CN110851070A - Parking method and device, unmanned vehicle and storage medium - Google Patents
Parking method and device, unmanned vehicle and storage medium Download PDFInfo
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- CN110851070A CN110851070A CN201911110027.5A CN201911110027A CN110851070A CN 110851070 A CN110851070 A CN 110851070A CN 201911110027 A CN201911110027 A CN 201911110027A CN 110851070 A CN110851070 A CN 110851070A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/0414—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means using force sensing means to determine a position
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
- G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
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Abstract
The application provides a parking method, a parking device, an unmanned vehicle and a storage medium, wherein the method comprises the following steps: detecting the state of a preset operation object on the outer surface of the unmanned vehicle; and if the state of the preset operation object is a trigger state, controlling the unmanned vehicle to brake within a preset time period. This application is through setting up preset operation object on unmanned car's surface, when the user triggered preset operation object, control unmanned car and brake to the user obtains the service that unmanned car provided after unmanned car braking.
Description
Technical Field
The application relates to the field of vehicle control, in particular to a parking method, a parking device, an unmanned vehicle and a storage medium.
Background
With the annual rise of labor cost, the popularization of mobile payment and the rapid development and application of leading-edge technologies such as artificial intelligence, big data and the Internet of things, the new retail self-service industry is developed vigorously and has great potential as representative unmanned retail.
Traditional unmanned retail vehicle can be sold under scenes such as parks, districts or scenic spots in a cruising mode, the whole cruising and selling process is unmanned, and the unmanned retail vehicle can be sold in a parking mode at a set specific station. However, the user may also have a need to purchase goods while the vehicle is in motion.
Disclosure of Invention
The embodiment of the application aims to provide a parking method, a parking device, an unmanned vehicle and a storage medium, and aims to solve the problem that a traditional unmanned retail vehicle cannot park halfway to sell in a cruising process.
In a first aspect, an embodiment provides a parking method, including: detecting the state of a preset operation object on the outer surface of the unmanned vehicle; and if the state of the preset operation object is a trigger state, controlling the unmanned vehicle to brake within a preset time period.
This application is through setting up preset operation object on unmanned car's surface, when the user triggered preset operation object, control unmanned car and brake to the user obtains the service that unmanned car provided after unmanned car braking.
In an optional embodiment, a parking button is arranged on the outer surface of the unmanned vehicle, and the preset operation object comprises the parking button; before the detecting a state of a preset operation object on an external surface of the unmanned vehicle, the method further includes: and when the parking button is at a high level, determining that the state of the preset operation object is a trigger state.
This application embodiment sets up parking button through the surface outside unmanned vehicle, and when parking button was in the high level, it was in the trigger state promptly to confirm that parking button controls unmanned vehicle and brakies to at the in-process that unmanned vehicle was cruising, the user can come the braking unmanned vehicle through the parking button who triggers unmanned vehicle.
In an optional embodiment, a touch screen is arranged on the outer surface of the unmanned vehicle, a virtual parking key is displayed in the touch screen, and the preset operation object comprises the virtual parking key; before the detecting a state of a preset operation object on an exterior surface of the unmanned vehicle, the method further includes: and when the touch screen is detected that the area corresponding to the virtual parking key is touched, determining that the state of the preset operation object is a trigger state.
According to the embodiment of the application, the touch screen is arranged on the unmanned vehicle, and the virtual parking key is displayed, so that a user can brake the unmanned vehicle by touching the virtual parking key in the cruising process of the unmanned vehicle, and the user can obtain the service provided by the unmanned vehicle.
In an optional embodiment, a user gesture sensor is arranged on the outer surface of the unmanned vehicle, and the preset operation object comprises the user gesture sensor; before the detecting a state of a preset operation object on an exterior surface of the unmanned vehicle, the method further includes: and if the gesture posture of the user in the preset area is detected to be the preset gesture posture through the user gesture sensor, and the relative displacement of the user relative to the unmanned vehicle is determined to meet the preset condition, determining that the state of the preset operation object is the trigger state.
According to the embodiment of the application, the gesture sensor is arranged on the unmanned vehicle, and the user can park more conveniently by recognizing the gesture of the user and determining the relative displacement between the user and the unmanned vehicle.
In an optional embodiment, before the determining that the state of the user gesture sensor is a trigger state, the method further comprises: and setting the size of the preset area according to the cruising environment of the unmanned vehicle.
According to the embodiment of the application, the preset area of the gesture of the user detected by the user gesture sensor is set according to the cruising environment of the unmanned vehicle, and the situation that the user gesture sensor performs wrong braking on the gesture recognition of irrelevant personnel due to unreasonable setting of the preset area is avoided.
In an optional embodiment, a pressure sensor is arranged on the outer surface of the unmanned vehicle, and the preset operation object comprises the pressure sensor; before the detecting a state of a preset operation object on an exterior surface of the unmanned vehicle, the method further includes: sensing an actual pressure exerted on the pressure sensor; and if the actual pressure reaches a first preset pressure threshold value, confirming that the state of the preset operation object is a trigger state.
This application embodiment is through setting up pressure sensor on unmanned car to the pressure that detects pressure sensor impression and first preset pressure threshold value judge whether need control unmanned car to brake. In the cruising process of the unmanned vehicle, the user can brake the unmanned vehicle by flapping the position, corresponding to the pressure sensor, on the unmanned vehicle, so that the user can obtain the service provided by the unmanned vehicle.
