CN110716540A - Automatic running system of electric scooter - Google Patents
Automatic running system of electric scooter Download PDFInfo
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- CN110716540A CN110716540A CN201910949341.6A CN201910949341A CN110716540A CN 110716540 A CN110716540 A CN 110716540A CN 201910949341 A CN201910949341 A CN 201910949341A CN 110716540 A CN110716540 A CN 110716540A
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention relates to an automatic running system of an electric scooter, which comprises a control terminal, a control module and a control module, wherein the control terminal is used for storing and processing data; the guiding module controls the electric scooter to run according to a set route; the obstacle detection module sends a plurality of detection signals and retracts the detection signals after the detection signals contact the obstacles; the driving stopping module stops the movement of the electric scooter when the detection signal detects the obstacle; the detection signal calculation module starts timing when the detection signal is sent out and finishes timing when the detection signal is withdrawn so as to calculate the receiving and sending time of the detection signal for multiple times in real time; the driving alarm module is coupled with the detection signal calculation module and alarms when the receiving and sending time of the multiple detection signals is gradually reduced; and the driving starting module is coupled to the detection signal calculating module and restarts the motion of the electric scooter when the transceiving time of the multiple detection signals is gradually increased or the transceiving time is the same. The invention has the effect of improving the driving safety of the electric scooter.
Description
Technical Field
The invention relates to the technical field of electric scooters, in particular to an automatic running system of an electric scooter.
Background
The electric skateboard is a vehicle based on a traditional manpower skateboard and added with an electric power suite.
The user is using electric scooter to ride instead of walk the in-process of traveling, the road that electric scooter traveled is laid the road that has the sideline for both sides, in order to remind the user to travel electric scooter on the exact road, but because the scooter that the user was ridden instead of walk the usefulness belongs to electronic, compare in general scooter, need not the user and exert oneself, only need the user to stand on the scooter, through the electric drive casing, and then the condition that the user is not concentrated appears in the in-process user of traveling, in case touch the barrier this moment, easily lead to electric scooter and barrier collision, there is great potential safety hazard.
Disclosure of Invention
The invention aims to provide an automatic running system of an electric scooter, which has the advantage of improving the running safety of the scooter.
The above object of the present invention is achieved by the following technical solutions: an electric scooter automatic traveling system comprising:
the control terminal is used for storing and processing data;
the guiding module is coupled to the control terminal and controls the electric scooter to run according to a set route;
the obstacle detection module is coupled with the control terminal to send a plurality of detection signals and withdraw the detection signals after the detection signals contact the obstacles;
the driving stopping module is coupled with the obstacle detecting module and stops the movement of the electric scooter when the detection signal detects an obstacle;
the detection signal calculation module is coupled with the obstacle distance detection module and starts timing when the detection signal is sent out, and finishes timing when the detection signal is withdrawn so as to calculate the transceiving time of the detection signal for multiple times in real time;
the driving alarm module is coupled with the detection signal calculation module and alarms when the receiving and sending time of the multiple detection signals is gradually reduced;
and the driving starting module is coupled with the detection signal calculating module and restarts the motion of the electric scooter when the transceiving time of the multiple detection signals is gradually increased or the transceiving time is the same.
By adopting the technical scheme, when a person uses the electric scooter, the driving road and the route of the scooter are firstly fixed through the guide module, in the driving process of the scooter, the obstacle detection module sends a detection signal to detect the obstacle on the driving road of the scooter in real time, the scooter is firstly stopped when the obstacle is detected, then the receiving and sending time of the detection signal for many times is calculated through the detection signal calculation module, so as to determine whether the detected obstacle is static or moving, and whether the detected obstacle is close to the scooter or far away from the scooter when moving, and corresponding reaction measures are taken, so that the condition that the scooter collides the obstacle in the driving process can be reduced when the person does not pay attention to the road, and the safety of the scooter in the driving process can be improved.
