CN108121340B - Two-dimensional code-based balance car automatic parking method and system - Google Patents
Two-dimensional code-based balance car automatic parking method and system Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
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- 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
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Abstract
The invention discloses a balance car automatic parking method and system based on two-dimensional codes. The two-dimensional code-based balance car automatic parking method comprises the following steps: scanning the two-dimensional code, and storing the parking coordinate recorded by the two-dimensional code; the balance car receives the parking instruction and then reaches the designated parking place through the positioning system and the parking coordinate; and adjusting the parking posture of the balance car and the distance between the balance car and the peripheral obstacles. The invention can improve the convenience of the balance car for parking.
Description
Technical Field
The invention relates to the field of balance car control, in particular to a two-dimensional code-based balance car automatic parking method and system.
Background
The operation principle of the electric balance car, namely a balance car and a thinking car, is mainly established on the basic principle called dynamic stability, the gyroscope and the acceleration sensor in the car body are utilized to detect the change of the posture of the car body, and the servo control system is utilized to accurately drive the motor to carry out corresponding adjustment so as to keep the balance of the system.
The conventional electric balance car generally has two types, one type is that a car body is provided with an operating lever, and a user stands on a pedal platform of the electric balance car to operate the operating lever so as to move forward, backward and stop, and the control is also called manual control. The other is that the vehicle body is composed of two parts, the left part and the right part rotate mutually through a rotating mechanism, and therefore foot control is achieved.
When the balance car is not used, the balance car is generally parked by the wall, but when a person drives the balance car, the person is difficult to directly park by the wall and park in order, generally, the driver gets off the balance car when approaching the wall, then the balance car is moved to the wall by hands to be placed, the operation is troublesome after all, the person is difficult to park in order, and particularly, the balance car is messy when being parked more.
Disclosure of Invention
The invention aims to provide a two-dimensional code-based balance car automatic parking method and system for improving the parking convenience of a balance car.
The purpose of the invention is realized by the following technical scheme:
according to one aspect of the invention, the invention discloses a balance car automatic parking method based on a two-dimensional code, which comprises the following steps:
scanning the two-dimensional code, and storing the parking coordinate recorded by the two-dimensional code;
the balance car receives the parking instruction and then reaches the designated parking place through the positioning system and the parking coordinate;
and adjusting the parking posture of the balance car and the distance between the balance car and the peripheral obstacles.
Further, when a plurality of parking coordinates are stored, the parking coordinate closest to the storage time is preferentially used. The balance car automatically scans and possibly records a plurality of parking coordinates; the parking position can be found as soon as possible based on the parking coordinate with the closest storage time.
Further, when a plurality of parking coordinates are stored, all parking places represented by the parking coordinates are sent to the appointed mobile intelligent terminal; the balance car sets a parking place based on the parking coordinate fed back by the mobile intelligent terminal. In a large building, some parking places are hot, so that parking positions are not easy to find, and parking coordinates can be selected according to experience of a driver; so as to reduce the parking time and improve the parking efficiency.
Further, when the current parking place is found to be full of vehicles, the stored parking coordinates are read and the vehicle is driven to the parking place closest to the current position. In a large building, some parking places are hot, the parking positions are not easy to find, and the parking places are searched one by one in a polling mode, so that the probability of finding the parking places is improved.
Further, the method for scanning the two-dimensional code and storing the parking coordinates recorded by the two-dimensional code includes:
driving to a designated shop according to the internal map of the building and the indoor positioning system;
scanning the two-dimensional code in the shop; and storing the parking coordinates of the parking place which is recorded by the two-dimensional code and is closest to the shop. In a shopping mall, customers often see while walking, the randomness is high, and a lot of time is needed to find a specific shop and a desired commodity. At the moment, the balance car can be used as a walking tool in the shopping center to share data with the shopping center, the balance car can call map, shops and commodity information in a building, so that a customer inputs own requirements, the balance car can automatically lead and fix specified commodities, then the customer gets off the building and slowly chooses to buy in the shop, and the balance car can be parked at parking places around the commodities to wait for calling of any customer.