In an optional embodiment, a pressure sensor is arranged on the outer surface of the unmanned vehicle, and the preset operation object comprises the pressure sensor; before the detecting a state of a preset operation object on an exterior surface of the unmanned vehicle, the method further includes: when sensing that the actual pressure applied on the pressure sensor reaches a second preset pressure threshold value, increasing a trigger count value once; and if the trigger count value reaches a preset count value within a preset time period, confirming that the state of the pressure sensor is a trigger state.
This application embodiment is through setting up pressure sensor on unmanned car, sense the number of times that is greater than or equal to the second preset pressure threshold value through detecting pressure sensor, confirm whether need control unmanned car to brake. Therefore, in the cruising process of the unmanned vehicle, the user can brake the unmanned vehicle by knocking the unmanned vehicle for the preset times, so that the user can obtain the service provided by the unmanned vehicle.
In an alternative embodiment, after said controlling said unmanned vehicle to brake for a preset time period, said method comprises: transmitting a parked signal to a server, the parked signal including position information of the unmanned vehicle; receiving a service guide signal sent by the server, wherein the service guide signal comprises a guide action; and executing the guiding action according to the service guiding signal.
According to the method and the device, the position information of the unmanned vehicle is sent to the server, so that the server sends corresponding service guide information according to the position information, corresponding guide actions can be executed for the unmanned vehicles of the users in different regions, and the users are guided to purchase.
In an optional embodiment, after the controlling the unmanned vehicle to brake for the preset time period, the method further comprises: judging whether a purchase request signal is received within a preset time period, wherein the purchase request signal comprises a commodity identification code; and if the purchase request signal is received, taking the corresponding commodity according to the commodity identification code.
According to the embodiment of the application, after the purchase request signal sent by the terminal is received, the corresponding commodity can be taken, so that the user can obtain the needed commodity from the unmanned vehicle.
In an optional embodiment, after the determining whether the purchase request signal is received within a preset time period, the method further includes: and if the purchase request signal is not received within the preset time period, controlling the unmanned vehicle to move according to a preset path.
According to the embodiment of the application, the user is judged not to need to purchase by determining that the purchase request signal is not received within the preset time period, and the unmanned vehicle is controlled to continue to move according to the preset path, so that the unmanned vehicle can cruise according to the preset route.
In an optional embodiment, a user identification sensor is disposed on an outer surface of the unmanned vehicle, and the controlling the unmanned vehicle to move according to a preset path includes: and if the user identification sensor determines that no person is in a preset identification area, controlling the unmanned vehicle to move according to a preset path.
After the purchase request signal is not received in the preset time period, whether a person exists outside the unmanned vehicle is judged through the user identification sensor, if the person does not exist, the user is judged to leave, and then the unmanned vehicle is controlled to automatically cruise.
In an alternative embodiment, the driving speed of the unmanned vehicle while in motion is below a preset speed threshold.
The unmanned vehicle is controlled to drive at a speed lower than a preset speed threshold value in the cruising process, so that a user can trigger a preset operation object when the unmanned vehicle is cruising, and the situation that the user is injured due to the fact that the unmanned vehicle is too fast is prevented from occurring.
In a second aspect, an embodiment provides a parking apparatus, including: the detection module is used for detecting the state of a preset operation object on the outer surface of the unmanned vehicle; and the braking module is used for controlling the unmanned vehicle to brake within a preset time period under the condition that the state of the preset operation object is a trigger state.
According to the embodiment of the application, the preset operation object is arranged on the outer surface of the unmanned vehicle, and when the user triggers the preset operation object, the braking module is used for controlling the unmanned vehicle to brake, so that the user can obtain the service provided by the unmanned vehicle.
In a third aspect, embodiments provide an unmanned vehicle, comprising: a vehicle body; a controller disposed within the vehicle body; the preset operation object is arranged on the outer surface of the vehicle body; wherein the controller is connected to the preset operation object, and the controller is used for executing the method according to any one of the preceding embodiments.
In a fourth aspect, embodiments provide a non-transitory computer readable storage medium storing computer instructions that cause the computer to perform the method of any of the preceding embodiments.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic flowchart of a parking method according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart of another parking method provided in the embodiments of the present application;
FIG. 3 is a schematic flow chart of another parking method according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a parking apparatus according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an unmanned vehicle according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
The application provides a parking method for braking an unmanned vehicle, the unmanned vehicle can be an unmanned retail vehicle and can also be other types of unmanned vehicles such as an unmanned book borrowing vehicle and an unmanned toilet vehicle.
Fig. 1 is a schematic flowchart of a parking method provided in an embodiment of the present application, where the parking method includes:
step 110: and detecting the state of a preset operation object on the outer surface of the unmanned retail vehicle.
Step 120: and if the state of the preset operation object is a trigger state, controlling the unmanned retail vehicle to brake within a preset time period.
Aiming at places such as parks, parks and districts with large areas, the traditional unmanned retail vehicle can cruise therein, and only a preset parking site is used for parking and selling in the cruising process. However, the user still needs to arrive at the parking station to make the shopping, and the traditional unmanned retail vehicle cannot meet the shopping requirement of the user at any time.
In this embodiment, in order to improve the situation that a traditional unmanned retail vehicle sells after arriving at a website, the preset operation object is arranged on the outer surface of the unmanned retail vehicle, when the unmanned retail vehicle patrols, a user can trigger the preset operation object on the unmanned retail vehicle, and after the triggering state of the preset operation object is detected, the unmanned retail vehicle can be controlled to brake within a preset time period. Therefore, the user can trigger the unmanned vehicle to stop to purchase articles in the cruising process of the unmanned vehicle without walking to a preset parking station, and shopping is more convenient and faster.
