CN106443706A - Obstacle avoiding bicycle - Google Patents
Obstacle avoiding bicycle Download PDFInfo
- Publication number
- CN106443706A CN106443706A CN201610876896.9A CN201610876896A CN106443706A CN 106443706 A CN106443706 A CN 106443706A CN 201610876896 A CN201610876896 A CN 201610876896A CN 106443706 A CN106443706 A CN 106443706A
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- Prior art keywords
- bicycle
- laser radar
- avoidance
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- module
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3691—Retrieval, searching and output of information related to real-time traffic, weather, or environmental conditions
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Ecology (AREA)
- Environmental Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Atmospheric Sciences (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention is applied to the field of transportation means, and provides an obstacle avoiding bicycle which comprises a bicycle body, a laser radar system, a controller and a navigation device, wherein the laser radar system is arranged on the bicycle body, and is used for detecting an environmental condition of the bicycle body; the controller is in communication connection with the laser radar system, and is used for processing environmental condition information detected by the laser radar system, and forming a prompting instruction; the navigation device is in communication connection with the controller, and is used for outputting prompting information according to the prompting instruction of the controller. According to the obstacle avoiding bicycle, the environmental condition is detected through a laser radar, the detected environmental condition information is processed by the controller, the prompting instruction is generated and sent to the navigation device, and the prompting information is played and output to a user through the navigation device; the obstacle avoiding bicycle is high in acquired data accuracy and operational reliability and long in detection distance, the user can effectively avoid an obstacle according to the prompting information, and the safety of the user in a riding process of the bicycle is ensured.
Description
Technical field
The invention belongs to field of vehicles, particularly relate to a kind of avoidance bicycle.
Background technology
Now with the lifting of environmental consciousness, bicycle restarts to popularize, and bicycle user gradually increase.But, from
Driving also grows with each passing day with the traffic accident that automobile mutually collides, and then the awareness of safety that people cycle also improves constantly.
In the prior art, avoidance bicycle CAS is to be worn a tool by bicycle knight to carry out with smart mobile phone
The safety cap that communication is integrated, automobile will be detected close to the object of automobile by the radar being arranged in car, then pacify
This object then can be judged by the camera being contained in rearview mirror, if it find that be cyclist, automobile will automatically enable and stop
Car system.Equipped with framing signal transmitter in bicycle body, carry out interkniting each other through sensor, for example red
Outer sensor, the relative position of detection vehicle and bicycle knight, when detect will collide when, cycle driver and oneself
Driving knight can receive caution signal.
But, avoidance bicycle assembling complexity in prior art, and when using general sensor as detection means, data
Precision is not high, and detection range and investigative range are limited, it is impossible to identifying object, reliability is not high.
Content of the invention
The embodiment of the present invention provides the method and device of a kind of self-action laser radar avoidance, it is intended to solve in prior art
Avoidance bicycle assembling complexity, data precision is not high, and detection range and investigative range are limited, it is impossible to identifying object, reliability is not
High problem.
The embodiment of the present invention is achieved in that a kind of avoidance bicycle, including：
Bicycle body；
It is located on described bicycle body, the laser radar system that described bicycle body ambient conditions is detected
System；
Communicate to connect with described laser radar system, at the circumstance state information to the detection of described laser radar system
Reason, and form the controller of hint instructions；And
Communicate to connect with described controller, and the navigation dress of the hint instructions output information according to described controller
Put.
The avoidance wheelchair that the embodiment of the present invention provides, by the laser radar detection surrounding environment being located on bicycle body
Situation, and process the circumstance state information via controller being detected, generates and sends hint instructions to guider, with
Playing output information by guider to user, the data precision that this avoidance bicycle obtains is high, and detection range is remote, makes
With highly reliable, user can ensure user during bicycle traveling according to the effective avoiding obstacles of this information
Safety.
