CN115793660A

CN115793660A - Following control method, device, equipment and storage medium

Info

Publication number: CN115793660A
Application number: CN202211641045.8A
Authority: CN
Inventors: 李建国; 刘伯锋
Original assignee: Shanghai Bangbang Robot Co ltd
Current assignee: Jiangsu Ruibute Intelligent Technology Co ltd
Priority date: 2022-12-20
Filing date: 2022-12-20
Publication date: 2023-03-14
Also published as: WO2024131647A1

Abstract

The application provides a following control method, a device, equipment and a storage medium. The scooter receives a following instruction issued by a user through the following beacon, and then responds to the following instruction to acquire first position information and second position information of the following beacon, and acquires a movement path of the following beacon according to the first position information and the second position information, and generates the following path according to the movement path, wherein the following path is in the same direction as and parallel to the movement path, so that the driving device of the scooter drives the scooter to run according to the following path, the scooter can automatically follow the user along the same direction and parallel to the path of the following beacon, manual pushing of the scooter is not needed, the using function of the scooter is enriched, and the using experience of the user is improved.

Description

Following control method, device, equipment and storage medium

Technical Field

The present application relates to the field of automation control technologies, and in particular, to a following control method, apparatus, device, and storage medium.

Background

With the continuous development of artificial intelligence and automation control technology, the demand of users for the scooter is also changing continuously. For some users with inconvenient actions, the user can conveniently take the scooter. However, if the user wants to act by himself without the aid of the scooter when using the scooter, the user can only push the scooter manually to move the scooter to the left and right of the user, and the scooter cannot automatically follow the user.

Disclosure of Invention

The application provides a following control method, a following control device, following control equipment and a storage medium, and is used for providing a control method for an automatic following user of a scooter, so that the use function of the scooter is expanded, and the use experience of the user is improved.

In a first aspect, the present application provides a follow-up control method for a scooter; the method comprises the following steps:

receiving a following instruction issued by a user through a following beacon;

responding to the following instruction to acquire first position information and second position information of the following beacon;

and acquiring a motion path of the following beacon according to the first position information and the second position information, and generating a following path according to the motion path, so that the driving device of the scooter drives the scooter to run along the following path, wherein the following path and the motion path are in the same direction and are parallel.

In one possible design, further comprising:

determining whether an obstacle is present on the followed path;

if so, correcting the following path according to the position information of the obstacle, so that the driving device of the scooter drives the scooter to run according to the corrected following path;

the position information of the obstacle comprises obstacle position coordinates and obstacle boundary information.

In one possible design, the obtaining the motion path of the following beacon according to the first position information and the second position information includes:

obtaining the movement displacement of the following beacon according to the first position coordinate and the second position coordinate;

determining a motion angle according to the first course angle and the second course angle;

determining the motion path according to the motion displacement and the motion angle;

wherein the first position information comprises the first position coordinate and the first heading angle, and the second position information comprises the second position coordinate and the second heading angle.

In one possible design, the generating a follow path from the motion path includes:

acquiring the width and the extending direction of a driving road;

determining the movement direction of the following path according to the movement angle and the extending direction of the driving road;

and generating the following path according to the running road width, the motion displacement and the motion direction, wherein the horizontal distance between the following path and the motion path, which are perpendicular to the running road extending direction, is smaller than the running road width.

In one possible design, after the obtaining the first location information of the following beacon in response to the following instruction, the method further includes:

determining the spacing distance between the following beacon and the scooter according to the first position information and the position information of the scooter;

determining whether the separation distance is greater than or equal to a preset distance threshold;

if so, ending the following control method and controlling a driving device of the scooter to be locked so as to lock the scooter;

if not, controlling the driving device of the scooter to initialize.

In one possible design, before the initialization of the driving device for controlling the scooter, the method further includes:

determining whether the vehicle is in a locked state;

and if so, releasing the locking state.

In one possible design, the follow-up beacon includes one or more of a remote controller, a smart crutch, and an electronic beacon terminal that is intelligently matched with the walker.