Further, the method also comprises an automatic parking method when the positioning system fails:
the balance car receives a parking instruction;
starting a camera to rotate in place for one circle, and shooting a panoramic image;
uploading a server to perform scene recognition and select a parking place;
planning a driving route to a specified parking place;
and adjusting the parking posture of the balance car and the distance between the balance car and the peripheral obstacles.
And the balance car judges the scene according to the image identification and autonomously judges the parking place where the balance car should park. Based on the analysis of big data, can let the balance car have stronger adaptability, can find suitable berthing place in the scene of difference, and intelligent degree is higher, and need not to make any change to current building, scene, implements low cost. In addition, the balance car can adjust the parking posture and control the distance with the place barrier of berthhing, guarantee the uniformity like this when berthhing at every turn, avoided the problem that the people park to be difficult to target in place and disorderly.
Further, the method for selecting a stop location by the upload server for scene recognition includes: identifying a blank wall pattern; and selecting the position close to the wall as a parking place. The wall is the biggest barrier in the room, and the wall is preferred as the place of berthing, can furthest utilize the space, occupies activity space as little as possible.
Furthermore, the wall is preferably parked at the junction of the wall and other wall surfaces or objects. The junction is a dead angle, and generally few people move at the dead angle, so the balance car is particularly suitable for parking.
Further, the method for selecting a stop location by the upload server for scene recognition includes: when other parked balance cars are identified, the balance car position is set as a parking place. When a plurality of parked balance cars exist, identifying the parked balance cars as a car team, and judging the vacant space at the head and tail positions of the car team through image identification; the balance car is parked at one end with more vacant space;
if the vacant spaces at the head and the tail of the motorcade are not enough for parking the balance cars; move to a stop at a position juxtaposed to either end of the fleet.
When the balance car stops at the stopping positions of other balance cars, the image recognition difficulty can be greatly reduced and the recognition accuracy is improved due to the clear judgment targets; and the balance car is gathered and parked, so that the management is convenient, and the utilization rate of the activity space is higher. When the balance car that parks is more, judge the balance car that has parked as a whole, reduce and judge the degree of difficulty, let the balance car can find suitable parking position fast. When the balance cars are more, all the balance cars can not be put down in one row/line, and when the spare space is judged to be insufficient, the balance cars are changed in the row/line at all, so that the balance cars can be stopped at one stopping point as many as possible.
Further, when a plurality of parking coordinates are stored, all parking places represented by the parking coordinates are sent to the appointed mobile intelligent terminal; the balance car sets a parking place based on the parking coordinate fed back by the mobile intelligent terminal;
when the current parking place is found to be full of vehicles, reading the stored parking coordinates, and driving to the parking place closest to the current position;
the method for scanning the two-dimensional code and storing the parking coordinate recorded by the two-dimensional code comprises the following steps:
driving to a designated shop according to the internal map of the building and the indoor positioning system;
scanning the two-dimensional code in the shop; storing parking coordinates of a parking place which is recorded by the two-dimensional code and is closest to the shop;
the method also comprises an automatic parking method when the positioning system fails:
the balance car receives a parking instruction;
starting a camera to rotate in place for one circle, and shooting a panoramic image;
uploading a server to perform scene recognition and select a parking place;
planning a driving route to a specified parking place;
and adjusting the parking posture of the balance car and the distance between the balance car and the peripheral obstacles.
As another aspect of the present invention, the present invention further discloses a balance car automatic parking system based on a camera, comprising:
a device for scanning the two-dimensional code and storing the parking coordinates recorded by the two-dimensional code;
the device is used for enabling the balance car to reach the appointed parking place through the positioning system and the parking coordinate after receiving the parking instruction;
and the device is used for adjusting the parking posture of the balance car and the distance between the balance car and the peripheral obstacles.
