CN107992091A - A kind of balance car follower method and system based on signal strength - Google Patents
A kind of balance car follower method and system based on signal strength Download PDFInfo
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- CN107992091A CN107992091A CN201711055260.9A CN201711055260A CN107992091A CN 107992091 A CN107992091 A CN 107992091A CN 201711055260 A CN201711055260 A CN 201711055260A CN 107992091 A CN107992091 A CN 107992091A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of balance car follower method and system based on signal strength.The balance car follower method based on signal strength includes：Start follow the mode；Balance car initial position is set to coordinate origin；The wireless signal of smart machine is received by default time interval；According to the Strength co-mputation of the wireless signal smart machine and the distance and bearing of balance car；The coordinate of the smart machine relative coordinate origin is marked according to the distance and bearing；Form motion track；Balance car follows motion track to move.The present invention can improve that balance car follows recognition accuracy and scheme is simple.
Description
Technical field
The present invention relates to balance car control field, followed more specifically, being related to a kind of balance car based on signal strength
Method and system.
Background technology
Electrodynamic balance car, is called balance car, thinking car, its operation principles is mainly built upon one kind and is referred to as " dynamically surely
In basic principle calmly ", the gyroscope and acceleration transducer of vehicle body are utilized, to detect the change of vehicle body attitude, is utilized
Servo-control system, accurately drives motor to be adjusted correspondingly, to keep the balance of system.
Existing electrodynamic balance car generally has two kinds, and one kind is that have an operation lever on car body, and user stands electronic
Operation lever is operated on the foot platform of balance car, so as to advance, retreat and stop, such control is also referred to as " manual control ".
Another kind is that car body is made of two parts, is realized by rotating mechanism between left half and right half and mutually rotated, so as to fulfill
" foot control ".
Many application scenarios do not allow balance car manned at present, and user have to hold carrying, very inconvenient.Therefore having must
A kind of technology of automatic tracing is provided, so that balance car can follow user's action automatically.
A kind of Vision Tracking of existing on-line study, it needs user in video pictures where specified tracking target
Region (region is usually a rectangular area, it is necessary to which user draws the region by picture frame operation) so that by the region
Define trace template.The Vision Tracking of on-line study has the precision of trace template higher requirement, excessive tracking mould
Plate easily includes more jamming pattern, and too small trace template does not have enough discriminations.It is this to be based on user designated area
To define the interactive mode of trace template, it is desirable to during user designated area, tracking target necessarily be in inactive state, with
The region is accurately specified to user's time enough.But if tracking target is kept in motion, user is without enough
Time comes the region where accurate definition tracking target, also can not just obtain the trace template met the requirements, then can not be to fortune
Tracking target in dynamic carries out vision tracking.
Separately there are a kind of method for tracking target and electronic equipment, it moves selection tracking target to improve accurately by using householder
Property.But the clothes of tracked user, accessories, hair style etc. are all changeable, this just needs user to be set when using every time,
Using very inconvenient and difficult there is also selection when user's selection target point, it is necessary to select high with surrounding environment resolution
Region as target point, be just conducive to improve accuracy, if object detection degree is too low, not as good as computer autonomous classification
Mode.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of raising recognition accuracy and scheme is simply based on signal
The balance car follower method and system of intensity.
The purpose of the present invention is what is be achieved through the following technical solutions：
A kind of balance car follower method based on signal strength, including：
Start follow the mode；
Balance car initial position is set to coordinate origin；
The wireless signal of smart machine is received by default time interval；
According to the Strength co-mputation of the wireless signal smart machine and the distance and bearing of balance car；
The coordinate of the smart machine relative coordinate origin is marked according to the distance and bearing；Form motion track；
Balance car follows motion track to move.
Further, the method that the balance car follows motion track to move further includes：
The translational speed of intelligent movable equipment is calculated according to motion track；
Balance car adjusts it according to translational speed and follows speed.
The speed of balance car is preferably consistent with the speed of user, could so be controlled suitable tracking range, be avoided
Disturb user's action or with losing user.
Further, the method that the balance car follows motion track to move further includes：According to the distance adjustment balance
Car follows speed；When the distance of balance car and smart machine is less than default first spacing, reduce balance car follows speed
Degree；When the distance of balance car and smart machine is more than default second spacing, that improves balance car follows speed.Based on spacing
To adjust balance vehicle speed, tracking spacing can be more accurately controlled, improves tracking effect.
