for different objects (e.g., obstacles, etc.) around the personal mobile device and dynamic information (e.g., real-time position of the obstacle, moving speed, moving direction, etc.) that changes in the distance information over time. And determining whether a dangerous condition exists or not according to the detection data acquired by the radar sensor and sending out a corresponding alarm prompt. For example, when it is determined that there is a collision risk by detecting an obstacle within a preset distance of the personal mobile device 100 and/or combining information such as a moving speed and a moving direction of the obstacle, alarm information is issued to alert a user of the personal mobile device 100. The alarm information can be sent in one or more forms of whistling, voice, automatic braking, automatic detouring or automatic movement change and the like. For example, if a collision hazard is detected, the personal mobile device may sound a siren and simultaneously stop movement of the personal mobile device. The user can also independently select a corresponding moving mode according to the alarm information. For example, if the presence of a landmark, such as a utility pole, is detected, the personal mobile device 100 may sound a voice alert and the user may choose to bypass the movement or choose to stop the movement.

In some embodiments, the sensor 130 comprises a charge monitoring sensor. The power monitoring sensor may detect whether the power of the personal mobile device 100 is less than or equal to a predetermined power. When the power of the personal mobile device 100 is detected to be less than or equal to the preset power, a prompt message of power shortage can be sent. The personal mobile device 100 can monitor the charging interface within the preset distance according to the prompting information of insufficient electric quantity and realize automatic recharging when the personal mobile device 100 reaches the charging interface. A detailed description of the automatic refill function may be found elsewhere in this application, such as in fig. 4 and its associated description.

In some embodiments, the controller 140 may generate one or more control parameters or signals to control the seat 110, the mechanical legs 120, and/or the sensors 130. For example, controller 140 may control the angle of the back of seat 110, the position of the armrests and/or pedals. For another example, the controller 140 may control the walking pattern of the robotic legs. Also for example, the controller 140 may control the sensor 130 to determine when to receive the sensory data. In some embodiments, the controller 140 may receive input instructions initiated by a user (e.g., elderly, lower limb handicapped, etc.) through, for example, an input device. The input device may be fixed on the personal mobile device 100 (e.g., in a circuit integrated manner) or movable relative to the personal mobile device 100 (e.g., in a manner of installing an APP on a mobile phone or a remote control) to input instructions including, but not limited to, text input, voice input, video input, picture input, and the like. The content of the input command includes, but is not limited to, adjusting the angle of the chair back, adjusting the position of the armrests and/or pedals, turning on the mechanical legs, turning off the mechanical legs, selecting a particular walking mode and/or walking speed of the mechanical legs, etc. The input command may be a real-time command initiated by the user through the input device or a preset command selected by the user from the storage device. In some embodiments, the controller 140 may communicate with other components/units of the personal mobile device 100 to exchange information or data.

In some embodiments, the personal mobile device 100 may also include a memory, a navigation system, and/or a display, among others. The memory can store one or more of panoramic maps, terrain information, traffic information, control parameters, position information of the charging interface, preset instructions and the like. In some embodiments, the memory may include a combination of one or more of mass storage, removable storage, volatile read-write memory, read-only memory (ROM), and the like. For example, mass storage may include magnetic disks, optical disks, solid state drives, and so forth. The removable memory may include a flash drive, floppy disk, optical disk, memory card, compact disk, magnetic tape, or the like. The volatile read and write memory may include Random Access Memory (RAM). The RAM may include Dynamic Random Access Memory (DRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), Static Random Access Memory (SRAM), thyristor random access memory (T-RAM), zero capacitance random access memory (Z-RAM), and the like. The ROM may include mask read-only memory (MROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM), digital versatile disc read-only memory, and the like. Navigation systems may be used for determination of traffic information, path planning, etc.

The mechanical leg 120, the sensor 130, the controller 140, and/or other components/units of the personal mobile device 100 may communicate via a network, which receives information inside or outside the personal mobile device 100 and transmits information to other parts inside or outside the personal mobile device 100. for example, the controller 140 may receive sensor data from the sensor 130. for example, the mechanical leg 120 may select a suitable walking mode by receiving a control signal from the controller 140. for example, the controller 140 may receive AN input command from the input unit to generate a corresponding control signal. the network may be a single network or a combination of different networks. for example, the network may be a local area network (L AN), a Wide Area Network (WAN), a public network, a private network, a Public Switched Telephone Network (PSTN), a metropolitan area network, a wireless network, a virtual network, a telephone network, or the like, or a combination of several networks, for example, a wireless network may include multiple networks, such as a wired access point, a wireless network, a wireless access point, a wireless network.

