CN106371437A - Automatic parking method and device of balance bike in narrow space - Google Patents

Automatic parking method and device of balance bike in narrow space Download PDF

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Publication number
CN106371437A
CN106371437A CN201610769206.XA CN201610769206A CN106371437A CN 106371437 A CN106371437 A CN 106371437A CN 201610769206 A CN201610769206 A CN 201610769206A CN 106371437 A CN106371437 A CN 106371437A
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CN
China
Prior art keywords
balance car
narrow space
barrier
automatic parking
spacing
Prior art date
Application number
CN201610769206.XA
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Chinese (zh)
Inventor
尚艳燕
Original Assignee
尚艳燕
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Publication date
Application filed by 尚艳燕 filed Critical 尚艳燕
Priority to CN201610769206.XA priority Critical patent/CN106371437A/en
Publication of CN106371437A publication Critical patent/CN106371437A/en

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Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals

Abstract

The present invention discloses an automatic parking method and device of a balance bike in a narrow space. The method comprises: determining the entrance of the narrow space through image identification; after entering the narrow space, measuring the distance of each obstacle at the periphery; and if each distance is larger than a first setting value, controlling the balance bike to stop operation and popping up a support or a training wheel. The automatic parking method and device of the balance bike in the narrow space can improve the operation safety of the balance bike in the narrow space.

Description

A kind of balance car is in the automatic parking method and apparatus of narrow space

Technical field

The present invention relates to balance car control field, in particular, it is related to a kind of balance car automatically staying in narrow space Car method and apparatus.

Background technology

Electrodynamic balance car, is balance car, thinking car again, its operation principles be mainly built upon one kind be referred to as " dynamically steady In ultimate principle calmly ", using gyroscope and the acceleration transducer of vehicle body, to detect the change of vehicle body attitude, to utilize Servo-control system, accurately motor be adjusted correspondingly, to keep the balance of system.

Existing electrodynamic balance car typically has two kinds, and one kind is that have an action bars on car body, and user stands in electronic On the foot platform of balance car, action bars is operated, thus advancing, retreating and stopping, such control is also referred to as " manual ". Another kind is that car body is made up of two parts, realizes mutually rotating by rotating mechanism, thus realizing between left half and right half " foot control ".When entering the narrow spaces such as subway, elevator, it is in static balance to existing balance car to need manual control State, but because people can not possibly keep totally stationary poised state, it is in balance car always some swings of this state, this Easily with people, the article collision friction of surrounding, there is certain potential safety hazard in narrow space in sample.

Content of the invention

The technical problem to be solved is to provide a kind of raising balance car safety in operation in narrow space Balance car is in the automatic parking method and apparatus of narrow space.

The purpose of the present invention is achieved through the following technical solutions:

According to an aspect of the present invention, the present invention discloses a kind of automatic parking method in narrow space for balance car, should Method includes:

Judge the entrance of narrow space by image recognition;

The spacing of each barrier of surrounding is measured after entering narrow space;

If each spacing is both greater than the first preset value;Control balance car out of service and eject support or auxiliary wheel.

Further, judge that the method entering narrow space includes:

Persistently catch the inlet profiles pattern of narrow space by photographic head;

When inlet profiles judge that balance car enters narrow space completely when picture disappears.

When driver is prepared to enter into the narrow spaces such as subway, elevator, it is bound to towards the Way in of narrow space Advance, thus can persistently capture the contour patterns of entrance, and the closer to entrance, contour patterns are bigger, more trend towards taking the photograph As the edge of head view-finder, until being wholly absent when entrance, based on this feature it is possible to being accurately judged to driver and being No entrance.

Further, judge that the method entering narrow space also includes detecting infrared signal;

When inlet profiles judge that when picture disappears and infrared signal is detected balance car enters narrow sky completely Between.

The door of the entrance of a lot of narrow spaces carries infrared light curtain, it is to avoid crush people, therefore, when driver passes through entrance When, just can sense infrared signal, in conjunction with aforesaid pattern identification, can more be accurately judged to whether driver enters Narrow space.

Further, the step that methods described also includes real-time statistics artificial abortion:

When balance car be in out of service and when ejecting support or supporting wheel status;Open photographic head in front of balance car;

Measuring and calculating people's flow data;

When people's flow data is less than the second preset value, starts balance car and enter rest equilibrium state.

