WO2021027965A1 - Guidon et véhicule doté de celui-ci - Google Patents

Guidon et véhicule doté de celui-ci Download PDF

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Publication number
WO2021027965A1
WO2021027965A1 PCT/CN2020/109606 CN2020109606W WO2021027965A1 WO 2021027965 A1 WO2021027965 A1 WO 2021027965A1 CN 2020109606 W CN2020109606 W CN 2020109606W WO 2021027965 A1 WO2021027965 A1 WO 2021027965A1
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WO
WIPO (PCT)
Prior art keywords
camera
vehicle
handlebar
boundary surface
avoiding
Prior art date
Application number
PCT/CN2020/109606
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English (en)
Chinese (zh)
Inventor
奚卫宁
薛舟
郝旭昶
薛超
Original Assignee
纳恩博（常州）科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 纳恩博（常州）科技有限公司 filed Critical 纳恩博（常州）科技有限公司
Publication of WO2021027965A1 publication Critical patent/WO2021027965A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J99/00—Subject matter not provided for in other groups of this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K21/00—Steering devices
    • B62K21/12—Handlebars; Handlebar stems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Definitions

  • This application relates to the technical field of electric vehicles, and in particular to a vehicle faucet and a vehicle with the same.
  • the main purpose of this application is to provide a vehicle faucet and a vehicle with the same to solve the technical problem of high cost of the visual navigation system of the scooter in the prior art.
  • a vehicle faucet including: a handlebar assembly; a camera mechanism arranged on the handlebar assembly, the camera mechanism includes a plurality of cameras, the plurality of cameras are arranged at intervals, and each camera The camera ends of the camera are all inclined downwardly, and at least two cameras have overlapping camera areas.
  • a plurality of cameras are arranged at intervals.
  • the plurality of cameras includes a first camera and a second camera, the first camera is arranged obliquely downward toward the forward direction of the vehicle faucet, and the second camera is arranged obliquely downward toward the backward direction of the vehicle faucet;
  • the first camera has a first camera Area, the first imaging area has a first boundary surface and a second boundary surface, the first boundary surface and the second boundary surface enclose the first imaging area, and the first boundary surface is located on the side of the second boundary surface away from the second camera;
  • the second camera has a second imaging area, the second imaging area has a third boundary surface and a fourth boundary surface, the third boundary surface and the fourth boundary surface enclose the second imaging area, and the fourth boundary surface is located far away from the third boundary surface
  • One side of the first camera at least part of the first imaging area crosses at least part of the second imaging area to form an overlapping imaging area.
  • angle of view of the overlapping imaging regions is ⁇ , 40° ⁇ 70°.
  • first boundary surface is arranged obliquely upward with respect to the horizontal plane, and the first boundary surface and the horizontal plane have a first preset angle.
  • the first preset included angle is ⁇ 1 , ⁇ 1 ⁇ 10°.
  • ⁇ 2 there is a second preset angle ⁇ 2 between the fourth boundary surface and the vertical plane, ⁇ 2 ⁇ 45°.
  • the handlebar assembly includes: a handlebar master control mechanism, the camera mechanism is arranged on the handlebar master control mechanism, at least a part of the handlebar master control mechanism is connected with the camera mechanism to receive signals from the camera mechanism, and make the handlebar master control At least part of the mechanism sends out corresponding control signals according to the signals detected by the camera mechanism.
  • the handlebar assembly further includes: a first handle set at one end of the handlebar main control mechanism; and a second handle set at the other end of the handlebar main control mechanism.
  • the handlebar main control mechanism includes a main control housing and a main control circuit board.
  • the main control housing encloses an accommodating cavity
  • the main control circuit board is arranged in the accommodating cavity
  • the camera mechanism is arranged on the main control housing
  • the camera mechanism Connect with the main control circuit board.
  • the main control housing includes a bottom plate, a first side plate, a second side plate, and a top plate.
  • the bottom plate and the top plate are arranged opposite to each other.
  • the first side plate and the second side plate are both arranged between the top plate and the bottom plate.
  • the side plate, the second side plate and the top plate enclose an accommodating cavity;
  • the first side plate and the bottom plate are arranged obliquely at a first preset angle, and the second side plate and the bottom plate are obliquely arranged at a second preset angle;
  • the camera includes a third The camera and the fourth camera, the third camera is arranged on the first side panel, and the fourth camera is arranged on the second side panel.
  • the vehicle faucet further includes: a pole assembly connected to the handlebar assembly.
  • the pole assembly and the camera mechanism have an avoiding part opposite to the camera mechanism to avoid the camera area of the camera mechanism through the avoiding part, so that at least two cameras can capture The area passes through the avoiding part and forms an overlapping imaging area.
