CN106156742A - A kind of balance car barrier bypassing method and device - Google Patents
A kind of balance car barrier bypassing method and device Download PDFInfo
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- CN106156742A CN106156742A CN201610528347.2A CN201610528347A CN106156742A CN 106156742 A CN106156742 A CN 106156742A CN 201610528347 A CN201610528347 A CN 201610528347A CN 106156742 A CN106156742 A CN 106156742A
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- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
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- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
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Abstract
The invention discloses a kind of balance car barrier bypassing method and device.This balance car barrier bypassing method, it is characterised in that include: disturbance in judgement thing motion state；When barrier remains static, the picture of shooting barrier, networking identifies object features, plans bypass route according to recognition result；When barrier is kept in motion, reduce speed or operation suspension.Use the present invention need not change circuit and the structure of existing balance car, it is possible to allow the balance car can reliably and securely loading.
Description
Technical field
The present invention relates to balance car control field, in particular, relate to a kind of balance car barrier bypassing method and dress
Put.
Background technology
Electrodynamic balance car, is again balance car, thinking car, and its operation principles is mainly built upon one and is referred to as " dynamically steady
In general principle calmly ", utilize gyroscope and the acceleration transducer of vehicle body, detect the change of vehicle body attitude, utilize
Servo-control system, accurately drives motor to be adjusted correspondingly, to keep the balance of system.
Existing electrodynamic balance car typically has two kinds, and one is to have an action bars on car body, and user stands in electronic
On the foot platform of balance car operating action bars, thus advancing, retreat and stop, such control is also referred to as " manual ".
Another kind is that car body is made up of two parts, realizes mutually rotating by rotating mechanism, thus realize between left half and right half
" foot control ".When the front of the wheel of existing balance car runs into barrier, it is impossible to accomplish to accurately identify, there is potential safety hazard.
Content of the invention
The technical problem to be solved is to provide a kind of obstacle recognition effect that improves, putting down of enhancing security performance
Weighing apparatus car barrier bypassing method and device.
It is an object of the invention to be achieved through the following technical solutions:
According to an aspect of the present invention, the open a kind of balance car barrier bypassing method of the present invention, comprising:
Disturbance in judgement thing motion state；
When barrier remains static, the picture of shooting barrier, networking identifies object features, according to recognition result
Planning bypass route；When barrier is kept in motion, reduce speed or operation suspension.
Further, described object features includes trait information, and balance car plans bypass route according to trait information.Object
Proterties refers mainly to the soft and hard data of object, some article, such as sponge, haystack, although relatively higher, but balance car still may be straight
Connect and stride across.But the article of same height, if converted to be brick, have to detour.
Further, described object features includes elevation information, and balance car plans bypass route according to elevation information.Work as thing
Body ratio, when relatively low, directly can roll over, and when object is higher, then needs to detour.
Further, described object features includes width information, and balance car plans bypass route according to width information.Object
Width determine it and need the circuit length that detours, such as barrier is brick, and width is very short, and balance car advance offset is once
Just easily getting around, such as barrier is with wood, road is blocked, may be accomplished by again finding road or prompting is driven
The person's of sailing walking is crossed over.
Further, described object features includes trait information, elevation information and width information；
When trait information is rigidity, and height exceedes first threshold, plans bypass route according to width information；Or, property
Shape information is flexibility, and height exceedes Second Threshold, plans bypass route according to width information；Second Threshold is more than the first threshold
Value.
In like manner, some article, such as sponge, haystack, although relatively higher, but balance car still may be directly across the past.
But the article of same height, if converted to be brick, have to detour.
Further, when trait information is flexibility, and when height is less than or equal to Second Threshold, control balance car is from obstacle
Thing top is crossed.
Further, described object features includes attribute information；If attribute information is animal or people, reduce speed or temporary
Constantly running, and send warning information；When detect in the default time barrier without avoid, plan bypass route.Animal, people have
Dynamic role, even if remaining static when identifying, still can be alerted by the mode such as loudspeaker, indicator lamp, and prompting allows
Road.On the one hand this mode reduces the operand of programme path, on the other hand reduces lane change and is conducive to traffic safety.
Further, the method for described disturbance in judgement thing motion state includes:
Picture at default time interval shooting barrier；
In relatively more any two pictures, the position of barrier, if position is identical, is then judged as static；Otherwise it is judged as fortune
Dynamic.