In a second aspect, the present application provides a follow-up control device for use with a mobility scooter; the apparatus, comprising:

the receiving module is used for receiving a following instruction issued by a user through a following beacon;

the acquisition module is used for responding to the following instruction to acquire first position information and second position information of the following beacon;

and the processing module is used for acquiring a motion path of the following beacon according to the first position information and the second position information, and generating a following path according to the motion path, so that the driving device of the scooter drives the scooter to run along the following path, and the following path and the motion path are in the same direction and are parallel.

In one possible design, the processing module is further configured to:

determining whether an obstacle is present on the followed path;

if so, correcting the following path according to the position information of the obstacle, so that a driving device of the scooter drives the scooter to run according to the corrected following path;

In one possible design, the processing module is further configured to:

acquiring the movement displacement of the following beacon according to the first position coordinate and the second position coordinate;

the first position information comprises the first position coordinate and the first course angle, and the second position information comprises the second position coordinate and the second course angle.

In one possible design, the processing module is further configured to:

acquiring the width and the extending direction of a driving road;

determining the movement direction of the following path according to the movement angle and the running road extension direction;

In one possible design, the processing module is further configured to:

if not, controlling the driving device of the scooter to initialize.

In one possible design, the processing module is further configured to:

determining whether the vehicle is in a locked state;

and if so, releasing the locking state.

In a third aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively coupled to the processor;

the memory stores computer-executable instructions;

the processor executes computer-executable instructions stored in the memory to implement any one of the possible follow-up control methods provided by the first aspect.

In a fourth aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored, and the computer-executable instructions are executed by a processor to implement any one of the possible follow-up control methods provided in the first aspect.

In a fifth aspect, the present application provides a computer program product comprising computer executable instructions for implementing any one of the possible follow-up control methods provided by the first aspect when executed by a processor.

The application provides a following control method, a device, equipment and a storage medium. The scooter receives a following instruction issued by a user through the following beacon, and then responds to the following instruction to acquire first position information and second position information of the following beacon, and acquires a motion path of the following beacon according to the first position information and the second position information, and generates the following path according to the motion path, wherein the following path is in the same direction and parallel to the motion path, so that the driving device of the scooter drives the scooter to run according to the following path, the scooter can automatically follow the user along the same direction and parallel to the path of the following beacon, the manual pushing of the scooter is not needed, the use function of the scooter is enriched, and the use experience of the user is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a schematic structural view of a scooter according to an embodiment of the present application;

fig. 2 is a schematic view of an application scenario provided in an embodiment of the present application;

fig. 3 is a schematic flowchart of a following control method according to an embodiment of the present application;

FIG. 4 is a schematic flow chart illustrating another following control method according to an embodiment of the present disclosure;

FIG. 5 is a schematic flowchart of another following control method according to an embodiment of the present disclosure;

FIG. 6 is a schematic flowchart of another following control method according to an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a follow-up control device according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present application. Rather, they are merely examples of methods and apparatus consistent with certain aspects of the present application, as detailed in the appended claims.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the above-described drawings (if any) are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances such that the embodiments of the application described herein may be implemented, for example, in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

With the continuous development of artificial intelligence and automation control technology, the demand of users for the scooter is also changing continuously. For some users with inconvenient actions, the user can conveniently take the scooter. However, if a user wants to take a self-action without using the scooter when using the scooter, the user needs to push the scooter manually to move the scooter to enable the scooter to follow the user, and the scooter cannot automatically follow the user.

In view of the above problems in the prior art, the present application provides a following control method, apparatus, device, and storage medium, where the following control method is applied to a scooter. The following control method provided by the application has the inventive concept that: the user issues a following instruction to the scooter through the following beacon, the scooter responds to the following instruction to obtain first position information and second position information of the following beacon, then a movement path of the following beacon is determined according to the first position information and the second position information, a following path in which the scooter and the movement path are in the same direction and parallel is planned according to the movement path, and then a driving device of the scooter is controlled to drive the scooter to run according to the following path. The following path is generated according to the movement path of the following beacon, and the following path is in the same direction and parallel with the movement path, so that the scooter can automatically follow the following beacon held by the user along the path in the same direction and parallel with the movement path. And because the user holds the following beacon, thereby make the car of riding instead of walk realize automatic following user, need not artificially to promote the car of riding instead of walk in order to follow the user, richened the service function of the car of riding instead of walk, improved the user and experienced the use of the car of riding instead of walk.