The invention is further configured to: further comprising:
the obstacle distance calculation module is internally provided with a detection signal transceiving speed value and is coupled with the detection signal calculation module so as to receive transceiving time of the detection signal and calculate the distance between the obstacle and the electric scooter when the detection signal is transceived each time;
the obstacle movement speed calculation module is coupled to the obstacle distance calculation module and is used for calculating the speed of the obstacle according to the distance difference between any two adjacent obstacles and the electric scooter and the difference between the sending and receiving time of the detection signal;
the guiding module comprises a scooter route guiding unit and an obstacle route guiding unit;
the scooter route guiding unit is used for guiding and positioning the running route of the scooter;
the barrier route guiding unit is used for guiding and positioning the movement route of the moving barrier;
the touch position positioning module is coupled with the guide module and determines the touch position of the obstacle and the scooter according to the guide routes of the route guide unit and the obstacle route guide unit;
the touch position distance module is coupled with the touch position positioning module and determines the distance between the obstacle and the contact position of the scooter;
the touch position time module is internally provided with a normal motion speed value of the scooter, is coupled with the touch position distance module and calculates the time from the obstacle to the touch position of the scooter according to the speed of the obstacle and the scooter;
when the time from the obstacle to the touch position is less than the time from the scooter to the touch position, the driving stopping module stops the movement of the scooter.
Through adopting above-mentioned technical scheme, through the velocity of motion of calculating the barrier to calculate the movement time of barrier and scooter, and when the barrier is less than the scooter when the time of touching the position to the time of touching the position, the motion that stops the scooter of module stop the scooter of traveling, pass through the touching position with waiting for the barrier, in order to prevent the scooter in the process of marcing and the collision of barrier, improve the security of scooter motion in-process.
The invention is further configured to: further comprising:
the time comparison module is coupled with the touch position time module, compares the time from the obstacle to the touch position of the scooter in real time, and calculates the time difference from the obstacle to the touch position of the scooter;
the time difference threshold module is coupled with the time comparison module and is used for providing a time difference threshold value from the obstacle to the touch position of the scooter;
the acceleration module, be coupled in time contrast module and in the barrier time of touching the position be less than the scooter to the time of touching the position, and barrier and scooter when touching the time difference of position and be greater than the time difference threshold value for the moving speed of scooter.
Through adopting above-mentioned technical scheme, at the scooter in-process that waits for the barrier process, can calculate the time difference of barrier and scooter to touching position, if the time difference is greater than the time difference threshold value, then indicate current scooter can need not to wait for the barrier and pass through touching position, accessible acceleration module carries out the acceleration to the scooter and through touching position to reduce the latency of scooter.
The invention is further configured to: further comprising:
the speed-up threshold module is coupled with the speed-up module and is used for providing a threshold value of the applied speed of the scooter;
the deceleration module is coupled in the acceleration module reduces the speed of motion of scooter after the scooter passes through the barrier, and the speed of motion that reduces is less than or equal to scooter added speed threshold value.
Through adopting above-mentioned technical scheme, carrying out the in-process of speeding to the scooter, will be in the threshold value of adding speed to the speed control that the scooter promoted, be favorable to guaranteeing navigating mate's stationarity.
The invention is further configured to: a data extraction unit and a data calibration unit are arranged in the obstacle movement speed calculation module;
the data extraction unit is used for extracting all the obstacle speed data calculated in the process of receiving and transmitting the detection signals for multiple times;
and the data calibration module is coupled with the data extraction unit and calculates the average value of the barrier speeds as the movement speed of the barrier according to the extracted barrier speed data.
By adopting the technical scheme, the obstacle speed is detected for multiple times, and the average value of multiple speeds is taken, so that the accuracy of obstacle speed detection is improved.
The invention is further configured to: a data comparison unit and a data threshold unit are also arranged in the obstacle movement speed calculation module;
the data comparison unit is coupled with the data extraction unit, compares the extracted obstacle speed data with the movement average speed of the obstacle, and calculates an obstacle speed difference value;
a data threshold unit coupled to the data comparison unit and providing a threshold value of the obstacle speed difference;
when the extracted obstacle speed data is greater than the threshold value of the obstacle speed difference, removing the corresponding obstacle speed data, and recalculating the obstacle speed average value.
By adopting the technical scheme, speed data which are not in accordance with the speed data of the plurality of obstacles are removed, and the average speed of the obstacles is recalculated, so that the accuracy of detecting the speed of the obstacles is further improved.
