CN108121340A - A kind of automatic parking scheme of balance car based on Quick Response Code and system - Google Patents
A kind of automatic parking scheme of balance car based on Quick Response Code and system Download PDFInfo
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- CN108121340A CN108121340A CN201711062261.6A CN201711062261A CN108121340A CN 108121340 A CN108121340 A CN 108121340A CN 201711062261 A CN201711062261 A CN 201711062261A CN 108121340 A CN108121340 A CN 108121340A
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- Prior art keywords
- balance car
- parking
- quick response
- response code
- place
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
Abstract
The invention discloses a kind of automatic parking scheme of balance car based on Quick Response Code and systems.The automatic parking scheme of balance car based on Quick Response Code includes：It scans the two-dimensional code, stores the parking coordinate of Quick Response Code record；Balance car specifies by alignment system and parking coordinate arrival after receiving cutoff command and stops place；Adjust the parking posture of balance car and the spacing of the balance car and periphery barrier.The present invention can improve the convenience of balance car stop.
Description
Technical field
The present invention relates to balance car control field, stop automatically more specifically, being related to a kind of balance car based on Quick Response Code
By method and system.
Background technology
Electrodynamic balance vehicle, is called balance car, thinking vehicle, and operation principles are mainly built upon one kind and are referred to as " dynamically surely
In basic principle calmly ", the gyroscope and acceleration transducer of vehicle body are utilized, to detect the variation of vehicle body attitude, is utilized
Servo-control system, accurately driving motor be adjusted correspondingly, to keep the balance of system.
There are two types of existing electrodynamic balance vehicle is general, one kind is that tool is there are one operation lever on car body, and user station is electronic
Operation lever is operated on the foot platform of balance car, so as to advance, retreat and stop, such control is also referred to as " manual control ".
Another kind is that car body is made of two parts, is realized by rotating mechanism between left half and right half and mutually rotated, so as to fulfill
" foot control ".
Balance car generally will lean on wall side to park when not in use, but be difficult to rest directly against when people's driving balance car
Wall side is simultaneously parked neatly, is typically all that driver gets off when close to wall side, being then moved to wall side with hand handle balance car puts
Good, operation bothers after all, and artificial park is difficult to park neatly, can be seemed when particularly parking cars more in disorder.
The content of the invention
The technical problems to be solved by the invention be to provide it is a kind of improve balance car stop convenience based on Quick Response Code
The automatic parking scheme of balance car and system.
The purpose of the present invention is what is be achieved through the following technical solutions：
According to an aspect of the present invention, the present invention discloses a kind of automatic parking scheme of the balance car based on Quick Response Code, wraps
It includes：
It scans the two-dimensional code, stores the parking coordinate of Quick Response Code record；
Balance car specifies by alignment system and parking coordinate arrival after receiving cutoff command and stops place；
Adjust the parking posture of balance car and the spacing of the balance car and periphery barrier.
Further, when the parking coordinate of storage has multiple, the preferential parking coordinate nearest according to storage time.Balance
Vehicle automatically scanning may record multiple parking coordinates；The nearest parking coordinate of storage time of being subject to, can find stop as early as possible
Position.
Further, when the parking coordinate of storage has multiple, the parking site that all parking coordinates represent is sent
To the mobile intelligent terminal specified；Balance car be subject to mobile intelligent terminal feedback parking coordinate setting stop place.Big
In type building, some stop places can be more popular, it is not easy to find stop position, can be selected according to the experience of driver
To select parking coordinate；To reduce berthing time, parking efficiency is improved.
Further, when finding that current stop place has been fully parked with vehicle, the parking coordinate of storage, row are read
It sails to the stop place nearest apart from current location.In building, some stop places can be more popular, it is not easy to look for
It to stop position, is found one by one by the way of poll, improves the probability for finding and stopping place.
