WO2023281391A1 - Trottinette électrique équipée d'un système anti-collision et son procédé de commande - Google Patents

Trottinette électrique équipée d'un système anti-collision et son procédé de commande Download PDF

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Publication number
WO2023281391A1
WO2023281391A1 PCT/IB2022/056200 IB2022056200W WO2023281391A1 WO 2023281391 A1 WO2023281391 A1 WO 2023281391A1 IB 2022056200 W IB2022056200 W IB 2022056200W WO 2023281391 A1 WO2023281391 A1 WO 2023281391A1
Authority
WO
WIPO (PCT)
Prior art keywords
collision
electric scooter
scooter
battery
handlebar
Prior art date
Application number
PCT/IB2022/056200
Other languages
English (en)
Inventor
Massimiliano Melis
Marco Girotto
Marco BELTRAMETTI
Raffaele CALABRESE
Daniel Luis PANCORBO D'AMMANDO
Talaye TALAKOOBI
Original Assignee
To.Tem S.R.L.
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 To.Tem S.R.L. filed Critical To.Tem S.R.L.
Publication of WO2023281391A1 publication Critical patent/WO2023281391A1/fr

Links

Classifications

    • 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
    • B62J27/00—Safety equipment
    • 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
    • B62J43/00—Arrangements of batteries
    • B62J43/20—Arrangements of batteries characterised by the mounting
    • B62J43/28—Arrangements of batteries characterised by the mounting hidden within the cycle frame
    • 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
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • 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
    • B62J50/00—Arrangements specially adapted for use on cycles not provided for in main groups B62J1/00 - B62J45/00
    • B62J50/20—Information-providing devices
    • B62J50/21—Information-providing devices intended to provide information to rider or passenger
    • B62J50/22—Information-providing devices intended to provide information to rider or passenger electronic, e.g. displays
    • 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
    • B62K15/00—Collapsible or foldable cycles
    • B62K15/006—Collapsible or foldable cycles the frame being foldable
    • 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
    • B62K3/00—Bicycles
    • B62K3/002—Bicycles without a seat, i.e. the rider operating the vehicle in a standing position, e.g. non-motorized scooters; non-motorized scooters with skis or runners