Further, the method that the method further includes avoiding barrier：
Using the size of ultrasonic listening front obstacle, distance, mobile route and speed；
When barrier is mobile status, judge whether bump against by balance car current operating conditions；If so, control balance car
Slow down or out of service, and raising balance car follows speed when barrier removes；If it is not, keep current operating conditions；
When barrier is inactive state, by the distance and barrier of balance car present speed, balance car and barrier
Size adjusts deviation angle.In short-range occasion, ultrasonic wave can effective ranging, and cost is relatively low.
Further, after the balance car receives the instruction that pause follows, nearest stop place is gone to automatically；When going
Into the figure in nearest stop place, if receiving specific phonetic order, balance car is out of service and receives anyone open
Dynamic instruction.For the technical program especially suitable for shopping mall, shopping center can use balance car as shared trip
Instrument, after having followed specific user, balance car can be called by other users, so improve the utilization ratio of balance car.
Further, the balance car follower method based on signal strength further includes：
Specified retail shop is driven to according to interior of building map and indoor locating system；
Scan the Quick Response Code in the retail shop；Store the nearest parking for stopping place in distance shop of Quick Response Code record
Coordinate.
Balance car specifies by alignment system and parking coordinate arrival after receiving cutoff command and stops place；
Adjust the parking posture of balance car and the spacing of the balance car and periphery barrier.
Balance car reads the parking coordinate that can stop place according to Quick Response Code；Then can be accurate by alignment system
Find the position that can be stopped.Quick Response Code is implemented simple, of low cost；And current alignment system is also highly developed, therefore only
The cost for putting into very little is stopped with regard to balance car can be allowed to realize precisely.In shopping mall, customer is often at the mall
Seen when walking, it is random larger, it is necessary to take a significant amount of time the commodity found specific retail shop and wanted.It can utilize at this time flat
Car weigh as the walking-replacing tool in shopping center, carries out data sharing with shopping center, balance car can call the ground in building
Figure, retail shop, merchandise news, such customer input the demand of oneself, and balance car can lead the commodity for being fixed to and specifying automatically, so
Customer gets off and is slowly chosen into retail shop afterwards, and balance car can then rest in the stop place on commodity periphery, wait any one name
The calling of customer.
Further, automatic parking scheme when the method further includes alignment system thrashing：
Balance car receives cutoff command；
Open camera and rotate in place a circle, photographing panorama picture；
Upload server carries out scene Recognition selection and stops place；
Planning travelling line is to the stop place specified；
Adjust the parking posture of balance car and the spacing of the balance car and periphery barrier.
Balance car carries out scene judgement, the autonomous stop place for judging matters parking according to image recognition.Based on big data
Analysis, balance car can be allowed to have stronger adaptability, can be found in different scenes and suitable stop place, intelligence degree
Higher, and without doing any change to existing building, scene, implementation cost is cheap.In addition, balance car can adjust parking posture
And the distance with stopping place barrier is controlled, all ensure that uniformity when so stop every time, avoid artificial parking not
Easily in place and it is disorderly and unsystematic the problem of.
Further, the upload server, which carries out the method that scene Recognition selects to stop place, includes：Identify blank wall
Wall pattern；Selection is by wall displacement as stop place.Wall is indoor maximum barrier, and preferably wall, which is used as, stops place,
Space can be utilized to greatest extent, take activity space less as far as possible.
Further, the upload server, which carries out the method that scene Recognition selects to stop place, includes：When identifying it
During the balance car car that he stops, it is set to stop place with the balance truck position；
When the balance car stopped there are more, the balance car stopped is identified as fleet, passes through image recognition
Judge the spare space of fleet's head and the tail position；Balance car is rested in into the more one end of spare space；If it find that fleet's head and the tail
The spare space at both ends is not enough to park balance car；It is moved to and is stopped with the juxtaposed position of fleet either end.
Stopped in the position that other balance cars are stopped, clearly judge target due to having, image recognition can be greatly reduced
Difficulty, improves recognition accuracy；And balance car aggregation is parked, and both facilitates management, to the utilization rate of activity space also higher.When stopping
When the balance car leaned on is more, the balance car parked is judged as a whole, reduction judges difficulty, allows balance car can be with
It is quickly found out suitable stop position.When balance car is more, a column/row, which differs, surely puts down all balance cars, works as judgement
When spare space is inadequate, column/row should be resolutely changed, it is ensured that anchor point stop balance car as much as possible.