An exemplary application scenario of the embodiments of the present application is described below.

Fig. 1 is a schematic structural diagram of a scooter provided in an embodiment of the present application, and fig. 2 is a schematic application scenario diagram provided in the embodiment of the present application, as shown in fig. 1, the scooter 100 includes a movable chassis 101 and a seat mounted on the movable chassis 101, the seat includes a seat surface 102, a backrest 103, a chair arm 104 and a rocker 105 disposed on the chair arm 104, a user can manually control the rocker 105 to generate a rocker signal, and the rocker 105 issues the rocker signal to a driving device 106 of the scooter 100 to drive the scooter 100 to run under the control of a remote lever 105. A moving wheel 107 is mounted below the movable chassis 101.

As shown in fig. 1 and fig. 2, the user holds a follow-up beacon 200, the follow-up beacon 200 may be, for example, a remote controller 201 and/or a smart crutch 202 intelligently matched with the scooter 100, or an electronic beacon terminal 203 carried by the user, and the electronic beacon terminal 203 may be a user terminal running an application program capable of remotely controlling the scooter 100. The intelligent matching means that the vehicle 100 is matched with the factory function of the vehicle 100 and the vehicle 100 can be controlled.

The user issues a follow-up instruction by following the beacon 200, the follow-up instruction being used to characterize the user's intention that the user wishes the walker 100 to automatically follow the user. For example, when the user wants to act on his or her way using the walker 100 without the aid of the walker 100, a follow-up command can be issued by following the beacon 200. Or when the user carries goods by the scooter 100, such as taking an express delivery, the user may issue a following instruction by following the beacon 200. The scooter 100 receives a following instruction issued by a user through the following beacon 200, then responds to the following instruction to acquire first position information and second position information of the following beacon 200, acquires a movement path of the following beacon 200 according to the acquired first position information and second position information, and then generates a following path which is in the same direction as and parallel to the movement path for the scooter according to the movement path of the following beacon 200, so that the driving device 106 of the scooter 100 drives the scooter 100 to run according to the following path, and the scooter 100 automatically follows the user in the same direction and in parallel.

It should be noted that the technique of the joystick 105 driving the electric wheelchair can be used when the joystick 105 is operated by the walker 100, for example, when a user is riding the walker 100, the joystick 105 can be operated by a single hand to send a joystick signal to the driving device 106 of the walker 100, so that the driving device 106 responds to the joystick signal to drive the walker 100 to run, thereby simplifying the operation method of the walker 100 and facilitating the old user or the child to use the walker 100.

In addition, a control Unit, such as a Micro Controller Unit (MCU), may be disposed in the walker 100, and the control Unit is configured to execute the following control method provided in the embodiment of the present application, wherein after the following path is determined, the control Unit may issue an analog rocker signal to the driving device 106 of the walker 100 to drive the walker 100 to travel along the following path, so that the walker 100 automatically follows the user. Furthermore, the following beacon 200 may be communicatively connected to the control unit of the walker 100, for example, by bluetooth or UWB (Ultra wide band).

It should be noted that the above application scenarios are only exemplary, and the following control method, apparatus, device and storage medium provided in the embodiments of the present application include, but are not limited to, the above application scenarios.

Fig. 3 is a schematic flowchart of a following control method according to an embodiment of the present application. As shown in fig. 3, a following control method provided in an embodiment of the present application includes:

s101: and receiving a following instruction issued by the user through the following beacon.

When the user has the following intention, a following instruction is issued to the scooter through the following beacon, and the following instruction is used for representing the following intention of the user. The scooter receives a following instruction issued by the user through the following beacon.

S102: first position information and second position information of the following beacon are acquired in response to the following instruction.

And after receiving the following instruction, the scooter responds to the following instruction to acquire first position information and second position information of the following beacon, wherein the first position information is used for representing the current position of the following beacon, and the second position information is used for representing the current position of the following beacon at the next moment. The following beacon can be in a static state or a moving state, and the current position represented by the first position information is also the starting position of the scooter. If the first position information and the second position information are the same, the following beacon is not static, and if the first position information and the second position information are different, the following beacon is in a moving state.