The balance car reads parking coordinates of parking places according to the two-dimensional codes; the location at which the vehicle can be parked can then be found precisely by the positioning system. The two-dimension code is simple to implement and low in cost; the existing positioning system is also very mature, so that the balance car can be accurately parked with low cost. In addition, the balance car can adjust the parking posture and control the distance with the place barrier of berthhing, guarantee the uniformity like this when berthhing at every turn, avoided the problem that the people park to be difficult to target in place and disorderly.
Drawings
FIG. 1 is a schematic diagram of a two-dimensional code-based balance car automatic parking method in the embodiment of the invention;
FIG. 2 is a schematic diagram of an embodiment of the present invention applied to a shopping mall;
FIG. 3 is a schematic diagram of a balance car parking strategy after the balance car is arranged in a full row/line;
FIG. 4 is a schematic illustration of a parked attitude of an embodiment of the present invention with fewer cars;
FIG. 5 is a schematic view of the parking posture of the present invention when there are many balance cars;
FIG. 6 is a schematic view of an automatic parking system of a balance car based on a camera according to an embodiment of the invention.
Detailed Description
The invention discloses a two-dimensional code-based balance car automatic parking method, which comprises the following steps:
scanning the two-dimensional code, and storing the parking coordinate recorded by the two-dimensional code; the balance car receives the parking instruction and then reaches the designated parking place through the positioning system and the parking coordinate; and adjusting the parking posture of the balance car and the distance between the balance car and the peripheral obstacles.
The balance car reads parking coordinates of parking places according to the two-dimensional codes; the location at which the vehicle can be parked can then be found precisely by the positioning system. The two-dimension code is simple to implement and low in cost; the existing positioning system is also very mature, so that the balance car can be accurately parked with low cost. In addition, the balance car can adjust the parking posture and control the distance with the place barrier of berthhing, guarantee the uniformity like this when berthhing at every turn, avoided the problem that the people park to be difficult to target in place and disorderly.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations as a sequential process, many of the operations can be performed in parallel, concurrently, or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
In this context, a mobile intelligent terminal (such as a smart phone, a tablet computer, a wearable device, or smart glasses), a computer, an AI (artificial intelligence), a robot, a VR (virtual reality), an AR (augmented reality), a smart home device, or a smart industrial control device, etc. may execute a predetermined process such as numerical calculation and/or logic calculation by running a predetermined program or instruction, and may include a processor and a memory, where the processor executes a persistent instruction pre-stored in the memory to execute the predetermined process, or the processor executes the predetermined process by hardware such as an ASIC, an FPGA, or a DSP, or a combination of the two. Computer devices include, but are not limited to, servers, personal computers, laptops, tablets, smart phones, and the like.
Network devices include, but are not limited to, a single network server, a server group of multiple network servers, or a Cloud of numerous computers or network servers based on Cloud Computing (Cloud Computing), which is one type of distributed Computing, a super virtual computer consisting of a collection of loosely coupled computers. Wherein the computer device can be operated alone to implement the invention, or can be accessed to a network and implement the invention through interoperation with other computer devices in the network. The network in which the computer device is located includes, but is not limited to, the internet, a wide area network, a metropolitan area network, a local area network, a VPN network, and the like. It should be noted that the user equipment, the network device, the network, etc. are only examples, and other existing or future computer devices or networks may also be included in the scope of the present invention, and are included by reference. The methods discussed below, some of which are illustrated by flow diagrams, may be implemented by hardware, software, firmware, middleware, microcode, hardware description languages, or any combination thereof. When implemented in software, firmware, middleware or microcode, the program code or code segments to perform the necessary tasks may be stored in a machine or computer readable medium such as a storage medium. The processor(s) may perform the necessary tasks. Specific structural and functional details disclosed herein are merely representative and are provided for purposes of describing example embodiments of the present invention. The present invention may, however, be embodied in many alternate forms and should not be construed as limited to only the embodiments set forth herein. It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element may be termed a second element, and, similarly, a second element may be termed a first element, without departing from the scope of example embodiments. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present. Other words used to describe the relationship between elements (e.g., "between" versus "directly between", "adjacent" versus "directly adjacent to", etc.) should be interpreted in a similar manner.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be noted that, in some alternative implementations, the functions/acts noted may occur out of the order noted in the figures. For example, two figures shown in succession may, in fact, be executed substantially concurrently, or the figures may sometimes be executed in the reverse order, depending upon the functionality/acts involved.