When the cruising unmanned retail vehicle is encountered, the cruising of the unmanned retail vehicle can be suspended, and a user can select and purchase commodities in a short walking mode without walking to a parking station, so that the user can purchase the commodities more conveniently and quickly.
In some implementation manners, the preset time period can be set to be shorter, for example, 1-3 s, so that the unmanned retail vehicle can complete braking in a shorter time, and time consumed for a user to wait for the unmanned retail vehicle to stop is reduced. In other implementation manners, the preset time period can be set to be longer, for example, 7-10 s, so that the unmanned retail vehicle can brake more slowly, a longer buffer time is provided for the state change of the unmanned retail vehicle, and the occurrence probability of traffic accidents can be reduced. In some implementations, the preset time period may be adjusted according to a change of an environment where the unmanned vehicle is located, for example, when the unmanned vehicle is cruising in an open area with less people, the preset time period may be set to a smaller value, and when the unmanned vehicle is cruising in a region with more people or a narrow area, the preset time period may be set to a larger value, so as to implement an appropriate braking strategy for different scenes.
It should be noted that there are various ways to change the state of the preset operation object. When a user triggers a preset operation object on the unmanned retail vehicle, the state of the preset operation object can be changed into a triggering state, and the controller can correspondingly control the unmanned retail vehicle to brake according to the triggering state of the preset operation object. And when the unmanned retail vehicle is started after retail is finished, the triggering state of the preset operation object can be changed into the non-triggering state. When a user triggers a preset operation object on the unmanned retail vehicle, the state of the preset operation object can be changed into a triggering state, and the state of the preset operation object is changed into a non-triggering state again within a certain preset time period. The controller can control the unmanned retail vehicle to brake when the controller detects that the state of the preset operation object is changed from the non-trigger state to the trigger state. Therefore, the controller does not need to modify the state of the preset operation object for multiple times. The preset operation object state can be changed in various ways, and the specific changing way can be adjusted according to the actual parking requirement.
On the basis of the embodiment, a parking button is arranged on the outer surface of the unmanned retail vehicle, and the preset operation object comprises the parking button; prior to step 110, the method further comprises: and when the parking button is at a high level, determining that the state of the preset operation object is a trigger state.
In an optional embodiment of the present application, in order to facilitate the user to trigger the preset operation object, the preset operation object may be set as a parking button. When the controller detects that the parking button is at a high level, the controller can determine that the parking button is triggered, namely the state of the preset operation object is in a triggered state, and the controller can also control the unmanned retail vehicle to brake. Because the entity button needs to contact and exert certain power when triggering, the physical structure of entity button also makes the entity button can be more reliable simultaneously, adopts the entity button can prevent the mistake of unmanned retail vehicle to touch to a certain extent on unmanned retail vehicle.
It is worth to be noted that the parking buttons are of various types, and the parking buttons can be self-locking switches or self-resetting switches. When the parking button is the self-locking switch, a user can be in a high level state all the time after pressing the parking button and performing self-locking on the parking button, and after finishing purchasing, the user can press the parking button again to enable the parking button to release self-locking and return to the low level state. When the parking button is a self-reset switch, after a user presses the parking button each time, the parking button can be changed into a high level state from a low level state and then is instantly changed into a low level state. The specific type of parking button may be selected according to the actual parking requirements.
On the basis of the embodiment, a touch screen is arranged on the outer surface of the unmanned retail vehicle, a virtual parking key is displayed in the touch screen, and the preset operation object comprises the virtual parking key; prior to step 110, the method further comprises: and when the touch screen is detected that the area corresponding to the virtual parking key is touched, determining that the state of the preset operation object is a trigger state.
In another optional embodiment of the application, in order to facilitate triggering of the preset operation object by the user, a touch screen may be disposed on an outer surface of the unmanned retail vehicle, and the touch screen displays the virtual parking key, when it is detected that the area corresponding to the virtual parking key is touched by the user, that is, the controller considers that the state of the preset operation object is the trigger state, and the controller may control the unmanned retail vehicle to brake. Therefore, the condition that the parking key is touched by mistake in a physical collision mode can be prevented by detecting whether the virtual parking key in the touch screen is touched to perform braking control.
It is worth to be noted that the touch screen arranged on the unmanned retail vehicle can display the variety and the number of the inventory goods of the unmanned retail vehicle while displaying the virtual parking key, so that the user can select for purchase; interaction can also be provided for the user, and the user can directly select the corresponding commodity on the touch screen, so that the commodity can be purchased.
In an optional embodiment of the application, a user gesture sensor is arranged on the outer surface of the unmanned retail vehicle, and the preset operation object comprises the user gesture sensor; prior to step 110, the method further comprises: and if the gesture posture of the user in the preset area is detected to be the preset gesture posture through the user gesture sensor, determining that the state of the preset operation object is the trigger state. Therefore, the unmanned retail vehicle can detect the gesture posture of the user in the preset area, so that the user can brake the unmanned retail vehicle in simpler modes such as hand calling and gesture comparison, and commodities are selected and purchased more conveniently and quickly.
In yet another optional embodiment of the present application, a user gesture sensor is disposed on an outer surface of the unmanned retail vehicle, and the preset operation object includes the user gesture sensor; prior to step 110, the method further comprises: and if the gesture posture of the user in the preset area is detected to be the preset gesture posture through the user gesture sensor, and the relative displacement of the user relative to the unmanned retail vehicle is determined to meet the preset condition, determining that the state of the preset operation object is the trigger state.