As another aspect of the present invention, invention additionally discloses a kind of balance car system for tracking based on signal strength, bag
Include：
For starting the device of follow the mode；
For balance car initial position to be set to the device of coordinate origin；
Device for the wireless signal that smart machine is received by default time interval；
For the smart machine of the Strength co-mputation according to wireless signal and the device of the distance and bearing of balance car；
For marking the coordinate of the smart machine relative coordinate origin according to the distance and bearing；Form motion track
Device；
The device of motion track movement is followed for balance car.
Compared with prior art, the solution have the advantages that：The smart machines such as present smart mobile phone, intelligent watch are general
And almost everyone can at least carry a smart machine, therefore, the present invention utilizes the wireless signal of smart machine transmitting
Intensity compares the locating and tracking mode based on image recognition with the distance and bearing of user to position balance car, not only embodiment
It is simpler, and locating and tracking is more accurate.
Brief description of the drawings
Fig. 1 is balance car follower method schematic diagram of the embodiment of the present invention based on signal strength；
Fig. 2 is the principle schematic that the embodiment of the present invention is applied to shopping mall；
Fig. 3 is that balance car is booked balance car parking strategy schematic diagram after a column/row；
Fig. 4 is balance car system for tracking schematic diagram of the embodiment of the present invention based on signal strength.
Embodiment
A kind of balance car follower method based on signal strength, including：
Start follow the mode；
Balance car initial position is set to coordinate origin；
The wireless signal of smart machine is received by default time interval；
According to the Strength co-mputation of the wireless signal smart machine and the distance and bearing of balance car；
The coordinate of the smart machine relative coordinate origin is marked according to the distance and bearing；Form motion track；
Balance car follows motion track to move.
The smart machine popularization such as present smart mobile phone, intelligent watch, almost everyone can at least carry an intelligence and set
Standby, therefore, the present invention positions the distance and bearing of balance car and user using the intensity of the wireless signal of smart machine transmitting
Compared to the locating and tracking mode based on image recognition, not only embodiment is simpler, and locating and tracking is more accurate.
It should be mentioned that some exemplary embodiments are described as before exemplary embodiment is discussed in greater detail
The processing described as flow chart or method.Although operations are described as the processing of order by flow chart, therein to be permitted
Multioperation can be implemented concurrently, concomitantly or at the same time.In addition, the order of operations can be rearranged.When it
The processing can be terminated when operation is completed, it is also possible to the additional step being not included in attached drawing.The processing
It can correspond to method, function, code, subroutine, subprogram etc..
Alleged mobile intelligent terminal (such as smart mobile phone, tablet computer, wearable device or intelligent glasses), meter within a context
Calculation machine, AI (artificial intelligence), robot, VR (virtual reality), AR (augmented reality), smart home device or intelligent industrial control
Equipment etc. 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 to prestore in memory is performed by processor and is instructed to perform book office
Reason process, or predetermined process process is performed by hardware such as ASIC, FPGA, DSP, or realized by said two devices combination.Meter
Calculate machine equipment and include but not limited to server, PC, laptop, tablet computer, smart mobile phone etc..
The network equipment includes but not limited to single network server, the server group of multiple webservers composition or is based on
The cloud being made of a large amount of computers or the webserver of cloud computing (Cloud Computing), wherein, cloud computing is distributed
One kind of calculating, a super virtual computer being made of the computer collection of a group loose couplings.Wherein, the computer is set
It is standby can isolated operation realize the present invention, also can access network and pass through the interactive operation with other computer equipments in network
To realize the present invention.Wherein, the network residing for the computer equipment includes but not limited to internet, wide area network, Metropolitan Area Network (MAN), office
Domain net, VPN network etc..
It should be noted that the user equipment, the network equipment and network etc. are only for example, other are existing or from now on may be used
The computer equipment or network that can occur such as are applicable to the present invention, should also be included within the scope of the present invention, and to draw
It is incorporated herein with mode.