The present invention will be further described with reference to the accompanying drawings 1-6 and preferred embodiments.
The two-dimensional code based balance car automatic parking method disclosed by the embodiment comprises the following steps:
s11, scanning the two-dimensional code, and storing the parking coordinate recorded by the two-dimensional code;
s12, the balance car reaches the appointed parking place through the positioning system and the parking coordinate after receiving the parking instruction;
and S13, adjusting the parking posture of the balance car and the distance between the balance car and the peripheral obstacles.
When a plurality of parking coordinates are stored, the parking coordinate closest to the storage time is preferentially stored. The balance car automatically scans and possibly records a plurality of parking coordinates; the parking position can be found as soon as possible based on the parking coordinate with the closest storage time.
Optionally, when a plurality of parking coordinates are stored, all parking places represented by the parking coordinates are sent to the specified mobile intelligent terminal; the balance car sets a parking place based on the parking coordinate fed back by the mobile intelligent terminal. In a large building, some parking places are hot, so that parking positions are not easy to find, and parking coordinates can be selected according to experience of a driver; so as to reduce the parking time and improve the parking efficiency.
And when the current parking place is found to be full of vehicles, reading the stored parking coordinates and driving to the parking place closest to the current position. In a large building, some parking places are hot, the parking positions are not easy to find, and the parking places are searched one by one in a polling mode, so that the probability of finding the parking places is improved.
Referring to fig. 2, the present embodiment also discloses a method of using the balance car particularly suitable for a shopping mall. Specifically, the method comprises the following steps:
driving to a designated shop according to the internal map of the building and the indoor positioning system; scanning the two-dimensional code in the shop; and storing the parking coordinates of the parking place which is recorded by the two-dimensional code and is closest to the shop. In a shopping mall, customers often see while walking, the randomness is high, and a lot of time is needed to find a specific shop and a desired commodity. At the moment, the balance car can be used as a walking tool in the shopping center to share data with the shopping center, the balance car can call map, shops and commodity information in a building, so that a customer inputs own requirements, the balance car can automatically lead and fix specified commodities, then the customer gets off the building and slowly chooses to buy in the shop, and the balance car can be parked at parking places around the commodities to wait for calling of any customer. The embodiment also discloses an automatic parking method when the positioning system fails, which comprises the following steps: the balance car receives a parking instruction; starting a camera to rotate in place for one circle, and shooting a panoramic image; uploading a server to perform scene recognition and select a parking place; planning a driving route to a specified parking place; and adjusting the parking posture of the balance car and the distance between the balance car and the peripheral obstacles. When the parking posture of the balance car is adjusted, wheels close to the obstacle are fixed; the other wheel is turned until the distance measured by the two distance measuring sensors is consistent. Let host computer one end be close to the barrier earlier, then fix the wheel, control the wheel rotation of opposite side, this kind of mode can the quick adjustment host computer gesture, reduces the time of berthing.
Optionally, the method for uploading the server to perform scene recognition to select the stop location includes: identifying a blank wall pattern; and selecting the position close to the wall as a parking place. The wall is the biggest barrier in the room, and the wall is preferred as the place of berthing, can furthest utilize the space, occupies activity space as little as possible. Preferably, the wall is preferably parked at the interface with other walls or objects. The junction is a dead angle, and generally few people move at the dead angle, so the balance car is particularly suitable for parking. The embodiment is illustrated by a wall surface, and other ways are also possible, such as a blocking partition, a storage cabinet side surface and the like. The parking position can be judged by the cloud end, and then the parking action is executed for the balance car.