In some implementations of the embodiment, the user gesture sensor is used for both recognizing a gesture of a user gesture and detecting a relative displacement between the user and the unmanned retail vehicle; in other implementations, the user gesture sensor is used only to recognize the gesture of the user gesture, and the relative displacement between the user and the unmanned retail vehicle is detected by another relative displacement sensor. The user gesture sensor can be a camera, user images are collected through the camera, the gesture posture of the user is determined according to an image recognition technology, in an implementation mode that the user gesture sensor is also used for detecting the relative displacement between the user and the unmanned retail vehicle, a plurality of continuous images can be collected through the camera, the change of the position of the user in the images is recognized through the image recognition technology, and then the relative displacement between the user and the unmanned retail vehicle is determined. In addition, this user gesture sensor still can be for radar sensor, infrared sensor, ultrasonic sensor etc. because ordinary technical personnel in the art know the gesture that above-mentioned sensor is used for detecting the user gesture and the principle of the relative displacement between user and the unmanned retail vehicle, this application is no longer repeated.
For the implementation of providing another relative displacement sensor to detect the relative displacement between the user and the unmanned retail vehicle, the relative displacement sensor may also be the camera, the radar sensor, the infrared sensor or the ultrasonic sensor. Wherein, this user's gesture sensor and relative displacement sensor can be same type sensor, for example the two are radar sensor, and two radar sensor's structure, working parameter or performance can be different, and one is responsible for detecting user's gesture, and another is responsible for detecting the relative displacement between user and the unmanned retail vehicle. The user gesture sensor and the relative displacement sensor can also be different types of sensors, for example, the user gesture sensor is a radar sensor, and the relative displacement sensor is an infrared sensor.
In this embodiment, the user gesture sensor may only use the user gesture in the preset region as an effective trigger condition for triggering the trigger state of the preset operation object, and the user gesture outside the preset region cannot trigger the trigger state, so as to avoid erroneous braking caused by gesture recognition of the user gesture sensor on an unrelated person in a distance.
In some implementations of this embodiment, before the determining that the state of the user gesture sensor is the trigger state, the method further includes: and setting the size of the preset area according to the cruising environment of the unmanned vehicle.
The size of the preset area for detecting the gesture of the user by the user gesture sensor can be set according to the cruise environment of the unmanned retail vehicle, namely, the unmanned retail vehicle recognizes the cruise environment, the preset area with the corresponding size is set according to the current cruise environment, then the gesture of the user in the preset area is detected, or only the gesture of the user in the preset area is recognized as an effective gesture.
For example, if the unmanned retail vehicle is cruising in an open and few-people area, the preset area is set to a larger range, such as a 20-meter range; if the unmanned retail vehicle cruises in the region with dense personnel, the preset region is set to be a small range, such as a range of 2-5 meters. For another example, the preset area may be set to a smaller range if the unmanned retail vehicle is cruising in a business district or a tourist district, and may be set to a larger range if the unmanned retail vehicle is cruising in a living district. From this, unmanned retail vehicle can set for suitable regional size of predetermineeing according to the environment of cruising intelligently, avoids setting up unreasonablely because of predetermineeing regional size for unmanned retail vehicle carries out the wrong braking that the misidentification leads to.
In this embodiment, there may be multiple implementation manners in the preset gesture posture, such as a posture in which the user recruits his hand, and the palm of the user is in an open posture, or a posture in which the palm of the user makes a fist, and the specific type of the preset gesture posture is not limited in this application.
The relative displacement can be the distance change and/or the direction change between the user and the unmanned retail vehicle when the user chases the unmanned retail vehicle, and can also be the distance change and/or the direction change between the palm of the user and the gesture sensor of the user. The implementation of the relative displacement and the corresponding preset condition is not limited in the present application, and some possible ways are listed below.
In the mode 1, the user gesture sensor is arranged at the tail of the unmanned retail vehicle, the relative displacement between the user and the unmanned retail vehicle can be defined as the distance change between the user and the unmanned retail vehicle, and the preset condition can be defined as the distance between the user and the unmanned retail vehicle is smaller and smaller. If the relative displacement between the user and the unmanned retail vehicle meets the preset condition, the fact that the user is closer to the unmanned retail vehicle can be shown, the user can catch up with the unmanned retail vehicle, and when the gesture posture of the user is the preset gesture posture, the braking of the unmanned retail vehicle can be triggered.
In a variation of the above, the predetermined condition may be defined as the distance between the user and the unmanned retail vehicle is decreasing and the distance should be less than a distance threshold. In this variant, it is only possible to trigger the braking of the unmanned retail vehicle if the user is close enough (the distance between the user and the unmanned retail vehicle is less than the distance threshold), avoiding triggering the braking of the unmanned retail vehicle by an inadvertent action of a remote user.
Mode 2, the user gesture sensor is arranged on the side face of the unmanned retail vehicle, the relative displacement between the user and the unmanned retail vehicle can also be defined as the distance change between the user and the side face of the unmanned retail vehicle, and the preset condition can be defined as the distance between the user and the side face of the unmanned retail vehicle is smaller and smaller. If the relative displacement between the user and the unmanned retail vehicle meets the preset condition, the fact that the user is closer to the side face of the unmanned retail vehicle can be shown, the user can catch up with the unmanned retail vehicle from the rear or the side, and when the gesture of the user is the preset gesture, the braking of the unmanned retail vehicle can be triggered.