FIG. 2 is a flow diagram illustrating a method of determining a movement pattern of a personal mobile device according to some embodiments of the present application. In some embodiments, the flowchart 200 may be implemented by the sensor 130, the controller 140, etc. components in the personal mobile device 100.

In 201, detecting movement of the personal mobile device 100 and movement of an obstacle during movement of the personal mobile device may include, but is not limited to, determining a real-time location of the personal mobile device 100, topographic information and/or traffic information identifying the location, a direction of movement and/or a speed of movement of the personal mobile device 200. the real-time location of the personal mobile device 100 may be expressed by latitude and longitude (e.g., (34 ° 31 ' north latitude ', 69 ° east longitude '), or by a location description instead of latitude and longitude, e.g., a collaborative hospital east door. the real-time location may be obtained by a map sensor or a location sensor using a variety of location technologies, e.g., Global Positioning System (GPS), global navigation satellite system (G L ONASS), COMPASS navigation system (COMPASS), galileo positioning system, quasi-zenith satellite system (QZSS), wireless fidelity (WiFi) location technology, etc. one or a combination of location technologies, the topographic information and/or traffic information for the location may be a topographic information of a predetermined area containing the location and/or a geographic information may be a map of a location, e.g., a map of a location, such as a map, as a map of a map, a location of a location, such as may be described by, but is not limited to a specific map, a map of a weather, a location of a location, a location of a predetermined area, a weather, a location of a location, a location of a weather, a mobile device 100, a location of a location, a location of.

Detecting movement of the obstacle during movement of the personal mobile device 100 may include detecting a position of the obstacle, detecting a speed of movement of the obstacle, and/or detecting a direction of movement of the obstacle. Detecting the movement of an obstacle during movement of the personal mobile device 100 may be accomplished by a radar sensor. Based on the detection result, it is possible to determine the relative position of the personal mobile device 100 and the obstacle and whether there is a danger such as collision. If the danger such as collision exists, an alarm prompt is sent out.

In 203, a control signal is generated based on the detection result. The control signals may be generated by the controller 140 in the form of control parameters. The control signals may include, but are not limited to, opening the mechanical legs, closing the mechanical legs, selecting a particular movement pattern and/or speed of movement of the mechanical legs, and the like. For example, if the detection result is that there is a step in the front terrain, a control signal including going upstairs and downstairs may be generated. For example, if the detection result is that there is a puddle on the ground in front, a control signal containing a jump or ride-through may be generated. For example, if the detection results in the presence of a collision risk, a control signal may be generated which comprises closing the mechanical legs. For example, if the detection result is that the ground in front is flat, there is no congestion and there is no risk of collision, a control signal containing running may be generated. For example, if the detection result is that the ground is uneven, a control signal for walking may be generated. The control signals for running and walking can be automatically matched with different speeds according to different detection results or preset by the user. For example, if the detection result is that the speed limit of the preset area is 30km/h, a control signal with the running speed of 10km/h can be generated; if the detection result is that the speed limit of the preset area is 45km/h, a control signal with the running speed of 15km/h can be generated. For another example, the user may preset a speed corresponding to running of 10km/h and a speed corresponding to walking of 5 km/h.

In 205, a movement pattern of the personal mobile device 100 is determined based on the control signal. The movement pattern may include, but is not limited to, walking, going up and down stairs, running, jumping, opening the mechanical legs 120, closing the mechanical legs 120, and the like. The moving mode of the mechanical leg 120 of the personal mobile device 100 can be switched to the moving mode corresponding to the control signal according to the information contained in the control signal. For example, if the control signal is a control signal including running, the personal mobile device 100 may switch the moving mode to running, and the moving mode of the personal mobile device 100 before switching may be walking, going upstairs and downstairs, etc. For example, if the control signal is a control signal including a mechanical leg being closed, the personal mobile device 100 may switch to a mode of movement in which the mechanical leg is closed, i.e., the personal mobile device 100 stops moving. For another example, if the control signal includes a control signal for going upstairs and downstairs, the personal mobility device 100 switches to a moving mode for going upstairs and downstairs, and the robot leg 120 automatically recognizes information such as height and width of a step when going upstairs and downstairs to reduce a bumpy situation when going upstairs and downstairs.

It should be noted that the above description is intended for illustrative purposes only, and is not intended to limit the scope of the present invention. Various modifications and alterations will occur to those skilled in the art, given the benefit of this disclosure. However, various modifications and changes may be made without departing from the scope of the present invention. For example, the process 200 may further include a step of storing the detection result or the control signal as historical data, and the historical data may be used to improve the personal mobile device 100.