In one possible design, a possible implementation of obtaining the first location information and the second location information following the beacon includes:

and issuing the first position information and the second position information to the scooter following the beacon, or detecting the current position of the follow beacon by the scooter through a radar and other devices to acquire the first position information and the second position information.

When the user issues the following instruction, the user can be in a side-by-side position with the scooter, and also can be in a front-back position with the scooter, for example, the scooter is in front of or behind a certain distance away from the user.

It should be noted that, after the walker receives the following instruction, the following control method is started. Thus, after the walker acquires the first location information, second location information of the following beacon may be acquired at a preset time interval, the second location information being used to characterize the current location of the following beacon at a preset time interval from the acquisition of the first location information.

S103: and acquiring a movement path following the beacon according to the first position information and the second position information.

After the scooter obtains the first position information and the second position information of the following beacon, the moving path of the following beacon is obtained according to the first position information and the second position information, namely the moving track of the following beacon is determined based on the first position information and the second position information, and the moving track of the following beacon is the moving path of the following beacon.

S104: and generating a following path according to the motion path, so that the driving device of the scooter drives the scooter to run according to the following path.

Wherein the following path is in the same direction and parallel with the motion path.

After the movement path following the beacon is obtained, a self path which is the following path and is in the same direction as and parallel to the following path is generated on the basis of the movement path following the beacon. The two-way parallel mode refers to the fact that the following path is not a repeated motion path but a moving track parallel to the motion path, on one hand, the free planning of the scooter on the path of the scooter can be improved, on the other hand, the scooter can be driven along the path which is the same as and parallel to the motion path, and therefore the intelligent following performance of the scooter can be improved. It should be noted that, the following path is parallel to the movement path, and when the user with the following beacon travels along the movement path and the vehicle moves along the following path, the vehicle and the user may move in parallel, or there may be a certain distance in the extending direction of the driving road, for example, the vehicle is located behind the user in the extending direction of the driving road, which is not limited in the embodiment of the present application.

And after the following path is generated, the driving device of the scooter drives the scooter to run according to the following path. For example, after the following path is determined, an analog rocker signal can be generated according to the following path, and the analog rocker signal is issued to the driving device, and the driving device responds to the analog rocker signal to drive the scooter to run according to the following path. In the step, the scooter determines a running movement path according to the first position information and the second position information, and then generates a following path according to the movement path, so that the driving device drives the scooter to run according to the following path. The following path is used for representing the moving track of the scooter following the user.

The logic and implementation manner of driving the scooter by the driving device are not limited in the embodiment of the present application. For example, when the user controls the rocker to send a rocker signal to the driving device to control the rocker to control the scooter to run, if the user controls the rocker to move forwards, the rocker can move backwards, the rocker can move rightwards, and the rocker can move leftwards.

In the following control method provided by the embodiment of the application, after the following path is determined, the analog rocker signal can be generated according to the movement displacement and the movement angle in the following path, and the analog rocker signal is issued to the driving device, so that the driving device responds to the analog rocker signal to drive the scooter to run according to the following path. The simulated rocker signal and the rocker signal issued by the user control rocker are both instructions which can be identified by the driving device, and the simulated rocker signal is generated by the scooter according to the following path and is used for simulating the rocker signal issued by the user through the rocker. In the embodiment of the present application, the control logic of the driving device for driving the scooter in response to the analog rocker signal is not limited, and may include any control logic capable of implementing the function.

According to the embodiment, the user holds the following beacon, the user can issue the following instruction representing the following intention of the user to the scooter through the following beacon, after the scooter receives the following instruction, the first position information and the second position information of the following beacon are obtained in response to the following instruction, the running motion path of the scooter is determined according to the first position information and the second position information, the follow path which is in the same direction as and parallel to the motion path is generated by taking the motion path as reference, and therefore the driving device of the scooter drives the scooter to run according to the follow path. Because the first position information and the second position information are used for representing the positions of the following beacons, which start to move and even stop moving, the scooter can follow the first position information and the second position information to obtain the motion paths of the following beacons, and can generate the following paths which are in the same direction and parallel to the motion paths according to the motion paths. The scooter runs along the following path, and automatic following in the same direction and in parallel with the following beacon can be realized. And the user holds the following beacon, so the scooter can automatically follow the user in the same direction and in parallel.