In a variation of the above, the predetermined condition may be defined as the distance between the user and the unmanned retail vehicle is decreasing and the distance should be less than a distance threshold. In this variant, it is only possible to trigger the braking of the unmanned retail vehicle if the user is close enough (the distance between the user and the unmanned retail vehicle is less than the distance threshold), avoiding triggering the braking of the unmanned retail vehicle by an inadvertent action of a remote user.
It should be noted that the step of recognizing the gesture of the user and the step of determining the relative displacement may be performed simultaneously; the step of recognizing the gesture posture of the user can be executed first, and the step of judging whether the relative displacement between the user and the unmanned retail vehicle meets the preset condition or not can be executed after the gesture posture of the user is determined to be the preset gesture posture. The specific execution sequence of the steps is not limited, and can be adjusted according to the actual parking requirement.
And the user gesture sensor can be arranged at the touch screen and used in cooperation with the touch screen, so that the user can brake the unmanned retail vehicle by clicking a virtual key in the touch screen, and the unmanned retail vehicle can be braked by recognizing the situation that the user catches up with the unmanned retail vehicle according to the user gesture sensor. The unmanned retail vehicle can be braked by clicking a virtual key in the touch screen or by recognizing the situation that the user catches up with the unmanned retail vehicle by using a user gesture sensor according to the cruising environment of the unmanned retail vehicle. The specific matching use mode of the user gesture sensor and the touch screen is not limited, and the user gesture sensor and the touch screen can be adjusted according to actual requirements.
Therefore, the embodiment of the application is based on the characteristic that the unmanned retail vehicle moves, and the gesture sensor of the user is arranged on the unmanned retail vehicle, so that the user can park more conveniently in a gesture recognition mode under the condition that the flow of people is too much.
On the basis of the embodiment, a pressure sensor is arranged on the outer surface of the unmanned retail vehicle, and the preset operation object comprises the pressure sensor; prior to step 110, the method further comprises: sensing an actual pressure exerted on the pressure sensor; and if the actual pressure reaches a first preset pressure threshold value, confirming that the state of the preset operation object is a trigger state.
In yet another alternative embodiment of the present application, in order to facilitate the user to trigger the preset operation object, a pressure sensor may be disposed on an outer surface of the unmanned retail vehicle, and the controller may sense the actual pressure applied through the pressure sensor when the user applies an external force on the outer surface of the unmanned retail vehicle corresponding to the pressure sensor. The controller can compare the actual pressure with the first preset pressure threshold, if the actual pressure is smaller than or equal to the first preset pressure threshold, the actual pressure is considered to be mistakenly touched possibly due to collision and the like, and the state of the preset operation object is not changed; if the actual pressure is larger than the first preset pressure threshold value, the external force applied by the user is considered, the state of the preset operation object is changed into a trigger state, and the controller can control the unmanned retail vehicle to brake. Therefore, the situation that the unmanned retail vehicle brakes due to mistaken touch and collision in the cruising process of the unmanned retail vehicle can be prevented.
It is worth to be noted that the pressure sensor can be arranged at the tail part, the car body or the car roof of the unmanned retail car, and the specific arrangement position of the pressure sensor is not limited and can be adjusted according to actual requirements. Meanwhile, the first preset pressure threshold value can be set according to the force applied by a user to beat the automobile body or the force applied by the user to beat the automobile body, the specific first preset pressure threshold value is not limited in size, and the specific first preset pressure threshold value can be selected according to the mistaken touch prevention effect.
On the basis of the above embodiment, before step 110, the method further includes: when sensing that the actual pressure applied on the pressure sensor reaches a second preset pressure threshold value, increasing a trigger count value once; and if the trigger count value reaches a preset count value within a preset time period, confirming that the state of the preset operation object is a trigger state.
In yet another alternative embodiment of the present application, in order to prevent the controller from malfunctioning to control the braking of the unmanned retail vehicle, the number of triggers applied to reach the second preset pressure threshold may be detected, i.e., the trigger count value. If the trigger count value does not reach the preset count value, the trigger count value is considered to be a false touch possibly caused by collision and the like, and the state of a preset operation object is not changed; if the trigger count value reaches the preset count value, the pressure is regarded as the pressure of the preset count value applied by the user, the state of the preset operation object is changed into the trigger state, and the controller can control the unmanned retail vehicle to brake. Therefore, the situation that the unmanned retail vehicle brakes due to mistaken touch and collision in the cruising process of the unmanned retail vehicle can be prevented.
It should be noted that the size of the second preset pressure threshold may be the same as or different from the size of the first preset pressure threshold, and may be set according to the force applied by the user to flap the vehicle body or the force applied by the user to flap the vehicle body, and the specific size of the first preset pressure threshold is not limited, and may be selected according to the required anti-false-touch effect. The preset count value can be 3 or 5, the numerical value of the preset count value is not limited, and the preset count value can be selected according to the mistaken touch prevention effect.
Fig. 2 is a schematic flowchart of another parking method provided in the embodiment of the present application, and after step 120, the method further includes:
step 210: transmitting a parked signal to a server, the parked signal including location information of the unmanned retail vehicle.
Step 220: receiving a service guide signal sent by the server, wherein the service guide signal comprises a guide action.
Step 230: and executing the guiding action according to the service guiding signal.