Further, described to scan the two-dimensional code, storing the parking seat calibration method of Quick Response Code record includes：
Specified retail shop is driven to according to interior of building map and indoor locating system；
Scan the Quick Response Code in the retail shop；Store the nearest parking for stopping place in distance shop of Quick Response Code record
Coordinate.In shopping mall, customer often sees at the mall when walking, random larger, it is necessary to take a significant amount of time
Find specific retail shop and desired commodity.At this time can by the use of balance car as shopping center in walking-replacing tool, with shopping
Center carries out data sharing, and balance car can call the map in building, retail shop, merchandise news, and such customer inputs oneself
Demand, balance car can lead the commodity for being fixed to and specifying automatically, and then customer gets off and slowly chosen into retail shop, and balance car is then
The stop place on commodity periphery can be rested in, waits the calling of any one customer.
Further, automatic parking scheme when the method further includes alignment system thrashing：
Balance car receives cutoff command；
It opens camera and rotates in place a circle, photographing panorama picture；
Upload server carries out scene Recognition selection and stops place；
Planning travelling line is to the stop place specified；
Adjust the parking posture of balance car and the spacing of the balance car and periphery barrier.
Balance car is identified according to image carries out scene judgement, the autonomous stop place for judging matters parking.Based on big data
Analysis, balance car can be allowed to have stronger adaptability, can be found in different scenes and suitable stop place, intelligence degree
Higher, and without doing any change to existing building, scene, implementation cost is cheap.In addition, balance car can adjust parking posture
And the distance with stopping place barrier is controlled, it all ensures that uniformity when so stop every time, avoids artificial parking not
Easily in place and it is disorderly and unsystematic the problem of.
Further, the method that place is stopped in the upload server progress scene Recognition selection includes：Identify blank wall
Wall pattern；It selects by wall displacement as stop place.Wall is indoor maximum barrier, and preferably wall, which is used as, stops place,
Space can be utilized to greatest extent, occupy activity space less as far as possible.
Further, prioritizing selection wall is stopped with other metopes or article intersection.Junction is dead angle, general rare
People is movable herein, particularly suitable to park balance car.
Further, the method that place is stopped in the upload server progress scene Recognition selection includes：When identifying it
During the balance car vehicle that he stops, it is set to stop place with the balance truck position.It, will when the balance car stopped has more
Balance car through stop is identified as fleet, and the spare space of fleet's head and the tail position is judged by image identification；Balance car is stopped
In the more one end of spare space；
If it find that the spare space at fleet's head and the tail both ends is not enough to park balance car；It is moved to and fleet either end
Juxtaposed position is stopped.
It is stopped in the position that other balance cars are stopped, explicitly judges target due to having, image identification can be greatly reduced
Difficulty improves recognition accuracy；And balance car aggregation is parked, and has both facilitated management, to the utilization rate of activity space also higher.When stopping
When the balance car leaned on is more, the balance car parked is judged as a whole, reduction judges difficulty, allows balance car can be with
It is quickly found out suitable stop position.When balance car is more, a column/row, which differs, surely puts down all balance cars, works as judgement
When spare space is inadequate, column/row should be resolutely changed, it is ensured that anchor point stop balance car as much as possible.
Further, when the parking coordinate of storage has multiple, the parking site that all parking coordinates represent is sent
To the mobile intelligent terminal specified；Balance car be subject to mobile intelligent terminal feedback parking coordinate setting stop place；
When finding that current stop place has been fully parked with vehicle, the parking coordinate of storage is read, is travelled to distance
The nearest stop place in current location；
Described to scan the two-dimensional code, storing the parking seat calibration method of Quick Response Code record includes：
Specified retail shop is driven to according to interior of building map and indoor locating system；
Scan the Quick Response Code in the retail shop；Store the nearest parking for stopping place in distance shop of Quick Response Code record
Coordinate；
The method further includes automatic parking scheme during alignment system thrashing：
Balance car receives cutoff command；
It opens camera and rotates in place a circle, photographing panorama picture；
Upload server carries out scene Recognition selection and stops place；
Planning travelling line is to the stop place specified；
Adjust the parking posture of balance car and the spacing of the balance car and periphery barrier.