The following control method provided by the embodiment of the application is applied to the scooter, the scooter receives a following instruction issued by a user through the following beacon, first position information and second position information of the following beacon are obtained in response to the following instruction, a motion path of the following beacon is obtained according to the first position information and the second position information, and a following path which is in the same direction as and parallel to the motion path is generated according to the motion path, so that the scooter is driven by a driving device of the scooter to run according to the following path, the scooter can automatically follow the user according to the same direction and the parallel path, manual pushing of the scooter is not needed, the using functions of the scooter are enriched, and the using experience of the user is improved.

Fig. 4 is a flowchart illustrating another following control method according to an embodiment of the present application. As shown in fig. 4, a following control method provided in an embodiment of the present application includes:

s201: and receiving a following instruction issued by the user through the following beacon.

S202: first position information and second position information of the following beacon are acquired in response to the following instruction.

Possible implementations, principles and technical effects of step S201 and step S202 are similar to those of step S101 and step S102, and details can refer to the foregoing description and are not repeated herein.

S203: and determining the spacing distance between the following beacon and the scooter according to the first position information and the position information of the scooter.

And after the scooter responds to the following instruction to obtain the first position information of the following beacon, determining the spacing distance between the following beacon and the scooter according to the first position information and the position information of the scooter. For example, the separation distance between the following beacon and the vehicle is determined from the first position coordinate in the first position information and the position coordinate in the vehicle own position information, and specifically, the separation distance may be a straight-line distance between the position represented by the first position coordinate and the position represented by the position coordinate in the vehicle own position information.

S204: it is determined whether the separation distance is greater than or equal to a preset distance threshold.

Comparing the determined distance between the following beacon and the mobility scooter with a preset distance threshold, if the distance is greater than or equal to the preset distance threshold, the mobility scooter exceeds the range of the user for following control, the following control method is terminated, and in order to prevent the mobility scooter from being stolen, a driving device of the mobility scooter can be controlled to be locked to lock the mobility scooter, namely, step S205a is executed. On the contrary, if the distance is smaller than the preset distance threshold, the driving device of the scooter is controlled to initialize, that is, step S205b is executed, so that the driving device changes its driving direction according to the movement angle in the following path.

The specific value of the preset distance threshold may be set according to an actual working condition, which is not limited in the embodiment of the present application.

S205a: and ending the following control method, and controlling the driving device of the scooter to be locked to lock the scooter.

S205b: and controlling the driving device of the scooter to initialize.

Optionally, when it is determined that the separation distance is smaller than the preset distance threshold, it indicates that the transportation vehicle is within the range of the user for the following control, and therefore before the driving device for controlling the transportation vehicle is initialized, it is further determined whether the transportation vehicle is in the locked state, and if it is determined that the transportation vehicle is in the locked state, the locked state is released, so that the control effect of automatically releasing the locked state when the separation distance between the following beacon and the transportation vehicle is smaller than the preset distance threshold is achieved. Otherwise, if the scooter is determined not to be in the locking state, the driving device of the scooter is directly controlled to carry out initialization.

S206: and acquiring a movement path following the beacon according to the first position information and the second position information.

After the scooter acquires the first position information and the second position information of the following beacon, the motion path of the following beacon is determined according to the first position information and the second position information, then the following path which is the same in direction and parallel can be generated according to the motion path, the simulated rocker signal is generated according to the following path, the simulated rocker signal is sent to the driving device, and the driving device responds to the simulated rocker signal to drive the scooter to run according to the following path. The following path is used for representing the moving track of the scooter following the user.

In a possible design, a possible implementation manner of step S206 is shown in fig. 5, and fig. 5 is a flowchart of another following control method provided in an embodiment of the present application. As shown in fig. 5, the method for acquiring a movement path of a following beacon according to first position information and second position information in a following control method provided in an embodiment of the present application includes:

s301: and acquiring the movement displacement of the following beacon according to the first position coordinate and the second position coordinate.