Another relatively simple and practical way is to see where the other balance car is parked, and the balance car is then stopped. Specifically, the method comprises the following steps: when other parked balance cars are identified, the balance car position is set as a parking place. When the balance car stops at the stopping positions of other balance cars, the image recognition difficulty can be greatly reduced and the recognition accuracy is improved due to the clear judgment targets; and the balance car is gathered and parked, so that the management is convenient, and the utilization rate of the activity space is higher. When a plurality of parked balance cars exist, identifying the parked balance cars as a car team, and judging the vacant space at the head and tail positions of the car team through image identification; the balance car is parked at one end with more vacant space. When the balance car that parks is more, judge the balance car that has parked as a whole, reduce and judge the degree of difficulty, let the balance car can find suitable parking position fast.
If the vacant spaces at the head and the tail of the motorcade are not enough for parking the balance cars; move to a stop at a position juxtaposed to either end of the fleet. When the balance cars are more, all the balance cars can not be put down in one row/line, and when the spare space is judged to be insufficient, the balance cars are changed into the other row/line if the spare space is judged to be insufficient, and the balance cars can be stopped at one stopping point as many as possible (refer to fig. 3).
Generally, the balance car is close to the obstacle as much as possible and has a good parking effect; two range finding sensors can let the balance car wholly press close to the barrier, do not occupy the road, and the effect of berthing is better. The parking effect is shown in fig. 4. When the balance car is more, let the host computer can occupy great area towards the barrier, be unfavorable for more balance cars to berth, can let the side of balance car paste near the barrier this moment, it is little to wall area, be applicable to in the more condition of balance car. The parking effect is referred to fig. 5.
According to another aspect of the invention, the invention discloses a camera-based balance car automatic parking system, which comprises:
the scanning device 10: the parking coordinate system is used for scanning the two-dimensional code and storing the parking coordinate recorded by the two-dimensional code;
the positioning device 20: the balance car is used for reaching the appointed parking place through the positioning system and the parking coordinate after receiving the parking instruction;
the adjusting device 30: the device is used for adjusting the parking posture of the balance car and the distance between the balance car and peripheral obstacles.
The system for automatically stopping the balance car can be used for realizing the method for automatically stopping the balance car based on the two-dimensional code.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (8)
1. The two-dimensional code-based balance car automatic parking method is characterized by comprising the following steps: scanning the two-dimensional code, and storing the parking coordinate recorded by the two-dimensional code;
the balance car receives the parking instruction and then reaches the designated parking place through the positioning system and the parking coordinate; adjusting the parking posture of the balance car and the distance between the balance car and peripheral obstacles;
the method for scanning the two-dimensional code and storing the parking coordinate recorded by the two-dimensional code comprises the following steps:
driving to a designated shop according to the internal map of the building and the indoor positioning system; scanning the two-dimensional code in the shop; storing parking coordinates of a parking place which is recorded by the two-dimensional code and is closest to the shop;
the method also comprises an automatic parking method when the positioning system fails:
the balance car receives a parking instruction;
starting a camera to rotate in place for one circle, and shooting a panoramic image;
uploading a server to perform scene recognition and select a parking place;
planning a driving route to a specified parking place;
adjusting the parking posture of the balance car and the distance between the balance car and peripheral obstacles;
the method for selecting the parking place by the uploading server for scene recognition comprises the following steps:
when other parked balance cars are identified, setting the balance car position as a parking place; when a plurality of parked balance cars exist, identifying the parked balance cars as a car team, and judging the vacant space at the head and tail positions of the car team through image identification; the balance car is parked at one end with more vacant space; when the vacant spaces at the head and the tail of the motorcade are found to be insufficient for parking the balance cars; move to a stop at a position juxtaposed to either end of the fleet.