FIG. 3 is a flow diagram illustrating a process for determining movement of a personal mobile device according to some embodiments of the present application. In some embodiments, the process 300 may be implemented by the sensors 130, navigation system, etc. in the personal mobile device 100. Flow 300 is an exemplary embodiment of step 201.

At 301, map information centered on the personal mobile device 100 is acquired. In some embodiments, the map information may be obtained through a panoramic map centered on the personal mobile device 100. The panoramic map may include, but is not limited to, information of a geographic area (e.g., city, community, street, road, etc.) around the personal mobile device, points of interest (e.g., public institution, residence, store, restaurant, company, factory, etc.), natural objects (e.g., mountain, river, lake, etc.), such as name, flatness, etc. The panoramic map may be obtained by a camera in conjunction with a map sensor. The map information may extract a part of contents (e.g., road information, interest point information, etc.) in the panoramic map through an image recognition technique. The map information may be used for subsequent determination of topographical information or determination of the location of the personal mobile device, etc.

At 303, the navigation system and the map information are matched. And matching the map information with information contained in a navigation system, wherein the more the map information is, the easier the matching is. And matching the map information to a corresponding position in the navigation system according to a matching result, and matching the panoramic image to a corresponding position of an existing map in the navigation system.

In 305, the location of the personal mobile device 100 is determined based on the matching results and the terrain information and traffic information for the location is identified. The matching result matches the panoramic map, which is centered on the personal mobile device 100, to the navigation system, the location of the personal mobile device 100 can be determined based on the matching result, and traffic information of the location can also be identified from the navigation system based on the matching result. The traffic information in the navigation system may be updated in real time or may be updated every time period, for example every 30 seconds. The topographic information of the location may be identified by calling up a live-action map in the navigation system, for example a 3D panorama corresponding to the location in the navigation system. In some embodiments, the topographical information for the location may be identified directly in a panoramic map taken through a camera. In some embodiments, the topographical information for the location may be identified by any topographical identification technique or algorithm. For example, at least 2 depth cameras are used to simultaneously capture a depth map of the position of the personal mobile device 100 directly in front of the position, and topographic information such as whether the road surface is a depression or not, whether the cross section of the road surface has a curvature, or the like can be obtained based on the captured depth map. For another example, a trained machine learning model (e.g., a deep neural network model, a logistic regression model, etc.) is used to input parameters (e.g., location information) related to the terrain information, thereby outputting the terrain information of the location.

It should be noted that the above description is intended for illustrative purposes only, and is not intended to limit the scope of the present invention. Various modifications and alterations will occur to those skilled in the art, given the benefit of this disclosure. However, various modifications and changes may be made without departing from the scope of the present invention. The process 300 may add, subtract or alter steps. For example, 303 and 305 of the process 300 may be combined into one step. As another example, identifying topographical information in process 300 may be accomplished directly in 301 or through a separate step.

Fig. 4 is a flow chart illustrating implementation of a personal mobile device auto-recharge function according to some embodiments of the present application. In some embodiments, the process 400 may be implemented by components such as the sensor 130, the controller 140, and/or the navigation system in the personal mobile device 100. The process 400 is merely one exemplary embodiment for implementing the automatic refill feature of the personal mobile device 100.

At 401, the power level of the personal mobile device 100 is detected. The power of the personal mobile device 100 may refer to the power of a charging unit that powers the personal mobile device 100 for movement of the robotic leg 120. The charging unit can be a common storage battery, and also can be a composite battery with a solar charging function or other types of batteries. In some embodiments, the charge may be represented by a range of relative states of charge, i.e., 0% -100%, 100% when the charging unit is fully charged, and 0% when the charging unit is fully discharged. The amount of power of the personal mobile device 100 may be detected by a power monitoring sensor.

At 403, it is determined whether the amount of power is less than or equal to a preset amount of power. The preset amount of power may be set according to the size of the battery capacity. For example, when the battery capacity is large (for example, larger than 10 AH), the preset electric quantity may be set to 15%; for a small battery capacity (e.g., less than 10 AH), the preset charge amount may be set to 30%.

At 405, when the electric quantity is determined to be smaller than or equal to a preset electric quantity, a charging interface within a preset distance is detected. The preset distance may be preset by a user, for example, the preset distance is set to 3 km, 5km, or 10 km. When the personal mobile device 100 is outdoors, the charging interface may refer to a charging station capable of charging the personal mobile device 100; the charging interface may be a charging socket or a charging pad (the personal mobile device is placed on the charging pad for charging) when the personal mobile device 100 is indoors. The charging mode can be wireless charging, wired charging or both. In some embodiments, when it is determined that the power amount is less than or equal to the preset power amount, the charging interface closest to the personal mobile device 100 within a preset distance may be determined according to the current location of the personal mobile device 100.