The invention is further configured to: the scooter route guiding unit comprises a road image acquisition unit and a driving unit;
the road image acquisition unit is coupled with the control terminal and acquires sideline data on two sides of a driving road of the scooter in real time;
the driving unit is coupled to the road figure acquisition unit and drives the scooter to travel on the scooter travel road according to the sideline data of the both sides of the travel road.
Through adopting above-mentioned technical scheme, go on predetermined lane in order to confirm the scooter through road image acquisition unit, rethread drive unit drive scooter's motion to guarantee scooter's normal marcing.
The invention is further configured to: further comprising:
the driving route calculation module is coupled to the guide module and calculates the distance between the current position of the scooter and the sidelines on the two sides according to the sideline data on the two sides of the driving road of the scooter;
the real-time adjustment module of route of traveling, coupling is in the route of traveling calculation module and when the distance of scooter current position and both sides sideline is inconsistent, control drive unit drive scooter rotates and makes the distance of scooter current position and both sides sideline unanimous.
Through adopting above-mentioned technical scheme to guarantee that the scooter is in the intermediate position in predetermined lane at the in-process of traveling, improve the stability that the scooter traveled.
In conclusion, the beneficial technical effects of the invention are as follows:
the obstacle detection module detects obstacles on the driving road of the scooter in real time, the scooter is stopped when the obstacles are detected, the receiving and sending time of the detection signals for many times is calculated through the detection signal calculation module, the detected obstacle condition is determined, corresponding reaction measures are taken, and therefore the situation that people collide with the obstacles in the driving process under the condition that the road is not noticed by the scooter can be reduced, and the safety of the scooter in the driving process is improved.
Drawings
Fig. 1 is a first schematic diagram of the present invention.
Fig. 2 is a schematic diagram of the principle of the present invention.
Fig. 3 is a third principle schematic of the present invention.
In the figure, 1, a control terminal; 2. a guide module; 3. an obstacle detection module; 4. a detection signal calculation module; 5. a driving alarm module; 6. a driving stop module; 7. a driving start module; 8. an obstacle distance calculation module; 9. an obstacle movement speed calculation module; 10. a scooter route guiding unit; 11. an obstacle route guide unit; 12. a touch position positioning module; 13. a touch position distance module; 14. a touch position time module; 15. a time comparison module; 16. a time difference threshold module; 17. a speed-up module; 18. a speed-up threshold module; 19. a speed reduction module; 20. a data extraction unit; 21. a data calibration unit; 22. a data comparison unit; 23. a data threshold unit; 24. a road image acquisition unit; 25. a drive unit; 26. a driving route calculation module; 27. and a real-time driving route adjusting module.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1, the automatic driving system of an electric scooter disclosed by the present invention includes a control terminal 1, a guiding module 2, an obstacle detecting module 3, a driving stopping module 6, a detecting signal calculating module 4, a driving alarming module 5 and a driving starting module 7.
The control terminal 1 is used for storing and processing data, and in the embodiment, the control terminal 1 is preferably a computer in the electric scooter; the guiding module 2 is coupled to the control terminal 1 and controls the electric scooter to run according to a predetermined route, in the implementation, the GPS navigation is preferred, and white sidelines are arranged on two sides of a road on which the scooter runs; the obstacle detection module 3 is coupled to the control terminal 1 to send a plurality of detection signals, and retracts after the detection signals contact the obstacle, in the embodiment, the detection of the obstacle is preferably ultrasonic detection, and the scooter emits ultrasonic waves in real time and retracts after the ultrasonic waves contact the obstacle and rebound in the driving process; the driving stopping module 6 is coupled to the obstacle detecting module 3 and stops the electric scooter when the detection signal detects an obstacle.