The narrow spaces such as elevator, subway, its transit time is conditional, open every time car door, elevator door time all Comparatively short, the technical program can start when narrow space people is fewer in advance so that balance car enters static balance State, such balance car had not both interfered with other people, can withdraw rapidly when driver leaves narrow space again, Ensure traffic efficiency.

Further, the method for described measuring and calculating people's flow data includes:

Measuring and calculating balance car and everyone spacing data of surrounding;

Artificial abortion's data is averagely worth to all of spacing data.

When artificial abortion reduces, the people in narrow space can pull open the distance with other people, i.e. person to person by instinct automatically Between spacing can widen, conversely, spacing reduce.Therefore, becoming of artificial abortion's variation just can accurately be estimated by calculating spacing Gesture, furthermore, as long as generally ratio is larger for spacing, balance car has certain activity space it is possible to maintain static balance car state, can See, spacing data can not only reflect artificial abortion's alteration trend, be also the critical data needed for balance car safe driving in itself.

Further, the method for described measuring and calculating people's flow data includes:

According to the number around image comparison statistical equilibrium car;

Described people's flow data is obtained according to the alteration trend of number.

Number around image comparison energy direct access, the alteration trend judgement to artificial abortion is more accurate.

Further, methods described also includes:

Disturbance in judgement thing kinestate;

When barrier remains static, shoot the picture of barrier, networking identification object features, according to recognition result Planning bypass route;When barrier is kept in motion, reduce speed or operation suspension.

When narrow space is walked, someone always, article are to maintain resting state to driver, and another part people will go out Enter narrow space, be then in flow regime, thus balance car driving and cause a lot of difficulties, on the one hand want to lead to as early as possible OK, traffic efficiency is provided, on the one hand avoids again colliding with the people of surrounding and article.Can be by calculating using the technical program Machine automatic identification barrier, according to different types of barrier and its kinestate, is calculated the coping strategy of optimum, it is to avoid Artificial erroneous judgement causes unnecessary conflict.

Further, described object features include trait information, elevation information or width information, and balance car is believed according to character Breath, elevation information or width information planning bypass route.Object character refers mainly to the soft and hard data of object, some article, such as Sponge, haystack are although comparison is high, but balance car still may be directly across the past.But the article of same height, if converted to be Brick, have to detour.Secondly, when object than relatively low when, directly can roll over, when object is higher, then need Detour.Furthermore, the width of object determines the circuit length that its needs detours, and such as barrier is brick, and width is very short, balance Car advance offset is once just easily got around, and such as barrier is with wood, road is blocked, may be accomplished by again seeking Road or prompting driver's walking is looked for cross over.

Further, described object features include trait information, elevation information and width information;

When trait information is rigidity, and height exceedes first threshold, plans bypass route according to width information;Or, property Shape information is flexibility, and height exceedes Second Threshold, plans bypass route according to width information;Second Threshold is more than the first threshold Value.

Described object features include attribute information;If attribute information is animal or people, reduce speed or operation suspension, and Send warning information;No avoid when barrier is detected in the default time, plan bypass route.Some article, such as sponge, Haystack is although comparison is high, but balance car still may be directly across the past.But the article of same height, if converted to being brick, Have to detour.Animal, people have motility, even if identification when remain static, still can by loudspeaker, The modes such as display lamp alert, and prompting gives way.On the one hand this mode reduces the operand of programme path, on the other hand reduces lane change Be conducive to traffic safety.

Further, described when barrier is kept in motion, the method reducing speed or operation suspension includes:

Spacing between measurement balance car and barrier;When barrier is still located on normal traffic route and is smaller than During three threshold values, reduce the balance car speed of service;When barrier is still located on normal traffic route and is smaller than the 4th threshold During value, control balance car out of service;When barrier deviates normal traffic route, control balance car Accelerating running, until Recover the initial velocity before accelerating after clearing the jumps;Described 4th threshold value is less than the 3rd threshold value.

Further, when trait information is flexibility, and when height is less than or equal to Second Threshold, control balance car from obstacle Thing top is crossed.

Further, the method for described disturbance in judgement thing kinestate includes:

Shoot the picture of barrier in default time interval;

Relatively in any two pictures, the position of barrier, if position is identical, is judged as static;Otherwise it is judged as transporting Dynamic.