As another aspect of the present invention, invention additionally discloses a kind of automatic parking system of the balance car based on camera,
Including：
For scanning the two-dimensional code, the device of the parking coordinate of Quick Response Code record is stored；
The specified dress for stopping place is reached by alignment system and parking coordinate after receiving cutoff command for balance car
It puts；
For adjusting the parking posture of balance car and the balance car and the device of the spacing of periphery barrier.
Balance car can stop the parking coordinate in place according to Quick Response Code reading；It then can be accurate by alignment system
Find the position that can be stopped.Quick Response Code is implemented simple, of low cost；And current alignment system is also highly developed, therefore only
The cost for putting into very little is stopped with regard to balance car can be allowed to realize precisely.In addition, balance car can adjust parking posture and control with stopping
By the distance of place barrier, uniformity is all ensured that when so stop every time, avoid artificial parking be not easy in place and
The problem of disorderly and unsystematic.
Description of the drawings
Fig. 1 is the automatic parking scheme schematic diagram of balance car of the embodiment of the present invention based on Quick Response Code；
Fig. 2 is the principle schematic that the embodiment of the present invention is applied to shopping mall；
Fig. 3 is that balance car is booked balance car parking strategy schematic diagram after a column/row；
Fig. 4 is the schematic diagram that the embodiment of the present invention stops posture when balance car is less；
Fig. 5 is the bright schematic diagram that posture is stopped when balance car is more of this hair embodiment；
Fig. 6 is the automatic parking system schematic diagram of balance car of the embodiment of the present invention based on camera.
Specific embodiment
The present invention discloses a kind of automatic parking scheme of the balance car based on Quick Response Code, including：
It scans the two-dimensional code, stores the parking coordinate of Quick Response Code record；
Balance car specifies by alignment system and parking coordinate arrival after receiving cutoff command and stops place；
Adjust the parking posture of balance car and the spacing of the balance car and periphery barrier.
Balance car can stop the parking coordinate in place according to Quick Response Code reading；It then can be accurate by alignment system
Find the position that can be stopped.Quick Response Code is implemented simple, of low cost；And current alignment system is also highly developed, therefore only
The cost for putting into very little is stopped with regard to balance car can be allowed to realize precisely.In addition, balance car can adjust parking posture and control with stopping
By the distance of place barrier, uniformity is all ensured that when so stop every time, avoid artificial parking be not easy in place and
The problem of disorderly and unsystematic.
It should be mentioned that some exemplary embodiments are described as before exemplary embodiment is discussed in greater detail
The processing described as flow chart or method.Although operations are described as the processing of order by flow chart, therein to be permitted
Multioperation can be implemented concurrently, concomitantly or simultaneously.In addition, the order of operations can be rearranged.When it
The processing can be terminated when operation is completed, it is also possible to have the additional step being not included in attached drawing.The processing
It can correspond to method, function, regulation, subroutine, subprogram etc..
Alleged mobile intelligent terminal (such as smart mobile phone, tablet computer, wearable device or intelligent glasses), meter within a context
Calculation machine, AI (artificial intelligence), robot, VR (virtual reality), AR (augmented reality), smart home device or intelligent industrial control
Equipment etc. can perform the predetermined process mistake such as numerical computations and/or logical calculated by running preset program or instruction
Journey can include processor and memory, and the survival to be prestored in memory by processor execution instructs to perform book office
Reason process or predetermined process process is performed by hardware such as ASIC, FPGA, DSP or is realized by said two devices combination.Meter
It calculates machine equipment and includes but not limited to server, PC, laptop, tablet computer, smart mobile phone etc..
The network equipment includes but not limited to single network server, the server group of multiple network servers composition or is based on
The cloud being made of a large amount of computers or network server of cloud computing (Cloud Computing), wherein, cloud computing is distributed
One kind of calculating, a super virtual computer being made of the computer collection of a group loose couplings.Wherein, the computer is set
It is standby can isolated operation realize the present invention, also can access network and pass through the interactive operation with other computer equipments in network
To realize the present invention.Wherein, the network residing for the computer equipment includes but not limited to internet, wide area network, Metropolitan Area Network (MAN), office
Domain net, VPN network etc..