Further, described when barrier is kept in motion, reduce speed or the method for operation suspension includes:
Spacing between measurement balance car and barrier；When barrier is still located on normal traffic route and is smaller than
During three threshold values, reduce the balance car speed of service；When barrier is still located on normal traffic route and is smaller than the 4th threshold
During value, control balance car is out of service；When barrier deviates normal traffic route, control balance car Accelerating running, until
Recover the initial velocity before accelerating after clearing the jumps；Described 4th threshold value is less than the 3rd threshold value.
According to another aspect of the present invention, the invention discloses a kind of balance car barrier circumvention device, comprising:
Device for disturbance in judgement thing motion state；
For when barrier remains static, the picture of shooting barrier, networking identifies object features, according to identification
Result plans bypass route；When barrier is kept in motion, reduce the device of speed or operation suspension.
Compared with prior art, the solution have the advantages that: the picture of barrier is uploaded to high in the clouds by balance car to be carried out
Identify, the data huge by high in the clouds and computing capability, identify that accuracy necessarily promotes a level.When balance car can accurately be sentenced
During disconnected barrier feature, can preferably plan and evade route, thus improve accuracy, in addition, the present invention only identify be in quiet
Only the barrier of state, significantly reduces operand, further increases operation efficiency and accuracy.
Brief description
Fig. 1 is balance car barrier bypassing method schematic diagram of the present invention；
Fig. 2 is the schematic diagram of balance car barrier circumvention device of the present invention.
Detailed description of the invention
It should be mentioned that, some exemplary embodiments are described as before being discussed in greater detail exemplary embodiment
The process described as flow chart or method.Although operations is described as the process of order by flow chart, but therein permitted
Multioperation can be implemented concurrently, concomitantly or simultaneously.Additionally, the order of operations can be rearranged.When it
Described process when operation completes can be terminated, it is also possible to have the additional step being not included in accompanying drawing.Described process
Can correspond to method, function, code, subroutine, subprogram etc..
Alleged mobile intelligent terminal (such as smart mobile phone, panel computer, wearable device or intelligent glasses), meter within a context
Calculation machine, AI (artificial intelligence), robot, VR (virtual reality), AR (augmented reality), intelligent home device or intelligent industrial control
Equipment etc. all can perform the predetermined process mistake such as numerical computations and/or logical calculated by running preset program or instruction
Journey, it can include processor and memory, and the survival instruction being performed to prestore in memory by processor performs book office
Reason process, or the hardware such as ASIC, FPGA, DSP is performed predetermined process process, or combined by said two devices and realize.Meter
Calculate machine equipment and include but is not limited to server, PC, notebook computer, panel computer, smart mobile phone etc..
The network equipment include but is not limited to single network server, multiple webserver composition server group or based on
The cloud being made up of a large amount of computers or the webserver of cloud computing (Cloud Computing), wherein, cloud computing is distributed
The one calculating, the super virtual machine being made up of a group loosely-coupled computer collection.Wherein, described computer sets
Standby isolated operation can realize the present invention, it is possible to access network by the interactive operation with other computer equipments in network
Realize the present invention.Wherein, the network residing for described computer equipment includes but is not limited to internet, wide area network, Metropolitan Area Network (MAN), office
Territory net, VPN etc..
It should be noted that described user equipment, the network equipment and network etc. are only for example, other are existing or from now on may be used
Computer equipment or the network that can occur such as are applicable to the present invention, within also should being included in scope, and to draw
It is incorporated herein by mode.
Method (some of them are illustrated by flow chart) discussed hereafter can pass through hardware, software, firmware, centre
Part, microcode, hardware description language or its any combination are implemented.When being implemented by software, firmware, middleware or microcode
When, in order to implement the program code of necessary task or code segment can be stored in machine or computer-readable medium (is such as deposited
Storage media) in.(one or more) processor can implement the task of necessity.
Concrete structure disclosed herein and function detail are only representational, and are for describing showing of the present invention
The purpose of example embodiment.But the present invention can be implemented by many alternative forms, and is not interpreted as
It is limited only by the embodiments set forth herein.
Although it should be appreciated that here may have been used term " first ", " second " etc. to describe unit,
But these unit should not be limited by these terms.These terms are used to be only used to a unit and another unit
Make a distinction.For example, in the case of without departing substantially from the scope of exemplary embodiment, it is single that first module can be referred to as second
Unit, and second unit can be referred to as first module similarly.Term "and/or" used herein above include one of them or
Any and all combination of more listed associated item.