According to another aspect of the present invention, the invention discloses a kind of balance car fills in the automatic parking of narrow space Put, comprising:

For judging the device of the entrance of narrow space by image recognition;

For entering the device of the spacing measuring each barrier of surrounding after narrow space;

If being both greater than the first preset value for each spacing;Control balance car out of service and eject support or auxiliary wheel Device.

Compared with prior art, the solution have the advantages that: balance car judges entering of narrow space by image recognition Mouthful, using ripe image recognition technology, the region that balance car will be entered is prejudged, to formulate corresponding reply Strategy.After entering the narrow spaces such as subway, elevator, driver needs to look for place to make a decision, and suitable foothold should be with surrounding The barriers such as people, article all keep certain spacing.By measuring the spacing of each barrier of surrounding it may determine that balance car Whether current location can be used as preferable foothold.Control balance car out of service after finding suitable foothold and eject support Or auxiliary wheel is it is possible to allow balance car smoothly, undisturbedly stay in original place, thus avoiding the risk scratching with other people.

Brief description

Fig. 1 is the automatic parking method schematic diagram in narrow space for the balance car of the present invention;

Fig. 2 is the method schematic diagram in narrow space avoiding barrier for the present invention;

Fig. 3 is the automatic parking device schematic diagram in narrow space for the balance car of the present invention.

Specific embodiment

The present invention discloses a kind of automatic parking method in narrow space for balance car, comprising:

S11, judge the entrance of narrow space by image recognition;

The spacing of each barrier of surrounding is measured after s12, entrance narrow space;

If each spacing of s13 is both greater than the first preset value;

S14, control balance car out of service and eject support or auxiliary wheel.

According to another aspect of the present invention, the invention discloses a kind of balance car fills in the automatic parking of narrow space Put, comprising:

For judging the device of the entrance of narrow space by image recognition;

For entering the device of the spacing measuring each barrier of surrounding after narrow space;

If being both greater than the first preset value for each spacing;Control balance car out of service and eject support or auxiliary wheel Device.

Balance car judges the entrance of narrow space by image recognition, using ripe image recognition technology, to balance car The region that will enter is prejudged, to formulate corresponding coping strategy.After entering the narrow spaces such as subway, elevator, drive The person of sailing needs to look for place to make a decision, and suitable foothold should all keep certain spacing with barriers such as the people of surrounding, article.Logical The spacing crossing measurement each barrier of surrounding is it may determine that whether balance car current location can be used as preferable foothold.Find Control balance car out of service after suitable foothold and eject support or auxiliary wheel it is possible to allow balance car smoothly, quiet Stay in original place, thus avoiding the risk scratching with other people.The applicant has been proposed that belt supporting frame or auxiliary in the patent of front application Help the balance car of wheel, relevant details will not be described here.

It should be mentioned that some exemplary embodiments are described as before exemplary embodiment is discussed in greater detail The process described as flow chart or method.Although operations are described as the process of order by flow chart, therein permitted Multioperation can be implemented concurrently, concomitantly or simultaneously.Additionally, the order of operations can be rearranged.When it Described process when operation completes can be terminated, it is also possible to have the additional step being not included in accompanying drawing.Described process Can correspond to method, function, code, subroutine, subprogram etc..

Alleged mobile intelligent terminal (as smart mobile phone, panel computer, wearable device or intelligent glasses), meter within a context Calculation machine, ai (artificial intelligence), robot, vr (virtual reality), ar (augmented reality), intelligent home device or intelligent industrial control Equipment etc. all can execute the predetermined process mistake such as numerical computations and/or logical calculated by running preset program or instruction Journey, it can include processor and memorizer, instructs to execute book office by the survival that computing device prestores in memory Reason process, or predetermined process process is executed by hardware such as asic, fpga, dsp, or combine to realize by said two devices.Meter Calculate machine equipment and include but is not limited to server, PC, notebook computer, panel computer, smart mobile phone etc..

The network equipment includes but is not limited to single network server, the server group of multiple webserver composition or is based on The cloud being made up of a large amount of computers or the webserver of cloud computing (cloud computing), wherein, cloud computing is distributed The one kind calculating, a super virtual computer being made up of a group loosely-coupled computer collection.Wherein, described computer sets Standby can isolated operation realizing the present invention, also can access network and by with network in other computer equipments interactive operation To realize the present invention.Wherein, the network residing for described computer equipment includes but is not limited to the Internet, wide area network, Metropolitan Area Network (MAN), office Domain net, vpn network etc..