Brief description
Fig. 1 is the structural representation of a kind of avoidance bicycle that the embodiment of the present invention provides；
Fig. 2 is the structure chart of a kind of avoidance bicycle that the embodiment of the present invention provides；
Fig. 3 is the structural representation of the laser radar apparatus that the embodiment of the present invention provides；
Fig. 4 is the structure chart of the laser radar apparatus that the embodiment of the present invention provides；
Fig. 5 is the position assumption diagram of a kind of laser radar apparatus that the embodiment of the present invention provides；
Fig. 6 is the structural solid figure of the controller that the embodiment of the present invention provides；
Fig. 7 is the avoidance bicycle workflow that the embodiment of the present invention provides；
Fig. 8 is the structural representation of the guider that the embodiment of the present invention provides；
Fig. 9 is the structural representation of a kind of avoidance bicycle with human-computer interaction device that the embodiment of the present invention provides；
Figure 10 is a kind of structure of avoidance bicycle with positioning and radio communication function that the embodiment of the present invention provides
Schematic diagram；
Figure 11 is the structural representation of a kind of avoidance bicycle with light-emitting device that the embodiment of the present invention provides；
Figure 12 is the structural representation of the real time environment display device that the embodiment of the present invention provides.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein only in order to explaining the present invention, and
It is not used in the restriction present invention.
The invention provides a kind of avoidance bicycle, by the laser radar detection surrounding environment being located on bicycle body
Situation, and process the circumstance state information via controller being detected, generates and sends hint instructions to guider, with
Play output information by guider to user.The data precision that this avoidance bicycle obtains is high, and detection range is remote, makes
With highly reliable, user can ensure user during bicycle traveling according to the effective avoiding obstacles of this information
Safety.
As illustrated in fig. 1 and 2, in embodiments of the present invention, a kind of avoidance bicycle 10, including：Bicycle body 100；If
On described bicycle body 100, laser radar system 200 that described bicycle body ambient conditions is detected；
Communicate to connect with described laser radar system 200, at the circumstance state information to the detection of described laser radar system 200
Reason, and form the controller 300 of hint instructions；And communicate to connect with described controller 300, and according to described controller 300
Hint instructions output information guider 400.By being located at ring around the laser radar detection on bicycle body
Border situation, and process the circumstance state information via controller being detected, generates and sends hint instructions to guider,
To play output information by guider to user, the data precision that this avoidance bicycle obtains is high, and detection range is remote,
Dependability is strong, and user can ensure user at bicycle traveling process according to the effective avoiding obstacles of this information
In safety.
In embodiments of the present invention, above-mentioned bicycle body 100 can be a bicycle, usually two-wheel foot-operated self
Car.
In embodiments of the present invention, above-mentioned circumstance state information includes but is not limited to obstacle information, road surface fluctuating information.
In embodiments of the present invention, leading between above-mentioned laser radar system the 200th, controller 300, and guider 400
Letter connected mode can be radio connection or wired connection mode, wherein, radio connection can be bluetooth,
One or more combinations in WIFI, ZigBee, infrared ray, sound wave or radio frequency, specifically can according to the actual demand of user or
The actual application scenarios flexible configuration of person.
In embodiments of the present invention, above-mentioned information can be information of voice prompt, vibration prompt information, light prompt
One or more combinations in information, audio prompt information and sense of touch feedback prompts information.
As shown in Figures 3 and 4, in embodiments of the present invention, laser radar system 200 includes：At least one laser radar fills
Putting 210, laser radar apparatus 210 includes：Laser emitting module 2101 for emission detection laser；Receive above-mentioned exploring laser light
The reflection Optical Receivers 2102 of reflected light signal；And form the position letter of detected object according to above-mentioned reflected light signal
The signal processing module 2103 of breath.
In embodiments of the present invention, bicycle body 100 uses the distance measurement mode based on laser radar apparatus,
Utilizing laser radar apparatus 210 to measure frequency high, the fast feature of data update rate, user can know and testee in time
Relative distance, and can independently judge to produce corresponding action when close to barrier according to this range information, anti-
Only unexpected generation, improves security during advancing for the bicycle.
In embodiments of the present invention, laser radar apparatus 210 and bicycle body 100 can by dismountable mode even
Connecing, connected mode can be grafting, clamping, mortise and tenon, stickup or magnetic etc., and dismountable connected mode is easy to laser radar apparatus
Maintenance and replacing.
In embodiments of the present invention, as it is shown in figure 5, laser radar system 200 includes：Before being located at described bicycle body
Orientation is put, for detecting the first laser radar apparatus 211 of bicycle body front circumstance state information；And described in being located at certainly
The rear position of driving body, for detecting the second laser radar of the environmental aspect in the range of 360 degree around bicycle body
Device 212.Wherein, this anterior position can be handlebar front, and this rear position can be below-seat.