In an optional embodiment of the application, after the braking of the unmanned retail vehicle, the controller may send a parking signal carrying the position information of the unmanned retail vehicle to the server, and inform the server of the state of the corresponding unmanned retail vehicle. Meanwhile, the controller can receive a service guide signal which is sent by the server and carries a guide action, so as to carry out operation guide on the user aiming at the region where the unmanned retail vehicle is located. The guiding action can be a shopping selection flow through voice broadcasting, and can also be a shopping selection flow displayed on a touch screen. Meanwhile, the guiding action can also recommend commodities for the user aiming at different regions.
For example, assuming that the unmanned retail vehicle cruises in an amusement park, the user triggers a predicted operation object of the unmanned retail vehicle in the water park area, the unmanned retail vehicle brakes, and the subsequent unmanned retail vehicle can guide the user to buy according to the guiding action of the server or the car networking system, and meanwhile, the unmanned retail vehicle can also guide the user to buy goods of the water park, such as a swimming ring, a floating plate and the like.
Fig. 3 is a schematic flowchart of another parking method provided in an embodiment of the present application, and after step 120, the method further includes:
step 310: and judging whether a purchase request signal is received within a preset time period, wherein the purchase request signal comprises a commodity identification code.
Step 320: and if the purchase request signal is received, taking the corresponding commodity according to the commodity identification code.
In an optional embodiment of the application, in order to ensure that the unmanned retail vehicle can conduct transactions according to customer requirements after being braked, the corresponding goods can be taken by receiving the purchase request signal with the goods identification code, so that the goods can be rolled and taken by the user, and the unmanned retail process is completed.
It should be noted that the user may make a purchase through an entity button corresponding to the trademark identification code on the unmanned retail vehicle, may also make a retail purchase through a touch screen on the unmanned retail vehicle, and may also make a purchase through connection between the terminal device and the unmanned retail vehicle, for example, through bluetooth of a mobile phone app to connect the unmanned retail vehicle, or through a small program of WeChat in a mobile phone, through scanning a two-dimensional code of the unmanned retail vehicle to connect the unmanned retail vehicle in a matching manner. The specific process of purchasing the commodities by the user is not limited, and can be adjusted according to actual retail demands.
On the basis of the above embodiment, after step 310, the method further includes:
step 330: and if the purchase request signal is not received within the preset time period, controlling the unmanned retail vehicle to move according to a preset path.
In an optional embodiment of the present application, if the controller does not receive the purchase request signal within the preset time period, it may be determined that the user has left or the user does not have a purchase selection requirement, and the controller may control the unmanned retail vehicle to continue to move according to the preset path, so that the unmanned retail vehicle may continue to roam.
It should be noted that the preset time period may be 5 minutes or 10 minutes, and the specific duration of the preset time period may be adjusted according to actual requirements. The preset path may be sent to the controller by the server in advance, or may be stored in the memory in advance, and the specific method for acquiring the preset path may be adjusted according to actual requirements.
It should be further noted that, if the controller does not receive the purchase request signal within the preset time period, the controller may first notify the user that the unmanned retail vehicle should continue to move according to the preset path through voice broadcast or touch screen display, so as to prevent the unmanned retail vehicle from injuring the user when being started.
On the basis of the above embodiment, the outer surface of the unmanned retail vehicle is provided with a user identification sensor, and step 330 may specifically include: and if the user identification sensor determines that no person is in a preset identification area, controlling the unmanned retail vehicle to move according to a preset path.
In an optional embodiment of the application, in order to ensure that the user is far away from the unmanned retail vehicle and does not purchase any more, a user identification sensor can be arranged on the outer surface of the unmanned retail vehicle, whether people exist in a preset identification area is sensed through the user identification sensor, if no people exist in the preset identification area, the user is determined to be far away from the unmanned retail vehicle, and the unmanned retail vehicle can be started to move. If the user has a person in the preset identification area, the user is judged to still have the purchasing intention, and the unmanned retail vehicle is controlled to continue waiting.
The user identification sensor can be a radar sensor, and whether a person exists outside the unmanned retail vehicle can be detected through the radar sensor; the user identification sensor can also be a camera, and whether a person exists can be judged through an image of a preset identification area shot by the camera. The specific type of the user identification sensor is not limited, and can be adjusted according to actual requirements.
It should be noted that, in order to prevent the dangerous situation that the user is likely to trigger the preset operation object too soon during the operation of the unmanned retail vehicle, or the dangerous situation that the user is likely to occur due to the too soon starting of the unmanned retail vehicle. Therefore, the driving speed of the unmanned retail vehicle while in motion may be set to be lower than a preset speed threshold value to prevent occurrence of traffic accidents. The preset speed threshold is not limited, and can be adjusted according to actual requirements.
Fig. 4 is a schematic structural diagram of a parking apparatus provided in an embodiment of the present application, and based on the same inventive concept, an embodiment of the present application further provides a parking apparatus 400, including: the detection module 410 is used for detecting the state of a preset operation object on the outer surface of the unmanned retail vehicle; and the braking module 420 is configured to control the unmanned retail vehicle to brake within a preset time period under the condition that the state of the preset operation object is the trigger state.
On the basis of the embodiment, a parking button is arranged on the outer surface of the unmanned retail vehicle, and the preset operation object comprises the parking button; the parking apparatus 400 further includes: and the button triggering module is used for determining that the state of the preset operation object is a triggering state under the condition that the parking button is at a high level.