Method (some of them are illustrated by flow) discussed hereafter can be by hardware, software, firmware, centre
Part, microcode, hardware description language or its any combination are implemented.Implement when with software, firmware, middleware or microcode
When, to implement the program code of necessary task or code segment can be stored in machine or computer-readable medium and (for example deposit
Storage media) in.(one or more) processor can implement necessary task.
Concrete structure and function detail disclosed herein are only representational, and are for describing showing for the present invention
The purpose of example property embodiment.But the present invention can be implemented by many alternative forms, and it is not interpreted as
It is limited only by the embodiments set forth herein.
Although it should be appreciated that may have been used term " first ", " second " etc. herein to describe unit,
But these units should not be limited by these terms.The use of these items is only for by a unit and another unit
Distinguish.For example, in the case of the scope without departing substantially from exemplary embodiment, it is single that first module can be referred to as second
Member, and similarly second unit can be referred to as first module.Term "and/or" used herein above include one of them or
Any and all combination of more listed associated items.
It should be appreciated that when a unit is referred to as " connecting " or during " coupled " to another unit, it can directly connect
Connect or be coupled to another unit, or there may be temporary location.On the other hand, when a unit is referred to as " directly connecting
Connect " or " direct-coupling " when arriving another unit, then there is no temporary location.It should in a comparable manner explain and be used to retouch
Other words for stating the relation between unit (such as " are in...Between " compared to " being directly in...Between ", " with...It is adjacent
Closely " compared to " with...It is directly adjacent to " etc.).
Term used herein above is not intended to limit exemplary embodiment just for the sake of description specific embodiment.Unless
Context clearly refers else, otherwise singulative used herein above "one", " one " also attempt to include plural number.Should also
When understanding, term " comprising " and/or "comprising" used herein above provide stated feature, integer, step, operation,
The presence of unit and/or component, and do not preclude the presence or addition of other one or more features, integer, step, operation, unit,
Component and/or its combination.
It should further be mentioned that in some replaces realization modes, the function/action being previously mentioned can be according to different from attached
The order indicated in figure occurs.For example, depending on involved function/action, the two width figures shown in succession actually may be used
Substantially simultaneously to perform or can perform in a reverse order sometimes.
Below in conjunction with the accompanying drawings 1~4 and preferred embodiment the invention will be further described.
Balance car follower method based on signal strength disclosed in present embodiment includes：
S11, start follow the mode；
S12, by balance car initial position be set to coordinate origin；
S13, the wireless signal by default time interval reception smart machine；
S14, the distance and bearing according to the Strength co-mputation of the wireless signal smart machine and balance car；
S15, the coordinate according to the distance and bearing mark smart machine relative coordinate origin；Form moving rail
Mark；
S16, balance car follow motion track to move.
There is the scheme of maturation at present based on wireless signal ranging and positioning, details are not described herein.
The method that the balance car follows motion track to move further includes：
The translational speed of intelligent movable equipment is calculated according to motion track；
Balance car adjusts it according to translational speed and follows speed.
The speed of balance car is preferably consistent with the speed of user, could so be controlled suitable tracking range, be avoided
Disturb user's action or with losing user.
The method that balance car follows motion track to move further includes：Speed is followed according to the distance adjustment balance car；
When the distance of balance car and smart machine is less than default first spacing, reduce balance car follows speed；When balance car with
When the distance of smart machine is more than default second spacing, that improves balance car follows speed.Balance car is adjusted based on spacing
Speed, can more accurately control tracking spacing, improve tracking effect.
Optionally, present invention additionally comprises the method for avoiding barrier：
Using the size of ultrasonic listening front obstacle, distance, mobile route and speed；
When barrier is mobile status, judge whether bump against by balance car current operating conditions；If so, control balance car
Slow down or out of service, and raising balance car follows speed when barrier removes；If it is not, keep current operating conditions；
When barrier is inactive state, by the distance and barrier of balance car present speed, balance car and barrier
Size adjusts deviation angle.In short-range occasion, ultrasonic wave can effective ranging, and cost is relatively low.
Optionally, after balance car receives the instruction that pause follows, nearest stop place is gone to automatically；When going to recently
Stop place figure in, if receiving specific phonetic order, balance car is out of service and receives anyone enabled instruction.
For the technical program especially suitable for shopping mall, shopping center can use instrument of the balance car as shared trip, with
After complete specific user, balance car can be called by other users, so improve the utilization ratio of balance car.