The detection signal calculation module 4 is coupled to the obstacle distance detection module and starts timing when the detection signal is sent out, and finishes timing when the detection signal is withdrawn so as to calculate the transceiving time of the detection signal for multiple times in real time, and the transceiving timing of the detection signal is started after the scooter stops; the driving alarm module 5 is coupled to the detection signal calculation module 4 and alarms when the transceiving time of the multiple detection signals gradually decreases, and when the scooter stops, the transceiving time of the detection signals gradually decreases to indicate that the barrier is in a moving and approaching state, and at the moment, the driving alarm module can alarm to remind people on the scooter to pay attention; the driving start module 7 is coupled to the detection signal calculation module 4 and restarts the movement of the electric scooter when the transceiving time of the multiple detection signals gradually increases or the transceiving time is the same, the gradually increasing transceiving time of the detection signals indicates that the obstacle is moving but away from the scooter, the same transceiving time of the detection signals indicates that the obstacle is in a stationary state, in this embodiment, the obstacle in the moving state may be a person, an animal, or a vehicle, and the obstacle in the stationary state may be a person, an animal, or a vehicle stopping moving, a stationary object, and the like.
Further, the system also comprises an obstacle distance calculation module 8 and an obstacle movement speed calculation module 9; the obstacle distance calculation module 8 is internally provided with a detection signal transceiving speed value, and is coupled to the detection signal calculation module 4 to receive transceiving time of the detection signal and calculate the distance between the obstacle and the electric scooter when the detection signal is transceived each time; the obstacle movement speed calculation module 9 is coupled to the obstacle distance calculation module 8 and calculates the obstacle speed according to the distance difference between any two adjacent obstacles and the electric scooter and the difference between the sending and receiving times of the detection signals.
The guiding module 2 comprises a scooter route guiding unit 10 and an obstacle route guiding unit 11; the scooter route guiding unit 10 is used for guiding and positioning the running route of the scooter, namely determining the advancing route of the scooter according to GPS navigation; the obstacle route guiding unit 11 is used for guiding and positioning a movement route of a moving obstacle, and when the moving obstacle in a close state is detected, an advancing route of the obstacle can be determined.
The touch position positioning module 12 is coupled to the guiding module 2, determines a touch position of the obstacle and the scooter according to the guiding routes of the route guiding unit and the obstacle route guiding unit 11, and determines a position where the obstacle and the scooter can contact each other according to the advancing routes of the scooter and the obstacle; the touch position distance module 13 is coupled to the touch position positioning module 12 and determines the distance between the obstacle and the contact position of the scooter; the touch position time module 14 is internally provided with a normal motion speed value of the scooter, namely the speed of the scooter when a driver starts driving, is coupled with the touch position distance module 13, and calculates the time from the obstacle to the touch position of the scooter according to the speed of the obstacle and the scooter; when the time that the obstacle arrived the touching position is less than the scooter when the time of touching the position, the motion that stops module 6 and stop the scooter to wait for the obstacle through touching the position, in order to prevent the scooter from advancing the process and colliding with the obstacle, improve the security of scooter motion in-process.
Referring to fig. 2, further, the system further includes a time comparison module 15, a time difference threshold module 16, and a speed-up module 17; the time comparison module 15 is coupled to the touch position time module 14, compares the time from the obstacle to the touch position of the scooter in real time, and calculates the time difference from the obstacle to the touch position of the scooter; the time difference threshold module 16 is coupled to the time comparison module 15 and is used for providing a time difference threshold from the obstacle and the scooter to the touch position; the speed-up module 17 is coupled to the time comparison module 15 and is used for accelerating the movement speed of the scooter when the time from the obstacle to the touch position is less than the time from the scooter to the touch position and the time difference from the obstacle to the touch position by the scooter is greater than a time difference threshold value; in-process that waits for the barrier to pass through at the scooter, can calculate the time difference of barrier and scooter to touching position, if the time difference is greater than the time difference threshold value, then indicate current scooter can need not to wait for the barrier and pass through touching position, accessible acceleration module 17 carries out the speed-up and through touching position to the scooter to reduce the latency of scooter.
Furthermore, in the process of accelerating the scooter, because a person on the scooter stands on the scooter, the stability of a driver needs to be ensured, and the system also comprises an accelerating threshold module 18 and a decelerating module 19; the acceleration threshold module 18 is coupled to the acceleration module 17 and is used for providing a threshold value of the acceleration of the scooter, and the acceleration of the acceleration module needs to be less than or equal to the threshold value of the acceleration of the scooter in the acceleration process of the scooter; the module 19 that slows down is coupled in the acceleration module 17 and reduces the velocity of motion of scooter after the scooter passes through the barrier, and the velocity of motion that reduces is less than or equal to the scooter and adds the speed threshold value, and the module 19 that slows down reduces the speed of scooter to normal speed of traveling again to guarantee the security in the scooter motion process.