In embodiments of the present invention, this first laser radar apparatus 211 can accurately be detected by first plane of scanning motion 213 and ride
Barrier and surface evenness information in car people's front preset detection range, specifically include：Barrier orientation, bicycle body
100 with the relative distance information of testee, and road surface fluctuating information, especially unglazed or in the case that light is bad, can
Real-time detection ambient conditions, it is to avoid have an accident when driving, it is ensured that user security.Wherein, the first laser radar
Device 211 can be the TOF laser radar based on TOF (Time of Flight, flight time) principle, can be detected by calculating
The time difference of Laser emission and return obtains light path and then obtains the relative distance letter of bicycle body 100 and detected object
Breath.
In embodiments of the present invention, the size of above-mentioned default detection range can according to user intention or be actually needed into
Row regulation, detection range size can in the range of around cyclist 100 meters, around cyclist in the range of 150 meters, cyclist's week
In the range of enclosing 200 meters, specifically do not limit.
In embodiments of the present invention, this second laser radar apparatus 212 can realize presetting model by second plane of scanning motion 214
Enclose interior 360 degree of environmental aspect scanning probes, when rear environment is ignored or excessively paid close attention to by user, can avoid in surrounding environment
There is traffic accident, it is ensured that the safety of user when having object close or swarm into suddenly.
In embodiments of the present invention, above-mentioned preset range size can be adjusted according to user intention or be actually needed
Joint, range size can be in the range of around cyclist 100 meters, around cyclist in the range of 150 meters, around cyclist 200 meters
In the range of, specifically do not limit.
As shown in Figure 6, in embodiments of the present invention, controller 300 includes：Data reception module 310, is used for receiving laser
The circumstance state information that radar system 200 is detected, data processing module 320, and data reception module communication, by detected
Circumstance state information is processed, and forms hint instructions, and the prompting by above-mentioned hint instructions output to guider 400 refers to
Make transport module 330.Wherein, data processing module 320 can be any microprocessor.
In embodiments of the present invention, as it is shown in fig. 7, ambient conditions is scanned by laser radar system 200
Detection, for example, the circumstance state information of laser radar system 200 scanning probe is passed through controller by barrier, surface evenness
The data processing module 310 of 300 carries out data process, and concrete process includes：To the relative distance between user and testee
Information, the relative velocity between user and testee, and the analyzing and processing of testee positional information, meanwhile, will
The result of network analysis decision-making is transmitted by way of wirelessly or non-wirelessly to guider 400 and is played out output, for example, and bluetooth
Earphone, user independently judges to produce corresponding action receiving information, it is to avoid bicycle is anticipated during advancing
Outward, assembly parts list, easy to operate, reliability is high.
As shown in Figure 8, in embodiments of the present invention, guider 300 includes：Export prompting letter according to described hint instructions
The information output unit 310 of breath, this information output unit 310 includes：Voice cue module, vibration prompt module,
One or more combinations in light prompt module and sense of touch feedback prompts module.Wherein, voice cue module can be audio frequency
Playback equipment, such as, bluetooth earphone, vibration prompt module can be vibratory equipment, for example, shakes waistband, light prompt module
Can be illuminating lamp, for example, LED.
For example, when voice cue module is bluetooth earphone, by laser radar system 200, ambient conditions is carried out
Scanning probe, and the circumstance state information being scanned laser radar system 200 by controller 300 carried out corresponding system and divides
Analysis process, specifically includes：Relative distance information to bicycle body and testee, testee orientation, and bicycle this
Body and the analyzing and processing of the relative velocity of testee, form voice messaging, and carry out voice broadcast by bluetooth earphone,
User independently judges after hearing voice message to produce corresponding action, prevents from occurring unexpectedly, substantially increases user's
Security.
And for example, when vibration prompt module is for vibrations waistband, by laser radar system 200, ambient conditions is carried out
Scanning probe, and by controller 300, the circumstance state information that laser radar biography system 200 scans is carried out corresponding system
Analyzing and processing, specifically includes：Relative distance information to bicycle body and testee, testee orientation, and bicycle
The analyzing and processing of the relative velocity of body and testee, forms vibration information, the vibration waistband that user is worn according to
This vibration information carries out vibration output, and user independently judges to produce corresponding row by the direction of vibration of induction vibration waistband
Dynamic, prevent from occurring unexpectedly, substantially increase the security of user.