With reference to figure 2, a kind of balance car tracking especially suitable for shopping mall is also disclosed in present embodiment.Tool
For body, this method includes：
Specified retail shop is driven to according to interior of building map and indoor locating system；
Scan the Quick Response Code in the retail shop；Store the nearest parking for stopping place in distance shop of Quick Response Code record
Coordinate.
Balance car specifies by alignment system and parking coordinate arrival after receiving cutoff command and stops place；
Adjust the parking posture of balance car and the spacing of the balance car and periphery barrier.
Balance car reads the parking coordinate that can stop place according to Quick Response Code；Then can be accurate by alignment system
Find the position that can be stopped.Quick Response Code is implemented simple, of low cost；And current alignment system is also highly developed, therefore only
The cost for putting into very little is stopped with regard to balance car can be allowed to realize precisely.In shopping mall, customer is often at the mall
Seen when walking, it is random larger, it is necessary to take a significant amount of time the commodity found specific retail shop and wanted.It can utilize at this time flat
Car weigh as the walking-replacing tool in shopping center, carries out data sharing with shopping center, balance car can call the ground in building
Figure, retail shop, merchandise news, such customer input the demand of oneself, and balance car can lead the commodity for being fixed to and specifying automatically, so
Customer gets off and is slowly chosen into retail shop afterwards, and balance car can then rest in the stop place on commodity periphery, wait any one name
The calling of customer (with reference to figure 3).
Automatic parking scheme during a kind of alignment system thrashing is also disclosed in present embodiment：
Balance car receives cutoff command；
Open camera and rotate in place a circle, photographing panorama picture；
Upload server carries out scene Recognition selection and stops place；
Planning travelling line is to the stop place specified；
Adjust the parking posture of balance car and the spacing of the balance car and periphery barrier.
Balance car carries out scene judgement, the autonomous stop place for judging matters parking according to image recognition.Based on big data
Analysis, balance car can be allowed to have stronger adaptability, can be found in different scenes and suitable stop place, intelligence degree
Higher, and without doing any change to existing building, scene, implementation cost is cheap.In addition, balance car can adjust parking posture
And the distance with stopping place barrier is controlled, all ensure that uniformity when so stop every time, avoid artificial parking not
Easily in place and it is disorderly and unsystematic the problem of.
Optionally, the upload server, which carries out the method that scene Recognition selects to stop place, includes：Identify blank wall
Pattern；Selection is by wall displacement as stop place.Wall is indoor maximum barrier, and preferably wall, can as place is stopped
To utilize space to greatest extent, activity space is taken less as far as possible.
Optionally, the upload server, which carries out the method that scene Recognition selects to stop place, includes：When identifying other
During the balance car car of stop, it is set to stop place with the balance truck position；
When the balance car stopped there are more, the balance car stopped is identified as fleet, passes through image recognition
Judge the spare space of fleet's head and the tail position；Balance car is rested in into the more one end of spare space；If it find that fleet's head and the tail
The spare space at both ends is not enough to park balance car；It is moved to and is stopped with the juxtaposed position of fleet either end.In other balances
The position that car is stopped is stopped, and clearly judges target due to having, and image recognition difficulty can be greatly reduced, and it is accurate to improve identification
Degree；And balance car aggregation is parked, and both facilitates management, to the utilization rate of activity space also higher.When the balance car of stop is more,
The balance car parked is judged as a whole, reduction judges difficulty, and balance car can be quickly found out and suitably stops
By position.When balance car is more, a column/row, which differs, surely puts down all balance cars, when judging that spare space is inadequate
Wait, should resolutely change column/row, it is ensured that anchor point stop balance car as much as possible.
As another aspect of the present invention, invention additionally discloses a kind of balance car system for tracking based on signal strength, bag
Include：
Starter 10：For starting the device of follow the mode；
Setting device 20：For balance car initial position to be set to the device of coordinate origin；
Reception device 30：Device for the wireless signal that smart machine is received by default time interval；
Computing device 40：For the distance and bearing of the smart machine of the Strength co-mputation according to wireless signal and balance car
Device；
Device for planning 50：For marking the coordinate of the smart machine relative coordinate origin according to the distance and bearing；
Form the device of motion track；
Control device 60：The device of motion track movement is followed for balance car.