Further, a data extraction unit 20 and a data calibration unit 21 are arranged in the obstacle movement speed calculation module 9; the data extraction unit 20 is configured to extract all obstacle speed data calculated in the process of transmitting and receiving the detection signal for multiple times; the data calibration module is coupled to the data extraction unit 20 and calculates an average obstacle speed as the moving speed of the obstacle according to the extracted obstacle speed data; the obstacle speed detection accuracy is improved by detecting the obstacle speed for multiple times and taking the average value of the multiple speeds.
Further, a data comparison unit 22 and a data threshold unit 23 are also arranged in the obstacle movement speed calculation module 9; a data comparing unit 22, coupled to the data extracting unit 20, for comparing the extracted obstacle speed data with the moving average speed of the obstacle, and calculating an obstacle speed difference; a data threshold unit 23, coupled to the data comparing unit 22, for providing a threshold of the obstacle speed difference, wherein the threshold of the obstacle speed difference is preferably half of the difference between the maximum obstacle speed difference and the minimum obstacle speed difference in the embodiment; and when the extracted obstacle speed data is larger than the threshold of the obstacle speed difference, removing the corresponding obstacle speed data, and recalculating the obstacle speed average so as to further improve the accuracy of obstacle speed detection.
Referring to fig. 3, in addition, the scooter route guiding unit 10 includes a road image collecting unit 24, a driving unit 25; the road image acquisition unit 24 is coupled to the control terminal 1 and acquires sideline data of two sides of a driving road of the scooter in real time, in the embodiment, the road image acquisition unit 24 is preferably two cameras connected with a computer inside the scooter, and the two cameras are respectively arranged on two sides of the scooter; the driving unit 25 is coupled to the road pattern collecting unit and drives the scooter to run on the scooter running road according to the sideline data of the two sides of the running road, so that the scooter can move on the corresponding running road.
Further, the system also comprises a running route calculation module 26 and a running route real-time adjustment module 27; the driving route calculation module 26 is coupled to the guiding module 2 and calculates the distance between the current position of the scooter and the sidelines on two sides according to the sideline data on two sides of the scooter driving road; the real-time adjustment module 27 for driving route is coupled to the calculation module 26 for driving route and when the distance between the current position of the scooter and the side lines on both sides is inconsistent, the control driving unit 25 drives the scooter to rotate and make the distance between the current position of the scooter and the side lines on both sides consistent, so that the scooter is more stable in the process of advancing.
The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.
Claims (8)
1. The utility model provides an electric scooter automatic traveling system which characterized in that: the method comprises the following steps:
the control terminal (1) is used for storing and processing data;
the guiding module (2) is coupled to the control terminal (1) and controls the electric scooter to run according to a set route;
the obstacle detection module (3) is coupled with the control terminal (1) to send a plurality of detection signals and withdraw the detection signals after contacting the obstacles;
a driving stopping module (6) which is coupled with the obstacle detecting module (3) and stops the movement of the electric scooter when the detection signal detects an obstacle;
the detection signal calculation module (4) is coupled with the obstacle distance detection module and starts timing when the detection signal is sent out, and finishes timing when the detection signal is withdrawn so as to calculate the transceiving time of the detection signal for multiple times in real time;
the driving alarm module (5) is coupled with the detection signal calculation module (4) and alarms when the receiving and sending time of the multiple detection signals gradually decreases;
and the driving starting module (7) is coupled with the detection signal calculating module (4) and restarts the motion of the electric scooter when the receiving and sending time of the detection signals is gradually increased or the receiving and sending time is the same for a plurality of times.