Definitions

  • the present invention relates to an electric scooter provided with innovative features in terms of safety and reliability.
  • the scooter is provided with an anti-collision system and a method for managing and controlling the system.
  • the anti-collision system includes a virtual rear-view mirror for the scooter and a system for generating anti-collision alarms.
  • Applications of the anti-collision system may be in the field of micro-mobility vehicles, in particular electric scooters, in order to provide the driver with advanced functionalities typical of large vehicles.
  • the control strategy of the system is intended to optimize driving by signaling possible dangers behind the driver. It is not intended as a 'safety critical' functionality as it does not interact in any way with driving.
  • Electric scooters generally have two small, hard wheels with a folding frame, usually made of aluminum. There is a platform between the two wheels for resting the feet, and the scooter is steered via a handlebar attached to the front wheel. Some scooters have three or four wheels, or are made of plastic, or are not foldable. The range generally varies from 5 to 50 km, and the maximum speed is about 30 km/h. Within the country, scooters, those equipped with an electric motor with power within 0.5 kW and a speed within 25 km/h, are equal to bicycles. They must have similar equipment to bicycles: two brakes, reflectors, front and rear lights (if absent, they may only be ridden during daylight hours), a horn or bell.
  • an object of the present invention is to define an electric scooter provided with an anti-collision system and related control strategy thereof.
  • a further aim is to adopt artificial intelligence in micro-mobility vehicles.
  • the challenge is to use standard devices with low cost and performance in order to provide the driver with advanced functionalities that are typical of large vehicles but, on such vehicles, can only be integrated at high cost. However, it is not intended as 'safety critical' functionality and does not interact in any way with driving.
  • the aim of the control strategy of the anti-collision system is to optimize the processing of the acquired images and the activation of the anti-collision system.
  • the scooter is provided with further systems which confer additional advantages in terms of safety and/or reliability.
  • the scooter is provided with a removable battery which can be easily replaced and/or recharged separately from the scooter.
  • the present invention relates to an electric scooter comprising an anti-collision system, having the characteristics set forth in the independent product claim appended hereto.
  • the present invention relates to a method for operating the anti-collision system. Further preferred and/or particularly advantageous embodiments of the invention are described according to the features set forth in the appended dependent claims.
  • FIG. 1 is a side view of an electric scooter provided with the anti collision system according to the present invention
  • FIG. 2 is a rear view of the electric scooter of Figure 1
  • - Figure 3 is a side view of the electric scooter of figure 1, in a closed configuration
  • FIG. 4 is a rear view of the electric scooter of figure 1, in a steering configuration
  • FIG. 5 schematically illustrates a detail of the electric scooter handlebar of figure 1, and in particular the housing containing the battery,
  • FIG. 8 schematically illustrates the hardware of the anti-collision system present on the electric scooter
  • Figure 9 is a schematic of the high level architecture of the anti collision system software of Figure 8.
  • - Figure 10 is a block diagram of the method of managing and analyzing a video image according to the present invention
  • - Figure 11 is a block diagram of the method for managing collisions on a 2D image according to the present invention
  • FIG. 12 is a logic diagram of the method for managing artificial intelligence models according to the present invention.
  • FIGs 1-7 illustrate an electric scooter 100 according to the invention.
  • the electric scooter 100 comprises a platform 1, on which the feet rest, a handlebar 2, pivoted on the platform 1, which is used to change direction, at least one brake 3, disc and/or electric, located on the front wheel and three wheels 4, 5, 6, one front wheel 4 and two rear wheels 5, 6. All wheels 4, 5, 6 are puncture-proof, through the use of solid honeycomb tyres at the rear or 'foam' inserts instead of an inner tube at the front.
  • the rear axle 60 is composed of a truck (equivalent to those used in skateboards) that allows the rear wheels 4, 5 to steer, overcoming the limitation of current scooters related to turning radius.
  • the frame of the electric scooter 100 is made of aluminum and platform 1 is made of wood.
  • the width of the platform 1 is optimized to allow the scooter to be ridden even with parallel feet.
  • Handlebar 2 includes an aluminum front tube 2' containing a removable battery 7.
  • a display or smartphone 8 is centrally positioned: it indicates speed, riding mode, and battery charge status.
  • the battery 7 can be removed from the front tube 2' and is available in different 'sizes', depending on the desired driving range. We are therefore talking about the 'modular' battery concept, whereby batteries of different sizes share the same external 'case' so as to be completely interchangeable.
  • the extractable battery again with a view to safety and reliability, makes it possible to extend the vehicle's driving autonomy, when, for example, a spare battery is carried along that can be easily replaced in place of an exhausted one. If you do not wish to carry a second spare battery on board, it will still be easy to obtain a replacement battery at a charging station or service station, or to quickly recharge the existing battery.
  • the electric scooter 100 is foldable thanks to a hinge 10 located near the lower portion of the front tube 2', above the front wheel 4, which allows the closure of the tube 2' itself, above the platform 1. Once closed, the scooter 100 can be transported like a trolley thanks to the two rear wheels resting on the ground.
  • the electric scooter 100 remains upright on its own, thanks to the weight distribution (centre of gravity) and the geometry of the rear part, which then becomes a base.
  • these latter features also increase the safety of the scooter by preventing accidental falls and consequent breakdowns or, even worse, injuries.
  • the motor of the scooter is of the "in-wheel motor” or “hub-motor type", i.e. it is located in the hub of the front wheel, it is an off-the-shelf electric motor.
  • Brake 3 is of the front disc (safety) type with an electric motor brake. When braking, the motor is switched off for safety.