Above content is that a further detailed description of the present invention in conjunction with specific preferred embodiments, it is impossible to is assert
The specific implementation of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of not departing from present inventive concept, some simple deduction or replace can also be made, should all be considered as belonging to the present invention's
Protection domain.
Claims (10)
- A kind of 1. balance car follower method based on signal strength, it is characterised in that including：Start follow the mode；Balance car initial position is set to coordinate origin；The wireless signal of smart machine is received by default time interval；According to the Strength co-mputation of the wireless signal smart machine and the distance and bearing of balance car；The coordinate of the smart machine relative coordinate origin is marked according to the distance and bearing；Form motion track；Balance car follows motion track to move.
- 2. according to the balance car follower method based on signal strength described in claim 1, it is characterised in that the balance car follows The method of motion track movement further includes：The translational speed of intelligent movable equipment is calculated according to motion track；Balance car adjusts it according to translational speed and follows speed.
- 3. according to the balance car follower method based on signal strength described in claim 1, it is characterised in that the balance car follows The method of motion track movement further includes：Speed is followed according to the distance adjustment balance car；When balance car and smart machine Distance when being less than default first spacing, reduce balance car follows speed；When the distance of balance car and smart machine is more than During default second spacing, that improves balance car follows speed.
- 4. according to the balance car follower method based on signal strength described in claim 1, it is characterised in that the method further includes The method of avoiding barrier：Using the size of ultrasonic listening front obstacle, distance, mobile route and speed；When barrier is mobile status, judge whether bump against by balance car current operating conditions；If so, control balance car slows down Or it is out of service, and improve balance car when barrier removes and follow speed；If it is not, keep current operating conditions；When barrier is inactive state, by the distance of balance car present speed, balance car and barrier and the size of barrier Adjust deviation angle.
- 5. according to any balance car follower methods based on signal strength of claim 1-4, it is characterised in that described flat After weighing apparatus car receives the instruction that pause follows, nearest stop place is gone to automatically；When in the figure for going to nearest stop place, If receiving specific phonetic order, balance car is out of service and receives anyone enabled instruction.
- 6. the balance car follower method according to claim 5 based on signal strength, it is characterised in that described to be based on signal The balance car follower method of intensity further includes：Specified retail shop is driven to according to interior of building map and indoor locating system；Scan the Quick Response Code in the retail shop；Store the nearest parking for the stopping place seat in distance shop of Quick Response Code record Mark；Balance car specifies by alignment system and parking coordinate arrival after receiving cutoff command and stops place；Adjust the parking posture of balance car and the spacing of the balance car and periphery barrier.
- 7. according to any balance car follower methods based on signal strength of claim 1-4, it is characterised in that the side Method further includes automatic parking scheme during alignment system thrashing：Balance car receives cutoff command；Open camera and rotate in place a circle, photographing panorama picture；Upload server carries out scene Recognition selection and stops place；Planning travelling line is to the stop place specified；Adjust the parking posture of balance car and the spacing of the balance car and periphery barrier.
- 8. the balance car follower method according to claim 7 based on signal strength, it is characterised in that the upload service The method that device carries out scene Recognition selection stop place includes：Identify blank wall pattern；Selection is by wall displacement as port of call Point.
- 9. the balance car follower method according to claim 7 based on signal strength, it is characterised in that the upload service The method that device carries out scene Recognition selection stop place includes：When identifying the balance car car that other are stopped, with the balance car Position is set to stop place；When the balance car stopped there are more, the balance car stopped is identified as fleet, is judged by image recognition The spare space of fleet's head and the tail position；Balance car is rested in into the more one end of spare space；If it find that fleet's head and the tail both ends Spare space be not enough to park balance car；It is moved to and is stopped with the juxtaposed position of fleet either end.
- A kind of 10. balance car system for tracking based on signal strength based on signal strength, it is characterised in that including：For starting the device of follow the mode；For balance car initial position to be set to the device of coordinate origin；Device for the wireless signal that smart machine is received by default time interval；For the smart machine of the Strength co-mputation according to wireless signal and the device of the distance and bearing of balance car；For marking the coordinate of the smart machine relative coordinate origin according to the distance and bearing；Form the dress of motion track Put；The device of motion track movement is followed for balance car.
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