At 407, candidate routes to the charging interface are planned. In some embodiments, the candidate routes may be automatically planned by the navigation system. For example, the navigation system may plan several routes from the current location of the personal mobile device 100 to the charging interface, and then generate 3 routes that take the shortest time from among the several routes as candidate routes.

At 409, the best route is selected from the candidate routes. In some embodiments, the optimal route may be determined by the navigation system as the optimal route based on the route with the least traffic and/or flow of people among the candidate routes. In some embodiments, the navigation system may display the candidate routes for autonomous selection by the user.

At 411, the charging unit is automatically connected to the charging interface after the personal mobile device 100 arrives at the charging interface. In some embodiments, if the charging unit is a wireless charging, the charging is started when the personal mobile device 100 is determined to coincide with the position of the charging interface, for example, the personal mobile device 100 is located on the charging interface; if the charging unit is charged in a wired manner, when the position of the personal mobile device 100 and the charging interface is judged to be less than or equal to the target distance, the charging unit is automatically connected to the charging interface, and the target distance can be set to be 15cm, 10cm and the like according to the connection difficulty of the charging unit and the charging interface.

It should be noted that the above description is intended for illustrative purposes only, and is not intended to limit the scope of the present invention. Various modifications and alterations will occur to those skilled in the art, given the benefit of this disclosure. However, various modifications and changes may be made without departing from the scope of the present invention. The flow 400 may add, subtract or alter steps. For example, 407 and 409 in the process 400 may be combined into one step. As another example, the optimal route in the process 400 may be determined empirically by the user directly himself without or without navigating the recommended route.

Various aspects of the methods outlined above and/or methods in which other steps are implemented by the program. Program portions of the technology may be thought of as "products" or "articles of manufacture" in the form of executable code and/or associated data embodied in or carried out by a computer readable medium. Tangible, non-transitory storage media include memory or storage for use by any computer, processor, or similar device or associated module. Such as various semiconductor memories, tape drives, disk drives, or similar devices capable of providing storage functions for software at any one time.

All or a portion of the software may sometimes communicate over a network, such as the internet or other communication network. Such communication enables loading of software from one computer device or processor to another. For example: from a management server or host computer of the on-demand service system to a hardware platform of a computing environment or other computing environment implementing the system or similar functionality related to the information needed to provide the on-demand service. Thus, another medium capable of transferring software elements may also be used as a physical connection between local devices, such as optical, electrical, electromagnetic waves, etc., propagating through cables, optical cables, or the air. The physical medium used for the carrier wave, such as an electric, wireless or optical cable or the like, may also be considered as the medium carrying the software. As used herein, unless limited to a tangible "storage" medium, other terms referring to a computer or machine "readable medium" refer to media that participate in the execution of any instructions by a processor.

Thus, a computer-readable medium may take many forms, including, but not limited to, tangible storage media including optical or magnetic disks, and other storage systems used in computers or similar devices and capable of implementing the system components described in the figures.

Computer program code required for operation of portions of the present application may be written in any one or more programming languages, including AN object oriented programming language such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C + +, C #, VB.NET, Python, and the like, a conventional programming language such as C, Visual Basic, Fortran 2003, Perl, COBO L2002, PHP, ABAP, a dynamic programming language such as Python, Ruby, and Groovy, or other programming languages, and the like.

Those skilled in the art will appreciate that various modifications and improvements may be made to the disclosure herein. For example, the different system components described above are implemented by hardware devices, but may also be implemented by software solutions only. For example: the system is installed on an existing server. Further, the location information disclosed herein may be provided via a firmware, firmware/software combination, firmware/hardware combination, or hardware/firmware/software combination.

The foregoing describes the present application and/or some other examples. The present application is susceptible to various modifications in light of the above teachings. The subject matter disclosed herein can be implemented in various forms and examples, and the present application can be applied to a wide variety of applications. All applications, modifications and variations that are claimed in the following claims are within the scope of this application.

Also, this application uses specific language to describe embodiments of the application. Reference throughout this specification to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic described in connection with at least one embodiment of the present application is included in at least one embodiment of the present application. Therefore, it is emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, some features, structures, or characteristics of one or more embodiments of the present application may be combined as appropriate.