As it is shown in figure 9, in embodiments of the present invention, avoidance bicycle 10 also includes：Can and user between interact or
The human-computer interaction device 500 of information exchange.Wherein, human-computer interaction device can be PAD, PDA, navigation indicator and other kinds
The equipment of the controlled input of user.
In embodiments of the present invention, human-computer interaction device 500 can by the ambient conditions information of laser radar detection with
The form of point cloud chart presents, and barrier tentatively can be judged by user according to video display information, and meanwhile, user can be
Typing on human-computer interaction device 500 travels the new travel route of route instructions planning, effective avoiding obstacles, it is to avoid travelling
During have an accident, design more intelligent, be further ensured that traffic safety.
As a preferred embodiment of the present invention, as shown in Figure 10, avoidance bicycle 10 also includes：Can to bicycle originally
The positioner 600 that body 100 positions；And transmit the positional information of bicycle body 100 to background server or phase
The radio communication device 700 of the terminal device of association.Wherein, positioner 600 can be GPS positioner.
In embodiments of the present invention, by positioner 600, acquisition can be positioned in real time voluntarily to bicycle body 100
Car body 100 current location information, radio communication device 700 this current location information is transmitted by way of radio communication to
Background server or the terminal device being associated, in order to user household knows user's current location information, and occurs user
During accident, it is possible to provide user's current location information is easy to sue and labour in time, further ensure that the safety of user.
As a preferred embodiment of the present invention, as shown in figure 11, avoidance bicycle 10 also includes：Illumination light can be sent
Or the light-emitting device 800 of distress call light.Wherein, light-emitting device 800 can be illuminating lamp.
In embodiments of the present invention, when unglazed or in the case that light is bad, road ahead can be illuminated by illuminating lamp,
Avoid bicycle to have an accident during advancing, further ensure that user security.And when user has an accident, can pass through
Distress call light launched by illuminating lamp, for example, sends out a signal for help, it is simple to road by way of lighting lamp light flickers or flashes
People or rescue personnel find user in time and sue and labour, and further ensure that the safety of user.
As a preferred embodiment of the present invention, as shown in figure 12, avoidance bicycle 10 also includes that a real time environment shows
Showing device 900, real time environment display device 900 includes：The taking module of bicycle body 100 surrounding environment image can be obtained
910；And bicycle body 100 surrounding environment image can be shown the display module 920 of output.Wherein, taking module
910 can for camera, drive recorder, video camera etc. other can capture apparatus, specifically do not limit, display module 920 can
Think CRT monitor, light-emitting diode display, LCD display or other types display, be specifically not construed as limiting.
In embodiments of the present invention, bicycle body 100 surrounding environment image can be obtained by taking module 910 shooting,
And to display module 920, the transmission of above-mentioned surrounding environment image is shown output, and then surrounding environment image information can be made true
It is presented on display module 920 in fact, in combination with the circumstance state information of laser radar system 200 detection, can demarcate truly
The orientation of barrier, bicycle body and testee relative distance information, design more intelligent, further increase voluntarily
Security during advancing for the car.
In embodiments of the present invention, real time environment display device 900 and bicycle body 100 can be by dismountable modes
Connecting, connected mode can be grafting, clamping, mortise and tenon, stickup or magnetic etc., and dismountable connected mode is easy to real time environment and is shown
The maintenance of showing device and replacing.
As a preferred embodiment of the present invention, laser radar system 200 also includes：Controllable laser radar system
The control switch that 200 are turned on and off.Wherein, this control switch can be mechanical switch or contact witch.Mechanical open
Pass can be button, push button, knob, and contact witch can be inductance switch or capacitance switch, for example, pressure-sensitive switch, temperature
Degree sensitive switch, audio-switch, light sensor switch or capacitive/inductive formula soft-touch control.For example, when control switch passes for pressure
During sense switch, in the case that night, external environmental light was more weak, user can open laser radar apparatus by pressure-sensitive switch
It is scanned detection, it is to avoid have an accident, it is ensured that user security, when by day or in the case that external environmental light is good, user
Laser radar apparatus can be closed by pressure-sensitive switch, save equipment energy consumption, extend cruising time.