  • the vertical pole assembly includes: an avoiding piece, one end of the avoiding piece is connected with the handlebar assembly, the avoiding piece is provided with a hollow part, the hollow part is arranged opposite to the camera mechanism, and the hollow part forms the avoiding part; Connect at the other end.
  • the avoiding member includes: a first avoiding rod, one end of the first avoiding rod is connected to the handlebar assembly, the other end of the first avoiding rod is connected to the vertical rod, and one end of the first avoiding rod is located at one end of the camera mechanism; Avoidance rod, one end of the second avoidance rod is connected with the handlebar assembly, the other end of the second avoidance rod is connected with the vertical rod, and one end of the second avoidance rod is located at the other end of the camera mechanism, so that the first avoidance rod and the second avoidance rod An avoidance part is formed between the rods.
  • a vehicle is provided.
  • the vehicle includes a vehicle faucet, and the vehicle faucet is the vehicle faucet provided above.
  • FIG. 1 shows a schematic diagram of a partial structure of a vehicle faucet provided according to Embodiment 1 of the present application
  • Fig. 2 shows a schematic diagram of the camera areas of the first camera and the second camera provided according to the first embodiment of the present application;
  • FIG. 3 shows a schematic view of the structure of the camera area of the first camera (wide viewing angle in the front-rear direction, narrow viewing angle in the left-right direction) and the second camera (wide viewing angle in the front-rear direction, narrow viewing angle in the left-right direction) according to the first embodiment of the present application;
  • Fig. 4 shows a partial structural diagram in Fig. 3;
  • Figure 5 shows a side view in Figure 3
  • FIG. 6 shows a schematic view of the structure of the camera area of the first camera (wide front-to-rear viewing angle, narrow left-right viewing angle) and second camera (long front-rear viewing angle, wide left-right viewing angle) provided according to Embodiment 1 of the present application;
  • Fig. 7 shows a partial structural diagram in Fig. 6;
  • FIG. 8 shows the side view in FIG. 6.
  • Handlebar assembly 11. Handlebar main control mechanism; 111, bottom plate; 112, first side plate; 113, second side plate; 114, top plate; 12. first handle; 13, second handle; 20, camera 30. Avoidance parts; 31. First avoidance rod; 32. Second avoidance rod; 40. Upright rod; 50. Car body.
  • Embodiment 1 of the present application provides a vehicle faucet, which includes a handlebar assembly 10 and a camera mechanism.
  • the camera mechanism is arranged on the handlebar assembly 10, and the camera mechanism includes a plurality of cameras 20, the plurality of cameras 20 are arranged at intervals, the camera ends of each camera 20 are arranged obliquely downward, and at least two cameras 20 have overlapping camera areas.
  • the technical solution provided by this embodiment since at least two cameras 20 have overlapping imaging areas, the wide-angle range of the camera mechanism can be increased, and the overlapping imaging areas can obtain depth data to achieve binocular vision effect, thereby It realizes the 3D vision technology with no dead corners and anti-dropping in the overlapping camera area, so that it can perform better visual navigation at a lower cost. Therefore, the technical solution provided by this embodiment can solve the technical problem of high cost of the visual navigation system of the scooter in the prior art.
  • the car faucet provided by this embodiment, there is no need to add a fisheye lens in front of the camera 20 to expand the wide visual angle of the camera 20, and therefore, there is no need to use complex latitude and longitude calculations to obtain images without distortion, which saves the cost of computing resources. , Reducing the difficulty of the system algorithm, but also improving the effect of visual navigation.
  • the camera 20 in this application can be the most common and mature camera 20, and the cost of the camera 20 is relatively low.
  • the laser sensor is low, and the detection area of the laser sensor is a point, which is prone to missed detection; while the response of the super-generation sensor is slow, and it is easy to misreport in rainy days.
  • adopting the vehicle faucet in this application does not require fusion of multiple different sensors.
  • laser sensors and infrared sensors need to be fused and used, which is costly and consumes very few resources. It is only necessary to ensure that at least two cameras 20 have overlapping imaging areas, thereby reducing the cost.
  • the most common and mature camera 20 can be used in this embodiment, such as a 120° driving recorder camera 20, which can be installed through a certain angle and position setting, with high technology maturity and low cost. Closer to commercial landing.
  • the image distortion is small, the installation is convenient, and there is no need to install and connect with other expensive sensors and data fusion.
  • the technical solution provided by this embodiment can also achieve a visual effect that takes into account both the forward long viewing angle and the lateral wide viewing angle, and the viewing angle range can be adjusted and modified according to actual needs.
  • a plurality of cameras 20 are arranged at intervals along the extension direction perpendicular to the handlebar assembly 10.
  • the extension direction perpendicular to the handlebar assembly 10 is the forward or reverse direction of the faucet.
  • the plurality of cameras 20 in this embodiment includes a first camera and a second camera.
