CN111688859A - Automatic control method of electric scooter and electric scooter - Google Patents
Automatic control method of electric scooter and electric scooter Download PDFInfo
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- CN111688859A CN111688859A CN202010599036.1A CN202010599036A CN111688859A CN 111688859 A CN111688859 A CN 111688859A CN 202010599036 A CN202010599036 A CN 202010599036A CN 111688859 A CN111688859 A CN 111688859A
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- 238000004590 computer program Methods 0.000 description 9
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- 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
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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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
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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Abstract
The invention provides an automatic control method of an electric scooter and the electric scooter, wherein the method comprises the following steps: acquiring a signal detection result, wherein the signal detection result is used for indicating that the signal intensity of a first wireless communication device installed on the electric scooter is lower than a target threshold value; and responding to the signal detection result, and controlling the electric scooter to move to a target position through a motor of the electric scooter, wherein the signal intensity of the first wireless communication device at the target position is higher than a target threshold value. According to the method and the device, the problem that the position information of the electric scooter cannot be effectively acquired due to improper parking of the electric scooter in the related art is solved, and the effect of improving the acquisition efficiency of the position information of the electric scooter is achieved.
Description
Technical Field
The invention relates to the field of communication, in particular to an automatic control method of an electric scooter and the electric scooter.
Background
At present, sharing electric scooter uses for convenience of customers, and is comparatively loose to the restraint of vehicle parking point, causes the user to park the vehicle in no signal or the bad place of signal on the very big probability for the user can't discover to park the vehicle in no signal or the bad place of signal on the target application (if, cell-phone APP) that corresponds with electric scooter.
In addition, the distribution of the signals is unstable, and when a user parks the vehicle at a certain place where the signals exist, the original places where the signals exist cannot be effectively connected with the movement of surrounding objects and the interference of other signal sources, which also causes the situation that the position information of the vehicle disappears on the target application.
It is thus clear that there is the problem that can't effectively acquire electric scooter's positional information because electric scooter parks the improper among the correlation technique.
Disclosure of Invention
The embodiment of the invention provides an automatic control method of an electric scooter and the electric scooter, and at least solves the problem that the position information of the electric scooter cannot be effectively acquired due to improper parking of the electric scooter in the related art.
According to an embodiment of the present invention, there is provided an automatic control method of an electric scooter, including: acquiring a signal detection result, wherein the signal detection result is used for indicating that the signal intensity of a first wireless communication device installed on the electric scooter is lower than a target threshold value; and responding to the signal detection result, and controlling the electric scooter to move to a target position through a motor of the electric scooter, wherein the signal intensity of the first wireless communication device at the target position is higher than a target threshold value.
Optionally, controlling the electric scooter to move to the target position by a motor of the electric scooter comprises: detecting a target direction through a target sensor of the electric scooter, wherein no obstacle is detected in a target area corresponding to the target direction, the span of the target area in the target direction is larger than a target distance threshold value, and the target area comprises a first position where the electric scooter is currently located; the electric scooter is controlled by a motor of the electric scooter to move along the target direction until the target position is reached.
Optionally, the detecting the target direction by the target sensor of the electric scooter includes: detecting the spatial information of the space where the electric scooter is located through a target sensor of the electric scooter; using the detected spatial information, the target direction is calculated.
Optionally, controlling the electric scooter to move to the target position by a motor of the electric scooter comprises: acquiring a second position of the target scooter through the electric scooter, wherein the first wireless communication device acquires that the signal intensity of a second wireless communication device installed on the target scooter is higher than or equal to a target threshold value; and controlling the electric scooter to move to the second position by the motor of the electric scooter until the target position is reached.
Optionally, obtaining the second position where the target scooter is located by the electric scooter includes: receiving a wireless signal sent by a target scooter through a second wireless communication device through a first wireless communication device, wherein the wireless signal carries indication information for indicating that the signal intensity of the second wireless communication device is higher than or equal to a target threshold value and position information for indicating a second position; and acquiring the second position of the target scooter according to the received wireless signal.