Additionally, the order in which elements and sequences of the processes described herein are processed, the use of alphanumeric characters, or the use of other designations, is not intended to limit the order of the processes and methods described herein, unless explicitly claimed. While various presently contemplated embodiments of the invention have been discussed in the foregoing disclosure by way of example, it is to be understood that such detail is solely for that purpose and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover all modifications and equivalent arrangements that are within the spirit and scope of the embodiments herein. For example, although the system components described above may be implemented by hardware devices, they may also be implemented by software-only solutions, such as installing the described system on an existing server or mobile device.

Similarly, it should be noted that in the preceding description of embodiments of the application, various features are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure aiding in the understanding of one or more of the embodiments. This method of disclosure, however, is not intended to require more features than are expressly recited in the claims. Indeed, the embodiments may be characterized as having less than all of the features of a single embodiment disclosed above.

Numbers describing attributes, quantities, etc. are used in some embodiments, it being understood that such numbers used in the description of the embodiments are modified in some instances by the use of the modifier "about", "approximately" or "substantially". Unless otherwise indicated, "about", "approximately" or "substantially" indicates that the number allows a variation of ± 20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximations that may vary depending upon the desired properties of the individual embodiments. In some embodiments, the numerical parameter should take into account the specified significant digits and employ a general digit preserving approach. Notwithstanding that the numerical ranges and parameters setting forth the broad scope of the range are approximations, in the specific examples, such numerical values are set forth as precisely as possible within the scope of the application.

Each patent, patent application publication, and other material, such as articles, books, specifications, publications, documents, articles, and the like, cited in this application is hereby incorporated by reference in its entirety. Except where the application is filed in a manner inconsistent or contrary to the present disclosure, and except where the claim is filed in its broadest scope (whether present or later appended to the application) as well. It is noted that the descriptions, definitions and/or use of terms in this application shall control if they are inconsistent or contrary to the statements and/or uses of the present application in the material attached to this application.

Finally, it should be understood that the embodiments described herein are merely illustrative of the principles of the embodiments of the present application. Other variations are also possible within the scope of the present application. Thus, by way of example, and not limitation, alternative configurations of the embodiments of the present application can be viewed as being consistent with the teachings of the present application. Accordingly, embodiments of the present application are not limited to those explicitly described and depicted herein.

Claims

A personal mobility device including a seat, comprising:

a mechanical leg mechanically connected to the seat underside;

at least one sensor for detecting movement of the personal mobile device and movement of an obstacle during movement of the personal mobile device, the obstacle being an object surrounding the personal mobile device; and

a controller responsive to a plurality of sensing signals generated by the at least one sensor to generate control signals that control the manner in which the robotic leg moves.
The apparatus of claim 1, wherein the personal mobile device further comprises:

the input device is used for receiving a user instruction, and the user instruction comprises opening the mechanical leg, closing the mechanical leg, selecting the movement mode of the mechanical leg or selecting the movement speed of the mechanical leg.
The apparatus of claim 1, wherein the mechanical leg is a biomimetic mechanical leg.
The apparatus of claim 3, wherein the biomimetic mechanical leg comprises a battery to store kinetic energy as electrical energy.
The apparatus of claim 4, wherein the battery comprises a generator for capturing the kinetic energy and converting the kinetic energy into the electrical energy and a battery for storing the electrical energy.
The apparatus of claim 3, wherein the mechanical leg comprises a first state and a second state; in a first state, the mechanical legs are contracted upwards; in a second state, the mechanical legs are extended downward.
The apparatus of claim 1, wherein the sensor comprises: the system comprises a position sensor and a radar sensor, wherein the position sensor is used for detecting the movement of the personal mobile device, and the radar sensor is used for detecting the movement of an obstacle in the movement process of the personal mobile device and sending out an alarm prompt.
The apparatus of claim 7, wherein the detecting movement of the personal mobile device comprises:

obtaining map information centered on the personal mobile device;

matching a navigation system with the map information; and

a location of the personal mobile device is determined based on the matching results, and topographical information and traffic information for the location are identified.
The apparatus of claim 7, wherein the radar sensor to detect movement of an obstacle during movement of the personal mobile device comprises:

detecting a position of the obstacle;

detecting a moving speed of the obstacle; and

detecting a moving direction of the obstacle.
The apparatus of claim 1, wherein the mechanical leg movement pattern comprises: walking, going upstairs and downstairs, running or jumping.
The device of claim 1, wherein the personal mobile device is powered by electricity, comprises a charging unit having an automatic recharge function, and implementing the automatic recharge function comprises:

when the electric quantity is less than or equal to a preset electric quantity, detecting a charging interface within a preset distance and planning a candidate route to the charging interface;

selecting an optimal route from the candidate routes; and

automatically connecting the charging unit to the charging interface after the personal mobile device reaches the charging interface.