  • the first camera is arranged obliquely downward toward the forward direction of the vehicle faucet
  • the second camera is installed obliquely downward toward the backward direction of the vehicle faucet.
  • Adopting such an orientation setting can facilitate the first camera to better observe the riding environment of the front of the vehicle, and it can also facilitate the second camera to better observe the riding environment of the rear of the vehicle, so as to facilitate the passage of the first camera and the second camera.
  • the second camera observes the riding environment at the front and rear of the vehicle in time and feeds it back to the corresponding control mechanism.
  • FOV1 in the figure represents the wide-angle range of the first camera
  • FOV2 represents the wide-angle range of the second camera.
  • the first camera in this embodiment has a first camera area, and the first camera area has a first boundary surface (that is, the front edge of the first camera) and a second boundary surface (that is, the back edge of the first camera),
  • the first side interface and the second boundary surface enclose a first imaging area, and the first boundary surface is located on a side of the second boundary surface away from the second camera.
  • the second camera has a second camera area, the second camera area has a third boundary surface (that is, the front edge of the second camera) and a fourth boundary surface (that is, the back edge of the second camera), the third boundary surface and the fourth side
  • the interface encloses the second camera area, and the fourth boundary surface is located on the side of the third boundary surface away from the first camera.
  • at least part of the first imaging area intersects with at least part of the second imaging area to form an overlapping imaging area.
  • the angle of view of the overlapping imaging area of the first camera and the second camera is ⁇ , 40° ⁇ 70°.
  • the overlapping camera area can cover the distance range of the vehicle to prevent falling when the vehicle is moving forward and the sufficient braking distance for the obstacle to be seen when the vehicle is backing, so as to better treat the vehicle
  • the surrounding riding environment is detected to better improve the effect of visual navigation.
  • the front edge of the second camera (here the front and rear are based on the forward and backward directions of the vehicle) must be at least 1 meter in front of the front of the vehicle.
  • the rear edge of the camera must be at least 1 meter outside the rear wheel of the vehicle.
  • the angle of view of the overlapping camera area of the first camera and the second camera can be 60°. In this way, the overlapping camera area can cover the front of the vehicle and the rear of the vehicle to better align the front and rear of the vehicle. The riding environment is tested.
  • the first boundary surface is disposed obliquely upward with respect to the horizontal plane, and the first boundary surface and the horizontal plane have a first preset angle. Sampling such a setting can better enable the first camera area to cover the riding environment at the front of the vehicle, so as to increase the viewing angle of the camera mechanism and better improve the effect of visual navigation.
  • the first preset angle is ⁇ 1 , ⁇ 1 ⁇ 10°. With such a setting, the viewing angle can be better increased to expand the detection range of the camera mechanism.
  • the handlebar assembly 10 includes a handlebar master control mechanism 11, the camera mechanism is arranged on the handlebar master control mechanism 11, and at least part of the handlebar master control mechanism 11 is connected with the camera mechanism to receive signals from the camera mechanism. In addition, at least part of the handlebar main control mechanism 11 sends corresponding control signals according to the signals detected by the camera mechanism, so as to control the movement of the vehicle through the control signals.
  • the handlebar main control mechanism 11 can control the vehicle correspondingly according to the imaging conditions of the camera mechanism, so as to better achieve the anti-fall effect. At the same time, it can also optimize the spatial layout of the car faucet, making the structure more compact.
  • the handlebar main control mechanism 11 in this embodiment has a symmetrical structure, and a plurality of cameras 20 may all be arranged at the middle symmetrical position of the handlebar main control mechanism 11.
  • the handlebar assembly 10 in this embodiment further includes a first handle 12 and a second handle 13.
  • the first handle 12 is arranged at one end of the handlebar main control mechanism 11, and the second handle 13 is arranged on the handlebar main control mechanism 11. another side. Adopting such an arrangement can facilitate the optimization of the spatial pattern of the faucet, and further improve the compactness of the structure.
  • the handlebar main control mechanism 11 includes a main control housing and a main control circuit board.
  • the main control housing encloses an accommodating cavity
  • the main control circuit board is arranged in the accommodating cavity
  • the camera mechanism is arranged in the main control housing.
  • the camera mechanism is connected with the main control circuit board. Sampling such a setting, the signal collected by the camera mechanism will be directly transmitted to the main control circuit board.