It should be appreciated that when a unit is referred to as " connection " or during " coupled " to another unit, it can directly connect
Connect or be coupled to another unit described, or can there is temporary location.On the other hand, when a unit is referred to as " directly connecting
Connect " or " direct-coupling " to another unit when, then there is not temporary location.Should explain in a comparable manner and be used for retouching
Other words stating the relation between unit (for example " are in...Between " compared to " being directly in...Between ", " with...Adjacent
Closely " compared to " with...It is directly adjacent to " etc.).
Term used herein above is only used to describe specific embodiment and be not intended to limit exemplary embodiment.Unless
Context refers else clearly, and otherwise singulative " one " used herein above, " one " also attempt to include plural number.Also should
When being understood by, term used herein above " includes " and/or "comprising" specify stated feature, integer, step, operation,
Unit and/or the existence of assembly, and do not preclude the presence or addition of other features one or more, integer, step, operation, unit,
Assembly and/or a combination thereof.
It should further be mentioned that replace in implementation at some, the function/action being previously mentioned can be attached according to being different from
The order indicating in figure occurs.For example, depending on involved function/action, the two width figures in succession illustrating actually may be used
Substantially simultaneously to perform or sometimes can perform in a reverse order.
Below in conjunction with the accompanying drawings the 1st, 2 and preferred embodiment the invention will be further described.
Balance car barrier bypassing method disclosed by the invention includes:
Disturbance in judgement thing motion state；
When barrier remains static, the picture of shooting barrier, networking identifies object features, according to recognition result
Planning bypass route；
When barrier is kept in motion, reduce speed or operation suspension.
Optionally, described object features includes trait information, and balance car plans bypass route according to trait information.Object
Shape refers mainly to the soft and hard data of object, some article, such as sponge, haystack, although relatively higher, but balance car still may be directly
Stride across.But the article of same height, if converted to be brick, have to detour.
Optionally, described object features includes elevation information, and balance car plans bypass route according to elevation information.Work as object
Ratio, when relatively low, directly can roll over, and when object is higher, then needs to detour.
Optionally, described object features includes width information, and balance car plans bypass route according to width information.Object
Width determines its circuit length needing to detour, and such as barrier is brick, and width is very short, and balance car advance offset is once
Easily getting around, such as barrier is with wood, and road is blocked, and may be accomplished by again finding road or prompting is driven
Member's walking is crossed over.
Optionally, described object features includes trait information, elevation information and width information；
When trait information is rigidity, and height exceedes first threshold, plans bypass route according to width information；Or, property
Shape information is flexibility, and height exceedes Second Threshold, plans bypass route according to width information；Second Threshold is more than the first threshold
Value.
In like manner, some article, such as sponge, haystack, although relatively higher, but balance car still may be directly across the past.
But the article of same height, if converted to be brick, have to detour.
Optionally, when trait information is flexibility, and when height is less than or equal to Second Threshold, control balance car is from barrier
Top is crossed.
Optionally, described object features includes attribute information；If attribute information is animal or people, reduce speed or time-out
Run, and send warning information；When detect in the default time barrier without avoid, plan bypass route.Animal, people have energy
Dynamic property, even if remaining static when identifying, still can be alerted by the mode such as loudspeaker, indicator lamp, and prompting gives way.
On the one hand this mode reduces the operand of programme path, on the other hand reduces lane change and is conducive to traffic safety.
Optionally, the method for described disturbance in judgement thing motion state includes:
Picture at default time interval shooting barrier；
In relatively more any two pictures, the position of barrier, if position is identical, is then judged as static；Otherwise it is judged as fortune
Dynamic.
Optionally, described when barrier is kept in motion, reduce speed or the method for operation suspension includes:
Spacing between measurement balance car and barrier；When barrier is still located on normal traffic route and is smaller than
During three threshold values, reduce the balance car speed of service；When barrier is still located on normal traffic route and is smaller than the 4th threshold
During value, control balance car is out of service；When barrier deviates normal traffic route, control balance car Accelerating running, until
Recover the initial velocity before accelerating after clearing the jumps；Described 4th threshold value is less than the 3rd threshold value.