S302: and determining the motion angle according to the first course angle and the second course angle.

S303: and determining a motion path according to the motion displacement and the motion angle.

The first position information comprises a first position coordinate and a first course angle, and the second position information comprises a second position coordinate and a second course angle.

The first position information comprises a first position coordinate and a first course angle of the following beacon, wherein the first position coordinate represents the position of the following beacon by adopting a coordinate in a geodetic coordinate system, and the first course angle is used for representing the course of the following beacon, namely the moving direction of the following beacon. Similarly, the second position information includes a second position coordinate and a second heading angle, the second position coordinate represents any position after the following beacon moves from the position represented by the first position coordinate by using the coordinate in the geodetic coordinate system, and the second heading angle is used for representing the heading of the following beacon when the following beacon reaches the position represented by the second position coordinate after moving from the position represented by the first position coordinate.

And acquiring the movement displacement of the following beacon based on the first position coordinate in the first position information and the second position coordinate in the second position information.

For example, a displacement between the position represented by the first position coordinate and the position represented by the second position coordinate, that is, a displacement following the movement of the beacon, may be acquired from the first position coordinate and the second position coordinate.

While determining the movement displacement, a movement angle is also determined according to the first heading angle and the second heading angle, for example, the movement angle may be an angle variation between the first heading angle and the second heading angle.

After the movement displacement and the movement angle are determined, an orientation vector formed by the movement displacement and the movement angle is the movement track following the beacon, namely the movement path.

S207: and generating a following path according to the motion path, so that the driving device of the scooter drives the scooter to run according to the following path.

Wherein, the following path and the motion path are in the same direction and parallel.

After the movement path of the following beacon is acquired, the following path which is in the same direction as and parallel to the movement path is generated by taking the movement path as a reference.

In a possible design, possible implementations of step S207 include:

the driving road width and the driving road extending direction may be obtained first, for example, the driving road width and the driving road extending direction may be obtained through a GPS positioning function of the scooter or an identification function of the optical sensor, and the driving road extending direction refers to a running direction of the driving road, such as a north-south running direction, an east-west running direction, and the like. And then determining the moving direction of the following path according to the moving angle in the moving path and the extending direction of the driving road. For example, whether an included angle between the movement angle and the extending direction of the running road is smaller than a preset angle is judged, if yes, the movement angle is directly determined as the movement direction of the following path, and if not, the movement direction of the scooter is adjusted according to the preset angle and the extending direction of the running road, and the direction of which the included angle is smaller than the preset angle is determined as the movement direction of the following path. So as to ensure that the following direction and the movement direction of the scooter are the same. And generating a following path according to the width of the driving road, the movement displacement and the movement direction. For example, after the movement direction is determined, the following path is planned along the movement direction within a range not exceeding the movement displacement, so that the following path is in the same direction as the movement path. And the horizontal distance between the planned following path and the planned movement path, which are respectively vertical to the extending direction of the driving road, is less than the width of the driving road, so that the following path and the movement path are ensured to be in a parallel state, and when the scooter drives along the following path, the scooter can follow the user in the same direction and in parallel. And after the following path is generated, controlling a driving device of the scooter to drive the scooter to run according to the following path.

The following control method provided by the embodiment of the application is applied to the scooter, after the scooter responds to the following instruction to obtain the first position information of the following beacon, the spacing distance between the following beacon and the scooter is further determined, and the spacing distance is compared with a preset distance threshold value to determine whether the current position of the scooter is within the range of the user for following control. And when the spacing distance exceeds the preset distance threshold value, the following control method is stopped, and the driving device is controlled to be locked to lock the scooter so as to prevent the scooter from being stolen. And when the spacing distance is determined to be smaller than the preset distance threshold value, the driving device is controlled to be initialized so that the scooter can follow the user conveniently. Before the control rocker is initialized, if the scooter is determined to be in the locking state, the locking state of the scooter is also automatically released, so that the automatic unlocking function is realized when the distance between the following beacon and the scooter is within the range of the preset distance threshold. And then, second position information of the following beacon is acquired, a motion path of the following beacon is acquired according to the first position information and the second position information, and the following path which is in the same direction and parallel to the motion path is planned according to the motion path, so that the driving device drives the scooter to run according to the following path, the scooter can automatically follow the user in the same direction and in parallel, the scooter does not need to be manually pushed, the use function of the scooter is enriched, and the use experience of the user is improved.