2. The automatic traveling system of an electric scooter according to claim 1, wherein: further comprising:
the obstacle distance calculation module (8) is internally provided with a detection signal transceiving speed value, is coupled to the detection signal calculation module (4) to receive transceiving time of the detection signal and calculate the distance between the obstacle and the electric scooter when the detection signal is transceived each time;
the obstacle movement speed calculation module (9) is coupled to the obstacle distance calculation module (8) and calculates the obstacle speed according to the distance difference between any two adjacent obstacles and the electric scooter and the difference between the sending and receiving time of the detection signal;
the guiding module (2) comprises a scooter route guiding unit (10) and an obstacle route guiding unit (11);
the scooter route guiding unit (10) is used for guiding and positioning the running route of the scooter;
the obstacle route guiding unit (11) is used for guiding and positioning the movement route of the moving obstacle;
a touch position positioning module (12) coupled to the guiding module (2) and determining a touch position of the obstacle and the scooter according to the guiding routes of the route guiding unit and the obstacle route guiding unit (11);
a touch position distance module (13) coupled to the touch position positioning module (12) and determining a distance between an obstacle and a scooter from the touch position;
a touch position time module (14) which is internally provided with a normal motion speed value of the scooter and is coupled with the touch position distance module (13) and calculates the time from the obstacle to the touch position of the scooter according to the speed of the obstacle and the scooter;
when the time from the obstacle to the touch position is less than the time from the scooter to the touch position, the running stop module (6) stops the movement of the scooter.
3. The automatic traveling system of an electric scooter according to claim 2, wherein: further comprising:
the time comparison module (15) is coupled with the touch position time module (14) and compares the time from the obstacle to the touch position of the scooter with the time from the scooter in real time, and calculates the time difference from the obstacle to the touch position of the scooter;
a time difference threshold module (16) coupled to the time comparison module (15) for providing a time difference threshold from the obstacle and the scooter to the touch position;
speed-up module (17), be coupled in time contrast module (15) and when the time of obstacle to touching position is less than the time of scooter to touching position, and obstacle and scooter to the time difference of touching position is greater than the time difference threshold value for the moving speed of scooter.
4. The automatic traveling system of an electric scooter according to claim 3, wherein: further comprising:
an acceleration threshold module (18) coupled to the acceleration module (17) for providing a threshold value of the applied speed of the scooter;
the speed reduction module (19) is coupled in speed increase module (17) and reduce the speed of motion of scooter behind the barrier, and the speed of motion that reduces is less than or equal to the scooter and adds the speed threshold value.
5. The automatic traveling system of an electric scooter according to claim 2, wherein: a data extraction unit (20) and a data calibration unit (21) are arranged in the obstacle movement speed calculation module (9);
a data extraction unit (20) for extracting all the obstacle speed data calculated in the process of transmitting and receiving the detection signals for a plurality of times;
and the data calibration module is coupled to the data extraction unit (20) and calculates the average value of the barrier speeds as the movement speed of the barrier according to the extracted barrier speed data.
6. The automatic traveling system of an electric scooter according to claim 5, wherein: a data comparison unit (22) and a data threshold value unit (23) are also arranged in the obstacle movement speed calculation module (9);
a data comparison unit (22) coupled to the data extraction unit (20) for comparing the extracted obstacle speed data with the moving average speed of the obstacle and calculating an obstacle speed difference;
a data threshold unit (23) coupled to the data comparison unit (22) and providing a threshold value of the obstacle speed difference;
when the extracted obstacle speed data is greater than the threshold value of the obstacle speed difference, removing the corresponding obstacle speed data, and recalculating the obstacle speed average value.
7. The automatic traveling system of an electric scooter according to claim 2, wherein: the scooter route guiding unit (10) comprises a road image acquisition unit (24) and a driving unit (25);
the road image acquisition unit (24) is coupled with the control terminal (1) and acquires sideline data of two sides of a scooter running road in real time;
and the driving unit (25) is coupled with the road pattern acquisition unit and drives the scooter to run on the scooter running road according to the sideline data on two sides of the running road.
8. The automatic traveling system of an electric scooter according to claim 7, wherein: further comprising:
the driving route calculation module (26) is coupled to the guide module (2) and calculates the distance between the current position of the scooter and the sidelines on the two sides according to the sideline data on the two sides of the scooter driving road;
the real-time driving route adjusting module (27) is coupled to the driving route calculating module (26) and controls the driving unit (25) to drive the scooter to rotate and enable the scooter to be in accordance with the distance between the current position and the two side lines when the distance between the current position and the two side lines of the scooter is not in accordance.
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