Range finding has various ways it is achieved that such as ultrasonic wave, infrared ray, can realize distance measurement function.
First threshold～the 4th threshold value is tested based on user's request or limited number of time and is drawn, no longer illustrates at this.
As another embodiment of the present invention, the invention discloses a kind of balance car barrier circumvention device, comprising:
Judgment means 10: be used for disturbance in judgement thing motion state；
Circumvention device 20: for when barrier remains static, the picture of shooting barrier, networking identifies that object is special
Levy, plan bypass route according to recognition result；When barrier is kept in motion, reduce speed or operation suspension.
Device can be used for realizing balance car barrier bypassing method of the present invention.
Above content is to combine concrete preferred embodiment further description made for the present invention, it is impossible to assert
Being embodied as of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of without departing from present inventive concept, some simple deduction or replace can also be made, all should be considered as belonging to the present invention's
Protection domain.
Claims (10)
1. a balance car barrier bypassing method, it is characterised in that include:
Disturbance in judgement thing motion state；
When barrier remains static, the picture of shooting barrier, networking identifies object features, plans according to recognition result
Bypass route；When barrier is kept in motion, reduce speed or operation suspension.
2. balance car barrier bypassing method according to claim 1, it is characterised in that described object features includes proterties
Information, balance car plans bypass route according to trait information.
3. balance car barrier bypassing method according to claim 1, it is characterised in that described object features includes height
Information, balance car plans bypass route according to elevation information.
4. balance car barrier bypassing method according to claim 1, it is characterised in that described object features includes width
Information, balance car plans bypass route according to width information.
5. balance car barrier bypassing method according to claim 1, it is characterised in that described object features includes proterties
Information, elevation information and width information；
When trait information is rigidity, and height exceedes first threshold, plans bypass route according to width information；Or, proterties is believed
Breath is flexibility, and height exceedes Second Threshold, plans bypass route according to width information；Second Threshold is more than first threshold.
6. balance car barrier bypassing method according to claim 5, it is characterised in that when trait information is flexibility, and
When highly less than or equal to Second Threshold, control balance car is crossed from barrier top.
7. balance car barrier bypassing method according to claim 1, it is characterised in that described object features includes attribute
Information；If attribute information is animal or people, reduces speed or operation suspension, and send warning information；When in the default time
Detect that barrier, without avoiding, plans bypass route.
8. the balance car barrier bypassing method according to claim 1-7 is arbitrary, it is characterised in that described disturbance in judgement thing
The method of motion state includes:
Picture at default time interval shooting barrier；
In relatively more any two pictures, the position of barrier, if position is identical, is then judged as static；Otherwise it is judged as motion.
9. the balance car barrier bypassing method according to claim 1-7 is arbitrary, it is characterised in that described at barrier
When motion state, reduce speed or the method for operation suspension include:
Spacing between measurement balance car and barrier；When barrier is still located on normal traffic route and is smaller than the 3rd
During threshold value, reduce the balance car speed of service；When barrier is still located on normal traffic route and is smaller than four threshold values,
Control balance car is out of service；When barrier deviates normal traffic route, control balance car Accelerating running, until crossing barrier
Recover the initial velocity before accelerating after hindering thing；Described 4th threshold value is less than the 3rd threshold value.
10. a balance car barrier circumvention device, it is characterised in that include:
Device for disturbance in judgement thing motion state；
For when barrier remains static, the picture of shooting barrier, networking identifies object features, according to recognition result
Planning bypass route；When barrier is kept in motion, reduce the device of speed or operation suspension.
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| CN201610528347.2A CN106156742A (en) | 2016-07-06 | 2016-07-06 | A kind of balance car barrier bypassing method and device |
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| CN110837079B (en) * | 2018-08-16 | 2021-10-19 | 杭州海康威视数字技术股份有限公司 | Target detection method and device based on radar |
| CN110329688A (en) * | 2019-03-14 | 2019-10-15 | 金树玉 | A kind of intelligent storage management equipment and its working method based on measurement of cargo |
| CN109870969A (en) * | 2019-03-26 | 2019-06-11 | 深圳市乐骑智能科技有限公司 | A kind of scooter safety traffic control system and its control method |
| WO2021082964A1 (en) * | 2019-10-31 | 2021-05-06 | 灵动科技（北京）有限公司 | Autonomous moving device and warehouse logistics system |
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Application publication date: 20161123 |