On the basis of the embodiment, a touch screen is arranged on the outer surface of the unmanned retail vehicle, a virtual parking key is displayed in the touch screen, and the preset operation object comprises the virtual parking key; the parking apparatus 400 further includes: and the touch screen module is used for determining that the state of the preset operation object is a trigger state under the condition that the touch of the area corresponding to the virtual parking key in the touch screen is detected.
On the basis of the embodiment, a user gesture sensor is arranged on the outer surface of the unmanned retail vehicle, and the preset operation object comprises the user gesture sensor; the parking apparatus 400 further includes: and the gesture detection module is used for determining that the state of the preset operation object is a trigger state under the conditions that the gesture of the user in the preset area is detected to be a preset gesture through the user gesture sensor and the relative displacement of the user relative to the unmanned retail vehicle meets the preset condition.
On the basis of the embodiment, a pressure sensor is arranged on the outer surface of the unmanned retail vehicle, and the preset operation object comprises the pressure sensor; the parking apparatus 400 further includes: the first pressure sensing module is used for sensing the actual pressure applied to the pressure sensor; and if the actual pressure reaches a first preset pressure threshold value, confirming that the state of the preset operation object is a trigger state.
On the basis of the embodiment, a pressure sensor is arranged on the outer surface of the unmanned retail vehicle, and the preset operation object comprises the pressure sensor; the parking apparatus 400 further includes: the second pressure sensing module is used for increasing a trigger count value once when sensing that the actual pressure applied to the pressure sensor reaches a second preset pressure threshold value; and if the trigger count value reaches a preset count value within a preset time period, confirming that the state of the preset operation object is a trigger state.
On the basis of the above embodiment, the parking apparatus 400 further includes: a guidance module for sending a parked signal to a server, the parked signal including location information of the unmanned retail vehicle; receiving a service guide signal sent by the server, wherein the service guide signal comprises a guide action; and executing the guiding action according to the service guiding signal.
On the basis of the above embodiment, the parking apparatus 400 further includes: the response purchasing module is used for judging whether a purchasing request signal is received in a preset time period or not, and the purchasing request signal comprises a commodity identification code; and if the purchase request signal is received, taking the corresponding commodity according to the commodity identification code.
On the basis of the above embodiment, the parking apparatus 400 further includes: and the starting module is used for controlling the unmanned retail vehicle to move according to a preset path under the condition that a purchase request signal is not received in a preset time period.
On the basis of the above embodiment, the outer surface of the unmanned retail vehicle is provided with a user identification sensor, and the starting module is specifically configured to: and if the user identification sensor determines that no person is in a preset identification area, controlling the unmanned retail vehicle to move according to a preset path.
On the basis of the embodiment, the driving speed of the unmanned retail vehicle in motion is lower than the preset speed threshold value.
Based on the same inventive concept, the embodiment of the present application further provides an unmanned retail vehicle, including: a vehicle body; a controller disposed within the vehicle body; the preset operation object is arranged on the outer surface of the vehicle body; wherein the controller is connected with the preset operation object, and the controller is used for executing the method of any one of the above embodiments.
Fig. 5 is a schematic structural diagram of an unmanned retail vehicle according to an embodiment of the present disclosure, and the unmanned retail vehicle 10 may include a memory 101, a preset operation object 102, a controller 103, a peripheral interface 104, an input/output unit 105, and a touch screen 107.
The memory 101, the preset operation object 102, the controller 103, the peripheral interface 104, the input/output unit 105, and the touch screen 107 are electrically connected to each other directly or indirectly to implement data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. At least one software or firmware (firmware) is stored in the memory 101 or a software function module solidified in an Operating System (OS). The controller 103 is used to execute executable modules, software functional modules or computer programs stored in the memory 101.
It should be noted that the preset operation object 102 may be a parking button, a virtual parking key displayed on the touch screen 107, or a pressure sensor.
The Memory 101 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 101 is configured to store a program, and the controller 103 executes the program after receiving an execution instruction, and the method disclosed in any of the foregoing embodiments of the present application may be applied to the controller 103, or implemented by the controller 103.
The controller 103 may be an integrated circuit chip having signal processing capabilities. The controller 103 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. The general purpose processor may be a microprocessor or the controller 103 may be any conventional processor or the like.
The peripheral interface 104 couples various input/output devices to the controller 103 as well as to the memory 101. In some embodiments, the peripheral interface 104, the controller 103 may be implemented in a single chip. In other examples, they may be implemented separately from the individual chips. The peripheral interface may interface with a user recognition sensor, a user gesture sensor, or a relative distance sensor disposed on an exterior surface of the unmanned retail vehicle 10, among others. The user identification sensor, the user gesture sensor and the relative distance sensor can be the same sensor or different sensors, and the specific type of the sensor can be selected according to actual requirements.
The input output unit 105 is used to provide input data to the user to enable user interaction with the unmanned retail vehicle 10. The input/output unit 105 may be, but is not limited to, a mouse, a keyboard, and the like.
The touch screen 107 provides an interactive interface (e.g., a user interface) between the unmanned retail vehicle 10 and a user or for displaying image data to a user reference. In this embodiment, the touch screen 107 may be a liquid crystal display or a touch display. In the case of a touch display, the display can be a capacitive touch screen or a resistive touch screen, which supports single-point and multi-point touch operations. Supporting single-point and multi-point touch operations means that the touch display can sense touch operations simultaneously generated from one or more positions on the touch display, and the sensed touch operations are sent to the controller 103 for calculation and processing.
It will be appreciated that the configuration shown in FIG. 5 is merely illustrative and that the unmanned retail vehicle 10 may include more or fewer components than shown in FIG. 5 or may have a different configuration than shown in FIG. 5. The components shown in fig. 5 may be implemented in hardware, software, or a combination thereof.