It should be noted that described user equipment, the network equipment and network etc. are only for example, other are existing or from now on may be used The computer equipment that can occur or network are such as applicable to the present invention, within also should being included in the scope of the present invention, and to draw It is incorporated herein with mode.

Method (some of them are illustrated by flow process) discussed hereafter can pass through hardware, software, firmware, centre Part, microcode, hardware description language or its combination in any are implementing.When being implemented with software, firmware, middleware or microcode When, program code or code segment in order to implement necessary task can be stored in machine or computer-readable medium (is such as deposited Storage media) in.(one or more) processor can implement necessary task.

Concrete structure disclosed herein and function detail are only representational, and are for describing showing of the present invention The purpose of example property embodiment.But the present invention can be implemented by many alternative forms, and is not interpreted as It is limited only by the embodiments set forth herein.

Although it should be appreciated that may have been used term " first ", " second " etc. here to describe unit, But these units should not be limited by these terms.It is used for the purpose of a unit and another unit using these terms Make a distinction.For example, in the case of the scope without departing substantially from exemplary embodiment, it is single that first module can be referred to as second Unit, and similarly second unit can be referred to as first module.Term "and/or" used herein above include one of or Any and all combination of more listed associated item.

It should be appreciated that when a unit is referred to as " connection " or during " coupled " to another unit, it can directly connect Connect or be coupled to described another unit, or there may be temporary location.On the other hand, when a unit is referred to as " directly connecting Connect " or " direct-coupling " arrive another unit when, then there is not temporary location.Should explain in a comparable manner and be used for retouching Other words stating the relation between unit (for example " are in...Between " compared to " being directly in...Between ", " with...Adjacent Closely " compared to " with...It is directly adjacent to " etc.).

Term used herein above is used for the purpose of description specific embodiment and is not intended to limit exemplary embodiment.Unless Context clearly refers else, and otherwise singulative " one " used herein above, " one " also attempt to including plural number.Also should When being understood by, term " inclusion " used herein above and/or "comprising" specify stated feature, integer, step, operation, Unit and/or the presence of assembly, and do not preclude the presence or addition of other features one or more, integer, step, operation, unit, Assembly and/or a combination thereof.

It should further be mentioned that in some replaces realization modes, the function/action being previously mentioned can be according to different from attached The order that in figure indicates occurs.For example, depending on involved function/action, the two width figures in succession illustrating actually may be used Substantially simultaneously to execute or sometimes can execute in a reverse order.

Below in conjunction with the accompanying drawings 1,2 and preferred embodiment the invention will be further described.

Balance car disclosed in present embodiment includes in the automatic parking method of narrow space:

Judge the entrance of narrow space by image recognition;

The spacing of each barrier of surrounding is measured after entering narrow space;

If each spacing is both greater than the first preset value;Control balance car out of service and eject support or auxiliary wheel.

The present embodiment distance explanation judges to enter the two methods of narrow space

Method one

Persistently catch the inlet profiles pattern of narrow space by photographic head;

When inlet profiles judge that balance car enters narrow space completely when picture disappears.

When driver is prepared to enter into the narrow spaces such as subway, elevator, it is bound to towards the Way in of narrow space Advance, thus can persistently capture the contour patterns of entrance, and the closer to entrance, contour patterns are bigger, more trend towards taking the photograph As the edge of head view-finder, until being wholly absent when entrance, based on this feature it is possible to being accurately judged to driver and being No entrance.

Method two

Infrared signal is detected on the basis of method one;

When inlet profiles judge that when picture disappears and infrared signal is detected balance car enters narrow sky completely Between.

The door of the entrance of a lot of narrow spaces carries infrared light curtain, it is to avoid crush people, therefore, when driver passes through entrance When, just can sense infrared signal, in conjunction with aforesaid pattern identification, can more be accurately judged to whether driver enters Narrow space.

Optionally, the step that methods described also includes real-time statistics artificial abortion:

When balance car be in out of service and when ejecting support or supporting wheel status;Open photographic head in front of balance car;

Measuring and calculating people's flow data;

When people's flow data is less than the second preset value, starts balance car and enter rest equilibrium state.

The narrow spaces such as elevator, subway, its transit time is conditional, open every time car door, elevator door time all Comparatively short, the technical program can start when narrow space people is fewer in advance so that balance car enters static balance State, such balance car had not both interfered with other people, can withdraw rapidly when driver leaves narrow space again, Ensure traffic efficiency.