The avoidance bicycle that above-described embodiment provides, by the laser radar detection surrounding environment being located on bicycle body
Situation, and process the circumstance state information via controller being detected, generates and sends hint instructions to guider, with
Playing output information by guider to user, the data precision that this avoidance bicycle obtains is high, and detection range is remote, makes
With highly reliable, user can ensure user during bicycle traveling according to the effective avoiding obstacles of this information
Safety.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any modification, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.
Claims (10)
1. an avoidance bicycle, it is characterised in that include：
Bicycle body；
It is located on described bicycle body, the laser radar system that described bicycle body ambient conditions is detected；
With the communication connection of described laser radar system, the circumstance state information of described laser radar system detection is processed,
And form the controller of hint instructions；And
Communicate to connect with described controller, and the guider of the hint instructions output information according to described controller.
2. avoidance bicycle as claimed in claim 1, it is characterised in that described laser radar system includes at least one laser
Radar installations, described laser radar apparatus includes：
Laser emitting module for emission detection laser；
Receive the reflection Optical Receivers of the reflected light signal of described exploring laser light；And
Form the signal processing module of the positional information of detected object according to described reflected light signal.
3. avoidance bicycle as claimed in claim 1, it is characterised in that described laser radar system includes：
It is located at the anterior position of described bicycle body, for detecting the first laser of bicycle body front circumstance state information
Radar installations；And
It is located at the rear position of described bicycle body, for detecting the environmental aspect in the range of 360 degree around bicycle body
The second laser radar apparatus.
4. avoidance bicycle as claimed in claim 1, it is characterised in that described controller includes：
Data reception module, receives the circumstance state information that described laser radar system is detected；
The circumstance state information being detected, with described data reception module communication, is processed by data processing module, and formation carries
Show instruction；And
Hint instructions transport module by described hint instructions output to described guider.
5. avoidance bicycle as claimed in claim 1, it is characterised in that described guider includes：
Export the information output unit of information according to described hint instructions, described information output unit includes：
One or more combinations in voice cue module, vibration prompt module, light prompt module and sense of touch feedback prompts module.
6. avoidance bicycle as claimed in claim 1, it is characterised in that described avoidance bicycle also includes：
Can and user between interact or information exchange human-computer interaction device.
7. avoidance bicycle as claimed in claim 1, it is characterised in that also include：
The positioner that bicycle body can be positioned；And
Radio communication device by the positional information transmission of bicycle body to background server or the terminal device being associated.
8. avoidance bicycle as claimed in claim 1, it is characterised in that also include：
Illumination light or the light-emitting device of distress call light can be sent.
9. avoidance bicycle as claimed in claim 1, it is characterised in that described avoidance bicycle also includes that a real time environment shows
Showing device, real time environment display device includes：
The taking module of described bicycle body surrounding environment image can be obtained；And
Described bicycle body surrounding environment image can be shown the display module of output.
10. avoidance bicycle as claimed in claim 1, it is characterised in that described laser radar system also includes：
Can control the control switch that described laser radar system is turned on and off.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610876896.9A CN106443706A (en) | 2016-09-30 | 2016-09-30 | Obstacle avoiding bicycle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610876896.9A CN106443706A (en) | 2016-09-30 | 2016-09-30 | Obstacle avoiding bicycle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106443706A true CN106443706A (en) | 2017-02-22 |
Family
ID=58171615
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610876896.9A Pending CN106443706A (en) | 2016-09-30 | 2016-09-30 | Obstacle avoiding bicycle |
Country Status (1)
| Country | Link |
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| CN (1) | CN106443706A (en) |
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| CN115107915A (en) * | 2022-06-10 | 2022-09-27 | 西北工业大学 | Bicycle-mounted system and using method thereof |
| WO2022229091A1 (en) * | 2021-04-27 | 2022-11-03 | Goya Design Limited | System and method to improve road safety |
| WO2024026723A1 (en) * | 2022-08-03 | 2024-02-08 | 信昌宏工业股份有限公司 | Control system applying internet of things sensing technology to low-speed vehicle |
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Application publication date: 20170222 |