On the basis of the foregoing embodiments, fig. 6 is a schematic flow chart of another following control method provided in the embodiments of the present application. As shown in fig. 6, the following control method provided in the embodiment of the present application includes:

s401: and receiving a following instruction issued by the user through the following beacon.

S402: first position information and second position information of the following beacon are acquired in response to the following instruction.

S403: and acquiring a movement path following the beacon according to the first position information and the second position information.

S404: and generating a following path according to the motion path. Wherein, the following path and the motion path are in the same direction and parallel.

The possible implementation manners, principles and technical effects of steps S401 to S404 are similar to the same steps in the foregoing embodiments, and the details refer to the foregoing description, which is not repeated herein.

S405: it is determined whether an obstacle exists on the following path.

After the walker determines the following path, whether an obstacle exists on the following path is further determined. For example, whether an obstacle exists on the following path is detected through detection functions such as ultrasonic waves, radars, infrared rays and the like, when the obstacle exists on the following path, the following path is corrected according to boundary information of the obstacle, a new analog rocker signal can be generated according to the corrected following path, the new analog rocker signal is sent to the driving device, the driving device responds to the new analog rocker signal, the scooter is driven to run according to the corrected following path, and step S406 is executed. Obviously, the corrected following path is a following path after avoiding the obstacle. Otherwise, if it is determined that there is no obstacle on the following path, step S407 is performed.

S406: and correcting the following path according to the position information of the obstacle, so that the driving device of the scooter drives the scooter to run according to the corrected following path.

When the obstacle is determined to exist on the following path, the obstacle needs to be avoided. For example, the following path may be corrected based on the position information of the obstacle. The position information of the obstacle includes the current position coordinates of the obstacle and the boundary information of the obstacle itself. The current position coordinates may be coordinates of a geometric center of the obstacle in a geodetic coordinate system, and the boundary information may be a lateral size and a longitudinal size of the obstacle.

Specifically, whether the obstacle is static or dynamic is judged according to the position information of the obstacle, if the obstacle is dynamic, the time required by the obstacle to avoid the scooter can be calculated according to the current position coordinates and the boundary information of the obstacle, and the scooter can wait for the time to avoid the obstacle. And if the barrier is static, the scooter can adjust the current following path according to the current position coordinate and the boundary information of the barrier so as to determine one side capable of passing from two sides of the barrier, thereby avoiding the barrier. Therefore, the process of avoiding the obstacle according to the position information of the obstacle is to modify the following path, and then the vehicle runs according to the modified following path, so that the function of automatically avoiding the obstacle in the process of following the user is realized.

S407: the driving device of the scooter drives the scooter to run according to the following path.

Possible implementation manners, principles and technical effects of step S407 are similar to those of step S104, and reference may be made to the foregoing description for details, which are not repeated herein.

The following control method provided by the embodiment of the application is applied to the scooter, after the motion path of the following beacon is obtained according to the first position information and the second position information, and the following path which is in the same direction as and parallel to the motion path is generated according to the motion path, whether an obstacle exists on the following path is further determined, if the obstacle exists, the following path is corrected according to the position information of the obstacle, and then the scooter is driven by the driving device to run according to the corrected following path, so that the obstacle is automatically avoided in the process of automatically following a user, the safety of automatic following is ensured, the intelligence of the scooter is improved, and the use experience of the user is further improved.

Fig. 7 is a schematic structural diagram of a following control device provided in an embodiment of the present application, where the following control device is applied to a scooter. As shown in fig. 7, the following control device 500 provided in the embodiment of the present application includes:

a receiving module 501, configured to receive a following instruction issued by a user through a following beacon;

an obtaining module 502, configured to obtain first location information and second location information of the following beacon in response to the following instruction;

and the processing module 503 is configured to obtain a motion path of the following beacon according to the first position information and the second position information, and generate a following path according to the motion path, so that the driving device of the scooter drives the scooter to travel according to the following path, and the following path is in the same direction as and parallel to the motion path.