The method that present embodiment discloses two a variety of measuring and calculating people's flow datas.

The first is the scheme with distance measurement, comprising:

Measuring and calculating balance car and everyone spacing data of surrounding;

Artificial abortion's data is averagely worth to all of spacing data.

When artificial abortion reduces, the people in narrow space can pull open the distance with other people, i.e. person to person by instinct automatically Between spacing can widen, conversely, spacing reduce.Therefore, becoming of artificial abortion's variation just can accurately be estimated by calculating spacing Gesture, furthermore, as long as generally ratio is larger for spacing, balance car has certain activity space it is possible to maintain static balance car state, can See, spacing data can not only reflect artificial abortion's alteration trend, be also the critical data needed for balance car safe driving in itself.

Second is the scheme with image comparison, comprising:

According to the number around image comparison statistical equilibrium car;

Described people's flow data is obtained according to the alteration trend of number.

Number around image comparison energy direct access, the alteration trend judgement to artificial abortion is more accurate.

Optionally, the present invention improves not only for the parking method of narrow space, have also been made into one for passing method The optimization of step.With reference to Fig. 2, specifically, comprise the following steps:

Disturbance in judgement thing kinestate;

When barrier remains static, shoot the picture of barrier, networking identification object features, according to recognition result Planning bypass route;When barrier is kept in motion, reduce speed or operation suspension.

When narrow space is walked, someone always, article are to maintain resting state to driver, and another part people will go out Enter narrow space, be then in flow regime, thus balance car driving and cause a lot of difficulties, on the one hand want to lead to as early as possible OK, traffic efficiency is provided, on the one hand avoids again colliding with the people of surrounding and article.Can be by calculating using the technical program Machine automatic identification barrier, according to different types of barrier and its kinestate, is calculated the coping strategy of optimum, it is to avoid Artificial erroneous judgement causes unnecessary conflict.

Optionally, described object features include trait information, elevation information or width information, and balance car is believed according to character Breath, elevation information or width information planning bypass route.Object character refers mainly to the soft and hard data of object, some article, such as Sponge, haystack are although comparison is high, but balance car still may be directly across the past.But the article of same height, if converted to be Brick, have to detour.Secondly, when object than relatively low when, directly can roll over, when object is higher, then need Detour.Furthermore, the width of object determines the circuit length that its needs detours, and such as barrier is brick, and width is very short, balance Car advance offset is once just easily got around, and such as barrier is with wood, road is blocked, may be accomplished by again seeking Road or prompting driver's walking is looked for cross over.

Optionally, described object features include trait information, elevation information and width information;

When trait information is rigidity, and height exceedes first threshold, plans bypass route according to width information;Or, property Shape information is flexibility, and height exceedes Second Threshold, plans bypass route according to width information;Second Threshold is more than the first threshold Value.

In the same manner, some article, such as sponge, haystack are although comparison is high, but balance car still may be directly across the past. But the article of same height, if converted to being brick, have to detour.

Optionally, described object features include attribute information;If attribute information is animal or people, reduce speed or time-out Run, and send warning information;No avoid when barrier is detected in the default time, plan bypass route.Animal, people have energy Dynamic property, even if remaining static when identification, still can be alerted by modes such as loudspeaker, display lamps, prompting gives way. On the one hand this mode reduces the operand of programme path, on the other hand reduces lane change and is conducive to traffic safety.

Optionally, described when barrier is kept in motion, the method reducing speed or operation suspension includes:

Spacing between measurement balance car and barrier;When barrier is still located on normal traffic route and is smaller than During three threshold values, reduce the balance car speed of service;When barrier is still located on normal traffic route and is smaller than the 4th threshold During value, control balance car out of service;When barrier deviates normal traffic route, control balance car Accelerating running, until Recover the initial velocity before accelerating after clearing the jumps;Described 4th threshold value is less than the 3rd threshold value.

Optionally, when trait information is flexibility, and when height is less than or equal to Second Threshold, control balance car from barrier Top is crossed.

Optionally, the method for described disturbance in judgement thing kinestate includes:

Shoot the picture of barrier in default time interval;

Relatively in any two pictures, the position of barrier, if position is identical, is judged as static;Otherwise it is judged as transporting Dynamic.