  • the main control circuit board controls the movement of the driving mechanism of the vehicle according to the signal transmitted by the camera mechanism, so as to control the operation of the vehicle according to the actual situation and prevent The condition of the vehicle falling.
  • the main control housing in this embodiment includes a bottom plate 111, a first side plate 112, a second side plate 113, and a top plate 114.
  • the bottom plate 111 is disposed opposite to the top plate 114, and the first side plate 112 and the second side plate 113 They are all arranged between the top plate 114 and the bottom plate 111, and the bottom plate 111, the first side plate 112, the second side plate 113 and the top plate 114 enclose a receiving cavity.
  • the first side plate 112 and the bottom plate 111 are obliquely disposed at a first preset angle
  • the second side plate 113 and the bottom plate 111 are obliquely disposed at a second preset angle.
  • the camera 20 includes a third camera and a fourth camera.
  • the third camera is arranged on the first side plate 112 and the fourth camera is arranged on the second side plate 113.
  • there is one third camera, one fourth camera, the third camera and the fourth camera are arranged at a certain angle, and the camera area of the third camera and the camera area of the fourth camera cross each other. In order to form overlapping areas, they can be expanded to increase the viewing angle.
  • the first side panel 112 is located in front of the second side panel 113 (the front and rear here are based on the forward and backward directions of the vehicle), the viewing angle of the third camera covers the forward direction of the vehicle and the area below the vehicle, and The angle of view in the front and rear direction and the angle of view in the left and right directions of the three cameras can be set according to actual conditions. Specifically, the angle of view in the front and rear directions of the third camera can be wide and the angle of view in the left and right directions can be narrow.
  • the angle of view of the fourth camera covers the area below and behind the vehicle, and the front and rear angle of view and the left and right angle of view of the fourth camera can be set according to the actual situation.
  • the front and rear angle of view of the fourth camera can be set Wide, narrow viewing angle in the left and right directions, and can make the viewing angle in the front and rear directions of the fourth camera narrow and wide in the left and right directions.
  • the third camera in this embodiment may be the first camera, and the fourth camera may be the second camera.
  • the vehicle faucet further includes a pole 40 assembly, which is connected to the handlebar assembly 10, and the pole 40 assembly has an avoiding portion opposite to the camera mechanism to avoid the camera area of the camera mechanism through the avoiding portion , So that the imaging areas of at least two cameras 20 pass through the avoiding part and form overlapping imaging areas.
  • a pole 40 assembly which is connected to the handlebar assembly 10
  • the pole 40 assembly has an avoiding portion opposite to the camera mechanism to avoid the camera area of the camera mechanism through the avoiding portion , So that the imaging areas of at least two cameras 20 pass through the avoiding part and form overlapping imaging areas.
  • the vertical pole 40 assembly includes a avoiding member 30 and a vertical pole 40.
  • One end of the avoiding member 30 is connected to the handlebar assembly 10, and the avoiding member 30 is provided with a hollow part which is opposite to the camera mechanism. An avoiding portion is formed to avoid the imaging area of the imaging mechanism.
  • the pole 40 is connected to the other end of the avoiding member 30.
  • the avoiding member 30 in this embodiment includes a first avoiding rod 31 and a second avoiding rod 32.
  • One end of the first avoiding rod 31 is connected to the handlebar assembly 10, and the other end of the first avoiding rod 31 is connected to the vertical rod 40. Connected, one end of the first avoiding rod 31 is located at one end of the camera mechanism.
  • One end of the second avoidance rod 32 is connected to the handlebar assembly 10, the other end of the second avoidance rod 32 is connected to the vertical rod 40, and one end of the second avoidance rod 32 is located at the other end of the camera mechanism, so that the first avoidance rod 31 and An avoiding portion is formed between the second avoiding rods 32.
  • the avoiding member 30 in this embodiment may be a U-shaped structure or a V-shaped structure. Such a configuration can facilitate the first camera and the second camera to form an intersection area, and the structure is simple and easy to manufacture.
  • the second embodiment of the present application provides a vehicle.
  • the vehicle includes a vehicle faucet and a vehicle body 50.
  • the vehicle faucet is the vehicle faucet provided in the first embodiment, and the vehicle faucet is arranged on the vehicle body 50.
  • the local binocular depth can be achieved through the overlapping area of at least two cameras 20 Visual effect; by providing the avoiding part on the avoiding part 30, it is convenient to obtain the overlapping camera area; by arranging the handlebar main control mechanism 11 at the middle position of the handlebar assembly 10, it is convenient to install the camera 20 and to facilitate
  • the main control circuit board and chip required for high-level computing are installed, which is convenient for nearby processing, improves the compactness of the structure, and is easy to install.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Transportation (AREA)
  • Studio Devices (AREA)