2. The two-dimensional code based balance car automatic parking method according to claim 1, wherein when a plurality of parking coordinates are stored, the parking coordinate closest to the storage time is preferentially used.
3. The two-dimensional code based balance car automatic parking method according to claim 1, wherein when a plurality of parking coordinates are stored, all parking locations represented by the parking coordinates are transmitted to a designated mobile intelligent terminal; the balance car sets a parking place based on the parking coordinate fed back by the mobile intelligent terminal.
4. The two-dimensional code based balance car automatic parking method according to claim 1, wherein when the current parking place is found to be full of cars, the stored parking coordinates are read and the car is driven to the parking place nearest to the current position.
5. The two-dimensional code based balance car automatic parking method according to claim 1, wherein the method for selecting parking places by the uploading server for scene recognition comprises the following steps: identifying a blank wall pattern; and selecting the position close to the wall as a parking place, and preferentially selecting the junction of the wall and other wall surfaces or objects to park.
6. The two-dimensional code based balance car automatic parking method according to claim 1, wherein when a plurality of parking coordinates are stored, all parking locations represented by the parking coordinates are transmitted to a designated mobile intelligent terminal; the balance car sets a parking place based on the parking coordinate fed back by the mobile intelligent terminal; when the current parking place is found to be full of vehicles, reading the stored parking coordinates, and driving to the parking place closest to the current position;
the method for scanning the two-dimensional code and storing the parking coordinate recorded by the two-dimensional code comprises the following steps:
driving to a designated shop according to the internal map of the building and the indoor positioning system;
scanning the two-dimensional code in the shop; storing parking coordinates of a parking place which is recorded by the two-dimensional code and is closest to the shop;
the method also comprises an automatic parking method when the positioning system fails:
the balance car receives a parking instruction;
starting a camera to rotate in place for one circle, and shooting a panoramic image;
uploading a server to perform scene recognition and select a parking place;
planning a driving route to a specified parking place;
and adjusting the parking posture of the balance car and the distance between the balance car and the peripheral obstacles.
7. The two-dimensional code based balance car automatic parking method according to claim 1, characterized in that the balance car is automatically scanned and a plurality of parking coordinates are recorded; finding a parking position based on the parking coordinate with the closest storage time; the parking positions are not easy to find, and the parking positions are searched one by one in a polling mode.
8. The utility model provides an automatic system of berthing of balance car based on camera which characterized in that includes: a device for scanning the two-dimensional code and storing the parking coordinates recorded by the two-dimensional code;
the device is used for enabling the balance car to reach the appointed parking place through the positioning system and the parking coordinate after receiving the parking instruction;
a device for adjusting the parking attitude of the balance car and the distance between the balance car and the peripheral obstacles;
the device for scanning the two-dimensional code and storing the parking coordinate recorded by the two-dimensional code drives to a specified shop according to the internal map of the building and the indoor positioning system; scanning the two-dimensional code in the shop; and storing the parking coordinates of the parking place which is recorded by the two-dimensional code and is closest to the shop, and identifying the scene and selecting the parking place.
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| CN102183959B (en) * | 2011-04-21 | 2013-08-07 | 深圳市银星智能科技股份有限公司 | Self-adaptive path control method of mobile robot |
| JP2015006833A (en) * | 2013-06-25 | 2015-01-15 | 日産自動車株式会社 | Self vehicle position measuring system |
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| CN106200637A (en) * | 2016-07-06 | 2016-12-07 | 尚艳燕 | A kind of method utilizing balance car loading and balance car |
| CN106020198B (en) * | 2016-07-06 | 2020-03-31 | 深圳市汲众科技开发有限公司 | Somatosensory vehicle carrying method and somatosensory vehicle |
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| CN106444747B (en) * | 2016-09-05 | 2020-02-28 | 深圳市汲众科技开发有限公司 | Balance car carrying method and balance car |
| CN106681320A (en) * | 2016-12-15 | 2017-05-17 | 浙江大学 | Mobile robot navigation control method based on laser data |
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