As another embodiment of the present invention, the invention discloses a kind of balance car fills in the automatic parking of narrow space Put, comprising:

Judgment means 1: for judging the entrance of narrow space by image recognition;

Measurement apparatus 2: for entering the spacing measuring each barrier of surrounding after narrow space;

Control device 3: if being both greater than the first preset value for each spacing;Control balance car out of service and eject and prop up Frame or auxiliary wheel.

The device of automatic parking of the present invention can be used for realizing the automatic parking in narrow space for the balance car of the present invention Method.

Above content is to further describe it is impossible to assert with reference to specific preferred implementation is made for the present invention Being embodied as of the present invention is confined to these explanations.For general technical staff of the technical field of the invention, On the premise of present inventive concept, some simple deduction or replace can also be made, all should be considered as belonging to the present invention's Protection domain.

Claims (10)

1. a kind of balance car narrow space automatic parking method it is characterised in that include:
Judge the entrance of narrow space by image recognition;
The spacing of each barrier of surrounding is measured after entering narrow space;
If each spacing is both greater than the first preset value;Control balance car out of service and eject support or auxiliary wheel.
2. balance car according to claim 1 narrow space automatic parking method it is characterised in that judge enter narrow The method in narrow space includes:
Persistently catch the inlet profiles pattern of narrow space by photographic head;
When inlet profiles judge that balance car enters narrow space completely when picture disappears.
3. balance car according to claim 2 narrow space automatic parking method it is characterised in that judge enter narrow The method in narrow space also includes detecting infrared signal;
When inlet profiles judge that when picture disappears and infrared signal is detected balance car enters narrow space completely.
4. balance car according to claim 1 narrow space automatic parking method it is characterised in that methods described also Step including real-time statistics artificial abortion:
When balance car be in out of service and when ejecting support or supporting wheel status;Open photographic head in front of balance car;
Measuring and calculating people's flow data;
When people's flow data is less than the second preset value, starts balance car and enter rest equilibrium state.
5. balance car according to claim 4 in the automatic parking method of narrow space it is characterised in that described measuring and calculating people The method of flow data includes:
Measuring and calculating balance car and everyone spacing data of surrounding;
Artificial abortion's data is averagely worth to all of spacing data.
6. balance car according to claim 4 in the automatic parking method of narrow space it is characterised in that described measuring and calculating people The method of flow data includes:
According to the number around image comparison statistical equilibrium car;
Described people's flow data is obtained according to the alteration trend of number.
7. according to the arbitrary described balance car of claim 1-6 narrow space automatic parking method it is characterised in that described Method also includes:
Disturbance in judgement thing kinestate;
When barrier remains static, shoot the picture of barrier, networking identification object features, planned according to recognition result Bypass route;When barrier is kept in motion, reduce speed or operation suspension.
8. balance car according to claim 7 in the automatic parking method of narrow space it is characterised in that described object is special Levy including trait information, elevation information and width information;
When trait information is rigidity, and height exceedes first threshold, plans bypass route according to width information;Or, character is believed Cease for flexibility, and height exceedes Second Threshold, bypass route is planned according to width information;Second Threshold is more than first threshold;
Described object features include attribute information;If attribute information is animal or people, reduces speed or operation suspension, and send Warning information;No avoid when barrier is detected in the default time, plan bypass route.
9. balance car according to claim 7 in the automatic parking method of narrow space it is characterised in that described work as obstacle When thing is kept in motion, reduces speed or the method for operation suspension include:
Spacing between measurement balance car and barrier;When barrier is still located on normal traffic route and is smaller than the 3rd During threshold value, reduce the balance car speed of service;When barrier is still located on normal traffic route and is smaller than four threshold values, Control balance car out of service;When barrier deviates normal traffic route, control balance car Accelerating running, until crossing barrier Recover the initial velocity before accelerating after hindering thing;Described 4th threshold value is less than the 3rd threshold value.
10. a kind of balance car narrow space automatic parking device it is characterised in that include:
For judging the device of the entrance of narrow space by image recognition;
For entering the device of the spacing measuring each barrier of surrounding after narrow space;
If being both greater than the first preset value for each spacing;Control balance car out of service and dress that is ejecting support or auxiliary wheel Put.
CN201610769206.XA 2016-08-30 2016-08-30 Automatic parking method and device of balance bike in narrow space CN106371437A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018039909A1 (en) * 2016-08-30 2018-03-08 尚艳燕 Automatic parking method and apparatus for balance vehicle in narrow space

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