Abstract

Guidon et véhicule doté de celui-ci. Le guidon comporte: un ensemble guidon (10); et un mécanisme de caméras placé sur l'ensemble guidon (10), le mécanisme de caméras comportant une pluralité de caméras (20), la pluralité de caméras (20) étant placées et espacées les unes par rapport aux autres, des extrémités de prise de vue des caméras (20) étant toutes placées obliquement vers le bas, et au moins deux caméras (20) possédant des zones de prise de vue en chevauchement. Le guidon et le véhicule doté de celui-ci sont capables de résoudre le problème technique rencontré dans l'état antérieur de la technique, où le coût d'un système visuel de navigation d'une trottinette est élevé.
PCT/CN2020/109606 2019-08-15 2020-08-17 Guidon et véhicule doté de celui-ci WO2021027965A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201921326412.9U CN210822610U (zh) 2019-08-15 2019-08-15 车龙头及具有其的车辆
CN201921326412.9 2019-08-15

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WO2021027965A1 true WO2021027965A1 (fr) 2021-02-18

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN210822610U (zh) * 2019-08-15 2020-06-23 北京致行慕远科技有限公司 车龙头及具有其的车辆
CN114435514A (zh) * 2022-01-24 2022-05-06 重庆工业职业技术学院 一种摩托车智能防盗及导航系统

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JP2007124866A (ja) * 2005-10-31 2007-05-17 Sony Corp 走行装置及びその制御方法
US20170151850A1 (en) * 2015-12-01 2017-06-01 Honda Research Institute Europe Gmbh Predictive suspension control for a vehicle using a stereo camera sensor
CN206674108U (zh) * 2017-04-10 2017-11-24 江苏车视杰电子有限公司 摄像装置与具有该摄像装置的图像处理实时预警系统
CN109533154A (zh) * 2018-12-07 2019-03-29 纳恩博（北京）科技有限公司 滑板车
CN109774847A (zh) * 2018-12-07 2019-05-21 纳恩博（北京）科技有限公司 滑板车
CN210822610U (zh) * 2019-08-15 2020-06-23 北京致行慕远科技有限公司 车龙头及具有其的车辆

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007124866A (ja) * 2005-10-31 2007-05-17 Sony Corp 走行装置及びその制御方法
US20170151850A1 (en) * 2015-12-01 2017-06-01 Honda Research Institute Europe Gmbh Predictive suspension control for a vehicle using a stereo camera sensor
CN206674108U (zh) * 2017-04-10 2017-11-24 江苏车视杰电子有限公司 摄像装置与具有该摄像装置的图像处理实时预警系统
CN109533154A (zh) * 2018-12-07 2019-03-29 纳恩博（北京）科技有限公司 滑板车
CN109774847A (zh) * 2018-12-07 2019-05-21 纳恩博（北京）科技有限公司 滑板车
CN210822610U (zh) * 2019-08-15 2020-06-23 北京致行慕远科技有限公司 车龙头及具有其的车辆

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