In summary, the embodiment of the present application provides a parking method, an apparatus, an unmanned vehicle, and a storage medium, where the method includes: detecting the state of a preset operation object on the outer surface of the unmanned retail vehicle; and if the state of the preset operation object is a trigger state, controlling the unmanned retail vehicle to brake within a preset time period. This application is through setting up preset operation object on unmanned retail vehicle's surface, and when the user triggered preset operation object, control unmanned retail vehicle braked to the user buys commodity after unmanned retail vehicle braking.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
It should be noted that the functions, if implemented in the form of software functional modules and sold or used as independent products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (15)
1. A method of parking, comprising:
detecting the state of a preset operation object on the outer surface of the unmanned vehicle;
and if the state of the preset operation object is a trigger state, controlling the unmanned vehicle to brake within a preset time period.
2. The parking method according to claim 1, wherein a parking button is provided on an exterior surface of the unmanned vehicle, and the preset operation object includes the parking button;
before the detecting a state of a preset operation object on an external surface of the unmanned vehicle, the method further includes:
and when the parking button is at a high level, determining that the state of the preset operation object is a trigger state.
3. The parking method according to claim 1, wherein a touch screen is arranged on the outer surface of the unmanned vehicle, a virtual parking key is displayed in the touch screen, and the preset operation object comprises the virtual parking key;
before the detecting a state of a preset operation object on an exterior surface of the unmanned vehicle, the method further includes:
and when the touch screen is detected that the area corresponding to the virtual parking key is touched, determining that the state of the preset operation object is a trigger state.
4. The parking method according to claim 1, wherein a user gesture sensor is provided on an outer surface of the unmanned vehicle, and the preset operation object comprises the user gesture sensor;
before the detecting a state of a preset operation object on an exterior surface of the unmanned vehicle, the method further includes:
and if the gesture posture of the user in the preset area is detected to be the preset gesture posture through the user gesture sensor, and the relative displacement of the user relative to the unmanned vehicle is determined to meet the preset condition, determining that the state of the preset operation object is the trigger state.
5. The parking method of claim 4 wherein prior to said determining that the state of the user gesture sensor is a trigger state, the method further comprises:
and setting the size of the preset area according to the cruising environment of the unmanned vehicle.
6. The parking method according to claim 1, wherein a pressure sensor is provided on an exterior surface of the unmanned vehicle, and the preset operation object includes the pressure sensor;
before the detecting a state of a preset operation object on an exterior surface of the unmanned vehicle, the method further includes:
sensing an actual pressure exerted on the pressure sensor;
and if the actual pressure reaches a first preset pressure threshold value, confirming that the state of the preset operation object is a trigger state.
7. The parking method according to claim 1, wherein a pressure sensor is provided on an exterior surface of the unmanned vehicle, and the preset operation object includes the pressure sensor;
before the detecting a state of a preset operation object on an exterior surface of the unmanned vehicle, the method further includes:
when sensing that the actual pressure applied on the pressure sensor reaches a second preset pressure threshold value, increasing a trigger count value once;
and if the trigger count value reaches a preset count value within a preset time period, confirming that the state of the preset operation object is a trigger state.
8. The parking method according to claim 1, wherein after said controlling the unmanned vehicle to brake for a preset time period, the method comprises:
transmitting a parked signal to a server, the parked signal including position information of the unmanned vehicle;
receiving a service guide signal sent by the server, wherein the service guide signal comprises a guide action;
and executing the guiding action according to the service guiding signal.
9. The parking method according to any one of claims 1 to 8, wherein after said controlling of said unmanned vehicle to brake for a preset time period, said method further comprises:
judging whether a purchase request signal is received within a preset time period, wherein the purchase request signal comprises a commodity identification code;
and if the purchase request signal is received, taking the corresponding commodity according to the commodity identification code.
10. The parking method according to claim 9, wherein after said judging whether the purchase request signal is received within a preset time period, the method further comprises:
and if the purchase request signal is not received within the preset time period, controlling the unmanned vehicle to move according to a preset path.
11. The parking method according to claim 10, wherein a user recognition sensor is provided on an outer surface of the unmanned vehicle, and the controlling the unmanned vehicle to move according to a preset path includes:
and if the user identification sensor determines that no person is in a preset identification area, controlling the unmanned vehicle to move according to a preset path.
12. The parking method of claim 10 wherein the unmanned vehicle is driven at a speed below a preset speed threshold while in motion.
13. A parking apparatus, comprising:
the detection module is used for detecting the state of a preset operation object on the outer surface of the unmanned vehicle;
and the braking module is used for controlling the unmanned vehicle to brake within a preset time period under the condition that the state of the preset operation object is a trigger state.
14. An unmanned vehicle, comprising:
a vehicle body;
a controller disposed within the vehicle body;
the preset operation object is arranged on the outer surface of the vehicle body;
wherein the controller is connected with the preset operation object, and the controller is used for executing the method according to any one of claims 1-12.
15. A non-transitory computer-readable storage medium storing computer instructions that cause a computer to perform the method of any one of claims 1-12.
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| CN201911110027.5A CN110851070A (en) | 2019-11-12 | 2019-11-12 | Parking method and device, unmanned vehicle and storage medium |
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| CN201911110027.5A CN110851070A (en) | 2019-11-12 | 2019-11-12 | Parking method and device, unmanned vehicle and storage medium |
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