It should be noted that the 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 or network that can occur such as are applicable to the present invention, should also be included within the scope of the present invention, and to draw
It is incorporated herein with mode.
Method (some of them are illustrated by flow) discussed hereafter can be by hardware, software, firmware, centre
Part, microcode, hardware description language or its any combination are implemented.Implement when with software, firmware, middleware or microcode
When, to implement the program code of necessary task or code segment can be stored in machine or computer-readable medium and (for example deposit
Storage media) in.(one or more) processor can implement necessary task.
Concrete structure and function detail disclosed herein are only representative, and are for describing showing for the present invention
The purpose of example property embodiment.But the present invention can be implemented by many alternative forms, and be 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. herein to describe unit,
But these units should not be limited by these terms.The use of these items is only for by a unit and another unit
It distinguishes.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
Member, and similarly second unit can be referred to as first module.Term "and/or" used herein above include one of them or
The arbitrary and all combination of more listed associated items.
It should be appreciated that when a unit is referred to as " connecting " or during " coupled " to another unit, can directly connect
It connects or is coupled to another unit or there may be temporary location.In contrast, when a unit is referred to as " directly connecting
Connect " or " direct-coupling " arrive another unit when, then there is no temporary locations.It should explain in a comparable manner and be used to retouch
Other words for stating the relation between unit (such as " are in...Between " compared to " being directly in...Between ", " with...It is adjacent
Closely " compared to " with...It is directly adjacent to " etc.).
Term used herein above is not intended to limit exemplary embodiment just for the sake of description specific embodiment.Unless
Context clearly refers else, otherwise singulative used herein above "one", " one " also attempt to include plural number.Should also
When understanding, term " comprising " and/or "comprising" used herein above provide stated feature, integer, step, operation,
The presence of unit and/or component, and do not preclude the presence or addition of other one or more features, integer, step, operation, unit,
Component and/or its combination.
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 indicated in figure occurs.For example, depending on involved function/action, the two width figures shown in succession actually may be used
Substantially simultaneously to perform or can perform in a reverse order sometimes.
Below in conjunction with the accompanying drawings 1~6 and preferred embodiment the invention will be further described.
The automatic parking scheme of balance car based on Quick Response Code disclosed in present embodiment includes：
S11, scan the two-dimensional code, store the parking coordinate of Quick Response Code record；
S12, balance car specify by alignment system and parking coordinate arrival after receiving cutoff command and stop place；
The spacing of S13, the parking posture for adjusting balance car and the balance car and periphery barrier.
When the parking coordinate of storage has multiple, the preferential parking coordinate nearest according to storage time.Balance car is swept automatically
It retouches, multiple parking coordinates may be recorded；The nearest parking coordinate of storage time of being subject to, can find stop position as early as possible.
Optionally, when the parking coordinate of storage has multiple, the parking site that all parking coordinates represent is sent to
The mobile intelligent terminal specified；Balance car be subject to mobile intelligent terminal feedback parking coordinate setting stop place.In large size
In building, it is some stop places can be more popular, it is not easy to find stop position, can according to the experience of driver select come
Selection parking coordinate；To reduce berthing time, parking efficiency is improved.
When finding that current stop place has been fully parked with vehicle, the parking coordinate of storage is read, is travelled to distance
The nearest stop place in current location.In building, some stop places can be more popular, it is not easy to find and stop position
It puts, is found one by one by the way of poll, improve the probability for finding and stopping place.
With reference to figure 2, a kind of balance car application method especially suitable for shopping mall is also disclosed in present embodiment.Tool
For body, this method includes：
Specified retail shop is driven to according to interior of building map and indoor locating system；
Scan the Quick Response Code in the retail shop；Store the nearest parking for stopping place in distance shop of Quick Response Code record
Coordinate.In shopping mall, customer often sees at the mall when walking, random larger, it is necessary to take a significant amount of time
Find specific retail shop and desired commodity.At this time can by the use of balance car as shopping center in walking-replacing tool, with shopping
Center carries out data sharing, and balance car can call the map in building, retail shop, merchandise news, and such customer inputs oneself
Demand, balance car can lead the commodity for being fixed to and specifying automatically, and then customer gets off and slowly chosen into retail shop, and balance car is then
The stop place on commodity periphery can be rested in, waits the calling of any one customer.