  • the brake lever and throttle lever are located on the handlebar.
  • the electric scooter 100 also includes rear position indicators that can be operated by the switches on the handlebar.
  • a removable battery 7 positioned inside the front tube 2' is closed by a flap 9 on which the display or smartphone 8 is positioned.
  • the battery 7 is removed and re inserted by means of a rotation of a cap 11 equipped with a spring, integral with the battery 7.
  • the scooter 100 also has a front LED light and a rear LED strip for the stop and brake light and indicator lights. From a safety perspective, there is no doubt that the greatest advantage of the electric scooter according to the present invention is that it is equipped with an anti-collision system comprising a virtual rear-view mirror and a system for generating anti-collision alarms.
  • the virtual rear-view mirror comprises a camera 12 positioned at the rear of the scooter 100, constrained to the footboard.
  • the camera hardware generates its own WIFI network in 'access point' mode.
  • a smartphone 8 WiFi Client
  • the control strategy is developed according to an optimal and discreet selection of images recorded by the virtual rear-view mirror, i.e. a camera positioned at the rear of the scooter and connected via WI-FI with a screen or smartphone of the user.
  • the camera is able to send images that are processed by the system and, depending on the need, activate an anti-collision warning system.
  • the mobile application for smartphones makes it possible to
  • the mobile application Having established the WIFI connection (Client and Server), the mobile application takes care of establishing a communication channel via standard protocols (UDP) and initializing the Mobile APP-Camera communication.
  • a data 'stream' is established.
  • the mobile application acquires video frames from the ’stream’ and shows a preview of them on the display of the smartphone 8, simulating a virtual rear-view mirror.
  • the camera 12 offers a 120° wide view in the horizontal plane to give the driver a greater field of vision.
  • the mobile application is able to run artificial intelligence models using ’Tensor Flow Lite by Google’. Specifically, Object Detection’ models are used.
  • the anti-collision alarm generation system is the result of this processing and leads to the generation of three alarms (visual/sound) for the driver, for example:
  • - S ’Streaming’ module, which is responsible for establishing the Wi Fi connection between the mobile application and the hardware; from this module, images are extracted at the ’frame’ level, according to a specified ’frame rate’ (e.g. 20 FPS);
  • - AI Artificial Intelligence Model Execution module, in which the extracted images become input for the artificial intelligence engine; the execution of an 'object detection' model generates a collection of identified objects on each image. Processing takes place in the background at a time independent of the 'frame rate';
  • the outputs of the artificial intelligence model for each image become inputs for analyzing the CDP ('Collision Detection and Processing') position of objects on the scene, understanding possible dangerous situations and handling alarms;
  • CDP collision Detection and Processing'
  • a graphical UI and sound part allows the user to be alerted to possible dangerous situations via the mobile application.
  • Each image is processed according to the following steps: a. connecting S10 the camera and start streaming; b. acquiring S20 a new image from the streaming; c. evaluating S30 whether the AI module is engaged: if no, return to step b., if yes, continue; d. running S40 an "object detection" model; e. checking S50 for possible collision with a grid; f. carrying out S60 an analysis of the potential risk of collision; g. evaluating S70 if there is a risk of potential collision: if no, return to point b., if yes, continue; h. generating an alarm signal.
  • the choice depends on the following considerations: when there is a new frame (the period between frames depends on the 'framerate'), it is processed if and only if the processing and 'post processing' of the AI module of the previous frame have been completed. Otherwise, the new frame is not processed. As soon as the processing is complete, the most recent and newly received frame is processed.
  • the purpose of the configuration is to virtually draw a "Box Collider" mask on the scene depending on the type of vehicle and the type of analysis to be performed.
  • the mask is drawn on each image: varying the mask varies the portions of the image to be analyzed.
  • - group 'boxes' may belong to groups.
  • a group for example, could be a set of Collider boxes placed in a row on the image, - height of the "boxes": the height of the boxes allows the proportions and perspective of the 2D image to be managed.
  • the boxes should cover the ground in perspective, assuming the camera is parallel to the ground, - the number of "boxes”: the number of boxes generates a finite discrete set of possible collisions on the scene. Increasing the number of boxes results in a denser set of areas over which collisions can be identified.
  • Box Collider we mean a rectangle on the scene that occupies a part of it; by “Bounding Box” a rectangle around an object identified by the Artificial Intelligence; by “Box Collider Group” a set of “Box Colliders” that identify a given area on the image and by “Collision” a "Software” event that is generated following an intersection between a "Box Collider” and a “Bounding Box”. Each 'Box Collider' group can identify a collision with a 'Bouding Box'.
  • the collision provides the group(s) involved in the collision (e.g. Row 1, Row 2, Row 3);
  • a method for image management is illustrated in Figure 11, comprising the following steps: i. viewing S100 a new image, ii. drawing S110 a collision mask (Collision Matrix), iii. detecting S120 a rectangle around an object ('Bounding Box'), iv. evaluating S130 the collision between a 'Colliders Group' and a
  • step g. if the possible collision is evaluated S140 negatively, go back to step iii., if it is evaluated S140 positively continue, vi. saving S150 all data, vii. running S160 an algorithm, viii. collecting S170 data.
  • the results of steps i. - v. are used as input for algorithms in step g., which process the results.
  • each algorithm can exploit the collision information of both a single image and, operating over time, several consecutively processed images.
  • various types of analysis can be implemented, exploiting the plasticity of this method.
  • the mobile application processes them according to their position relative to the d rive r/ve hide.
  • Image processing by means of artificial intelligence models is carried out by means of the following steps:

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Regulating Braking Force (AREA)

Abstract

La présente invention concerne une trottinette électrique (100) ayant : une plateforme (1), un guidon (2) articulé sur la plateforme (1), le guidon étant pourvu d'un tube avant qui contient une batterie amovible, un frein (3), au moins deux roues (4, 5), un système anti-collision configuré pour acquérir et traiter des images indiquant des dangers possibles derrière le conducteur et comportant : une caméra positionnée derrière la trottinette (100) qui génère un signal Wi-Fi, un téléphone intelligent ou un dispositif d'affichage (8) positionné sur le guidon (2) qui communique, par l'intermédiaire d'une application mobile, par l'intermédiaire d'un réseau Wi-Fi, avec la caméra et permet de rapporter toute situation dangereuse à l'utilisateur par l'intermédiaire de l'application mobile elle-même, la batterie amovible étant fermée par un rabat (9) sur lequel le dispositif d'affichage ou le téléphone intelligent (8) est positionné et la batterie est extraite et insérée à nouveau par rotation d'un capuchon équipé d'un ressort, d'un seul tenant avec la batterie.
PCT/IB2022/056200 2021-07-09 2022-07-05 Trottinette électrique équipée d'un système anti-collision et son procédé de commande WO2023281391A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102021000018089A IT202100018089A1 (it) 2021-07-09 2021-07-09 Monopattino elettrico provvisto di sistema anti-collisione e relativo metodo di controllo
IT102021000018089 2021-07-09

Publications (1)

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WO2023281391A1 true WO2023281391A1 (fr) 2023-01-12

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017063267A1 (fr) * 2015-10-17 2017-04-20 翁林华 Trottinette
KR20190007663A (ko) * 2017-07-13 2019-01-23 송재하 이륜차량의 차선변경 시 안전장치
US20190256162A1 (en) * 2018-02-21 2019-08-22 Timothy Denholm Bicycle safety apparatus and methods
US20200250975A1 (en) * 2019-01-31 2020-08-06 AitronX Inc. Sidewalk Detection for Electric Scooters
KR102201155B1 (ko) * 2019-08-06 2021-01-11 공주대학교 산학협력단 킥보드
US20210046994A1 (en) * 2018-04-23 2021-02-18 Audi Ag Scooter and method for operating a scooter
US11034404B2 (en) * 2016-09-22 2021-06-15 Etergo B.V. Scooter
KR102271321B1 (ko) * 2020-12-14 2021-07-01 주식회사 모빌린트 인공지능 기반의 사고 방지용 전동 킥보드 및 그의 사고 방지 방법

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017063267A1 (fr) * 2015-10-17 2017-04-20 翁林华 Trottinette
US11034404B2 (en) * 2016-09-22 2021-06-15 Etergo B.V. Scooter
KR20190007663A (ko) * 2017-07-13 2019-01-23 송재하 이륜차량의 차선변경 시 안전장치
US20190256162A1 (en) * 2018-02-21 2019-08-22 Timothy Denholm Bicycle safety apparatus and methods
US20210046994A1 (en) * 2018-04-23 2021-02-18 Audi Ag Scooter and method for operating a scooter
US20200250975A1 (en) * 2019-01-31 2020-08-06 AitronX Inc. Sidewalk Detection for Electric Scooters
KR102201155B1 (ko) * 2019-08-06 2021-01-11 공주대학교 산학협력단 킥보드
KR102271321B1 (ko) * 2020-12-14 2021-07-01 주식회사 모빌린트 인공지능 기반의 사고 방지용 전동 킥보드 및 그의 사고 방지 방법

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