In one possible design, the processing module 503 is further configured to:

determining whether an obstacle exists on the following path;

the position information of the obstacle includes obstacle position coordinates and obstacle boundary information.

In one possible design, the processing module 503 is further configured to:

determining a motion path following the beacon according to the motion displacement and the motion angle;

In one possible design, the processing module 503 is further configured to:

acquiring the width and the extending direction of a driving road;

and generating a following path according to the width of the driving road, the movement displacement and the movement direction, wherein the horizontal distance between the following path and the movement path, which is perpendicular to the extending direction of the driving road, is smaller than the width of the driving road.

In one possible design, the processing module 503 is further configured to:

determining whether the spacing distance is greater than or equal to a preset distance threshold;

if so, ending the following control method and controlling the driving device of the scooter to be locked so as to lock the scooter;

if not, controlling the drive device of the scooter to initialize.

In one possible design, the processing module 503 is further configured to:

determining whether the scooter is in a locked state;

if yes, the locking state is released.

In one possible design, the follow-up beacon includes one or more of a remote controller intelligently matched with the scooter, a smart crutch, and an electronic beacon terminal.

The following control device provided in the embodiment of the present application may perform each step of the following control method in the foregoing method embodiments, and the implementation principle and technical effects are similar, which are not described herein again.

Fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 8, the electronic device 600 may include: a processor 601, and a memory 602 communicatively coupled to the processor 601.

The memory 602 is used for storing programs. In particular, the program may include program code comprising computer-executable instructions.

The memory 602 may comprise high-speed RAM memory, and may also include NoN-volatile memory (NON-volatile memory), such as at least one disk memory.

The processor 601 is used to execute computer-executable instructions stored in the memory 602 to implement the follow-up control method.

The processor 601 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement the embodiments of the present Application.

Alternatively, the memory 602 may be separate or integrated with the processor 601. When the memory 602 is a device independent of the processor 601, the electronic device 600 may further include:

a bus 603 for connecting the processor 601 and the memory 602. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. Buses may be classified as address buses, data buses, control buses, etc., but do not represent only one bus or type of bus.

Alternatively, in a specific implementation, if the memory 602 and the processor 601 are implemented in a single chip, the memory 602 and the processor 601 may complete communication through an internal interface.

The present application also provides a computer-readable storage medium, which may include: various media that can store 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, and in particular, the computer-readable storage medium stores computer-executable instructions, where the computer-executable instructions are used for each step of the method in the foregoing embodiments.

The present application also provides a computer program product comprising computer executable instructions which, when executed by a processor, perform the steps of the method in the above embodiments.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A following control method is characterized in that the following control method is applied to a scooter; the method comprises the following steps:

receiving a following instruction issued by a user through a following beacon;

2. The follow control method according to claim 1, further comprising:

determining whether an obstacle is present on the followed path;

3. The following control method according to claim 1, wherein the obtaining a movement path of the following beacon according to the first position information and the second position information includes:

4. The follow control method according to claim 3, wherein the generating a follow path from the motion path includes:

acquiring the width and the extending direction of a driving road;

5. The follow control method according to any one of claims 1 to 4, further comprising, after the acquiring of the first position information of the follow beacon in response to the follow instruction:

if not, controlling the driving device of the scooter to initialize.

6. The follow control method according to claim 5, further comprising, before initialization of the drive device that controls the scooter:

determining whether the vehicle is in a locked state;

and if so, releasing the locking state.

7. The follow control method according to claim 6, wherein the follow beacon includes one or more of a remote controller intelligently matched with the walker, a smart crutch, and an electronic beacon terminal.

8. A following control device is characterized in that the following control device is applied to a scooter; the apparatus, comprising:

9. An electronic device, comprising: a processor, and a memory communicatively coupled to the processor;

the memory stores computer-executable instructions;

the processor executes computer-executable instructions stored by the memory to implement the follow control method of any one of claims 1 to 7.

10. A computer-readable storage medium having stored therein computer-executable instructions for implementing the follow control method according to any one of claims 1 to 7 when executed by a processor.