Automatic parking scheme during a kind of alignment system thrashing is also disclosed in present embodiment：
Balance car receives cutoff command；
It opens camera and rotates in place a circle, photographing panorama picture；
Upload server carries out scene Recognition selection and stops place；
Planning travelling line is to the stop place specified；
Adjust the parking posture of balance car and the spacing of the balance car and periphery barrier.
When adjusting balance car parking posture, the wheel nearer apart from barrier is fixed；Rotate another wheel
Until the spacing of two distance measuring sensor measurements is consistent.Host one end is first allowed then to live wheel surely, control is another close to barrier
The vehicle wheel rotation of side, this mode can quickly adjust host posture, reduce berthing time.
Optionally, the method in upload server progress scene Recognition selection stop place includes：Identify blank wall pattern；
It selects by wall displacement as stop place.Wall is indoor maximum barrier, and preferably wall, can be maximum as place is stopped
Limit utilizes space, occupies activity space less as far as possible.Preferably, prioritizing selection wall stops with other metopes or article intersection
It leans on.Junction is dead angle, and general rare people is movable herein, particularly suitable to park balance car.
The present embodiment illustrates by taking metope as an example, and other modes are also feasible, such as the partition plate of screens, locker side
Deng.Can by it is possible that stop scene be all input to high in the clouds, suitable stop position is judged by high in the clouds, is then issued to balance
Vehicle performs parking action.
The method of another fairly simple practicality is to see which position other balance cars rest in, which just and then stops
Past.Specifically：When identifying the balance car vehicle that other are stopped, it is set to stop place with the balance truck position.At other
The position that balance car is stopped is stopped, and explicitly judges target due to having, and image identification difficulty can be greatly reduced, it is accurate to improve identification
Exactness；And balance car aggregation is parked, and has both facilitated management, to the utilization rate of activity space also higher.
When the balance car stopped there are more, the balance car stopped is identified as fleet, is identified by image
Judge the spare space of fleet's head and the tail position；Balance car is rested in into the more one end of spare space.When stop balance car compared with
When more, the balance car parked is judged as a whole, reduction judges difficulty, and balance car can be quickly found out properly
Stop position.
If it find that the spare space at fleet's head and the tail both ends is not enough to park balance car；It is moved to and fleet either end
Juxtaposed position is stopped.When balance car is more, a column/row, which differs, surely puts down all balance cars, when judging spare space not
When enough, it should resolutely change column/row, it is ensured that an anchor point is as much as possible to stop balance car (with reference to figure 3).
In general, it is relatively good will to stop effect close to barrier as far as possible for balance car；Two distance measuring sensors can allow
Balance car is whole close to barrier, and not road occupying is stopped better.Effect of stopping is with reference to figure 4.When balance car is more
It waits, allows host that can occupy larger area towards barrier, be unfavorable for more balance cars and stop, can allow balance car side at this time
It is small to metope area occupied close to barrier, suitable in the more situation of balance car.Effect of stopping is with reference to figure 5.
According to another aspect of the present invention, stopped automatically the invention discloses a kind of balance car based on camera and be
System, including：
Scanning means 10：For scanning the two-dimensional code, the parking coordinate of Quick Response Code record is stored；
Positioner 20：Specified stop is reached by alignment system and parking coordinate after receiving cutoff command for balance car
By place；
Adjusting apparatus 30：For adjusting the spacing of the parking posture of balance car and the balance car and periphery barrier.
The system that the balance car of the present invention is stopped automatically can be used to implement the balance of the present invention based on Quick Response Code
The automatic parking scheme of vehicle.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, it is impossible to assert
The specific implementation of the present invention is confined to these explanations.For those of ordinary skill in the art to which the present invention belongs, exist
On the premise of not departing from present inventive concept, several simple deduction or replace can also be made, should all be considered as belonging to the present invention's
Protection domain.
Claims (8)
1. a kind of automatic parking scheme of balance car based on Quick Response Code, which is characterized in that including：
It scans the two-dimensional code, stores the parking coordinate of Quick Response Code record；
Balance car specifies by alignment system and parking coordinate arrival after receiving cutoff command and stops place；
Adjust the parking posture of balance car and the spacing of the balance car and periphery barrier.
2. the automatic parking scheme of the balance car according to claim 1 based on Quick Response Code, which is characterized in that when stopping for storage
When vehicle coordinate has multiple, the preferential parking coordinate nearest according to storage time.
3. the automatic parking scheme of the balance car according to claim 1 based on Quick Response Code, which is characterized in that when stopping for storage
When vehicle coordinate has multiple, the parking site that all parking coordinates represent is sent to the mobile intelligent terminal specified；Balance car
Place is stopped in the parking coordinate setting of mobile intelligent terminal of being subject to feedback.
4. the automatic parking scheme of the balance car according to claim 1 based on Quick Response Code, which is characterized in that current when finding
Stop place when be fully parked with vehicle, read the parking coordinate of storage, traveling to the stop nearest apart from current location
Place.
5. the automatic parking scheme of the balance car according to claim 1 based on Quick Response Code, which is characterized in that the scanning two
Code is tieed up, storing the parking seat calibration method of Quick Response Code record includes：
Specified retail shop is driven to according to interior of building map and indoor locating system；
Scan the Quick Response Code in the retail shop；Store the nearest parking for the stopping place seat in distance shop of Quick Response Code record
Mark.
6. according to the arbitrary automatic parking schemes of the balance car based on Quick Response Code of claim 1-5, which is characterized in that described
Method further includes automatic parking scheme during alignment system thrashing：
Balance car receives cutoff command；
It opens camera and rotates in place a circle, photographing panorama picture；
Upload server carries out scene Recognition selection and stops place；
Planning travelling line is to the stop place specified；
Adjust the parking posture of balance car and the spacing of the balance car and periphery barrier.
7. the automatic parking scheme of the balance car according to claim 1 based on Quick Response Code, which is characterized in that when stopping for storage
When vehicle coordinate has multiple, the parking site that all parking coordinates represent is sent to the mobile intelligent terminal specified；Balance car
Place is stopped in the parking coordinate setting of mobile intelligent terminal of being subject to feedback；
When finding that current stop place has been fully parked with vehicle, the parking coordinate of storage is read, traveling is current to distance
The nearest stop place in position；
Described to scan the two-dimensional code, storing the parking seat calibration method of Quick Response Code record includes：
Specified retail shop is driven to according to interior of building map and indoor locating system；
Scan the Quick Response Code in the retail shop；Store the nearest parking for the stopping place seat in distance shop of Quick Response Code record
Mark；
The method further includes automatic parking scheme during alignment system thrashing：
Balance car receives cutoff command；
It opens camera and rotates in place a circle, photographing panorama picture；
Upload server carries out scene Recognition selection and stops place；
Planning travelling line is to the stop place specified；
Adjust the parking posture of balance car and the spacing of the balance car and periphery barrier.
8. a kind of automatic parking system of balance car based on camera, which is characterized in that including：
For scanning the two-dimensional code, the device of the parking coordinate of Quick Response Code record is stored；
The specified device for stopping place is reached by alignment system and parking coordinate after receiving cutoff command for balance car；
For adjusting the parking posture of balance car and the balance car and the device of the spacing of periphery barrier.
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| CN201711062261.6A CN108121340B (en) | 2017-10-31 | 2017-10-31 | Two-dimensional code-based balance car automatic parking method and system |
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| CN201711062261.6A CN108121340B (en) | 2017-10-31 | 2017-10-31 | Two-dimensional code-based balance car automatic parking method and system |
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| CN106444747A (en) * | 2016-09-05 | 2017-02-22 | 尚艳燕 | Balancing vehicle and loading method thereof |
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