Optionally, controlling the electric scooter to move to the target position by a motor of the electric scooter comprises: controlling the electric scooter to move along a preset second target direction through a motor of the electric scooter; and in the case that the signal strength of the first wireless communication device becomes large, continuing to move along the second target direction until reaching the target position.
Optionally, after controlling the electric scooter to move along the predetermined second target direction by the motor of the electric scooter, the method further comprises: under the condition that the signal intensity of the first wireless communication device is reduced or unchanged, the electric scooter is controlled to move along a preset third target direction through a motor of the electric scooter; and in the case that the signal strength of the first wireless communication device becomes large, continuing to move along the third target direction until the target position.
Optionally, controlling the electric scooter to move to the target position by a motor of the electric scooter comprises: the motor through electric scooter controls electric scooter and returns along the target movement path that electric scooter recorded, up to the target location.
Optionally, after the electric scooter is controlled by the motor of the electric scooter to move to the target position, the target position data is sent to the server corresponding to the electric scooter, where the target position data is position data collected by the electric scooter in the process of moving to the target position and having the signal strength of the first wireless communication device lower than the target threshold value.
According to another embodiment of the present invention, there is provided an electric scooter including: the acquisition module is used for acquiring a signal detection result, wherein the signal detection result is used for indicating that the signal intensity of a first wireless communication device installed on the electric scooter is lower than a target threshold value; and the control module is used for responding to the signal detection result and controlling the electric scooter to move to the target position through a motor of the electric scooter, wherein the signal intensity of the first wireless communication device at the target position is higher than a target threshold value.
Optionally, the control module comprises: the detection unit is used for detecting a target direction through a target sensor of the electric scooter, wherein no obstacle is detected in a target area corresponding to the target direction, the span of the target area in the target direction is larger than a target distance threshold value, and the target area comprises a first position where the electric scooter is located currently; and the first control unit is used for controlling the electric scooter to move along the target direction until the target position through a motor of the electric scooter.
Optionally, the control module comprises: the acquisition unit is used for acquiring a second position of the target scooter through the electric scooter, wherein the signal intensity of a first wireless communication device, which is acquired by the first wireless communication device and is installed on the target scooter, of a second wireless communication device is higher than or equal to a target threshold value; and the second control unit is used for controlling the electric scooter to move to the second position until the target position through the motor of the electric scooter.
Optionally, the control module comprises: a third control unit for controlling the electric scooter to move along a predetermined second target direction by a motor of the electric scooter; and in the case that the signal strength of the wireless communication device becomes large, continuing to move along the second target direction until reaching the target position.
Optionally, the control module comprises: and the fourth control unit is used for controlling the electric scooter to return along the last movement path recorded by the electric scooter through the motor of the electric scooter until the target position is reached.
Optionally, the electric scooter further comprises: and the sending module is used for sending target position data to a server corresponding to the electric scooter after the electric scooter is controlled by a motor of the electric scooter to move to a target position, wherein the target position data is position data which is collected by the electric scooter in the process of moving to the target position and is lower than a target threshold value of the signal intensity of the first wireless communication device.
According to a further embodiment of the present invention, there is also provided a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
According to the invention, when the signal intensity of the first wireless communication device on the electric scooter is detected to be lower than the target threshold, the electric scooter is controlled by the motor of the electric scooter to automatically move to the target position at which the signal intensity of the first wireless communication device is higher than the target threshold, so that the signal intensity of the electric scooter can be kept higher than the target threshold, the influence of the parking position of the electric scooter on the acquisition of the position information of the electric scooter is reduced, a user can find more electric scooters in time, the problem that the position information of the electric scooter cannot be effectively acquired due to improper parking of the electric scooter in the related art is solved, and the effect of improving the acquisition efficiency of the position information of the electric scooter is achieved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flowchart of an automatic control method of an electric scooter according to an embodiment of the present invention;
FIG. 2 is a block diagram of an alternative electric scooter according to an embodiment of the present invention;
fig. 3 is a block diagram of another alternative electric scooter according to an embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Example 1
In this embodiment, an automatic control method for an electric scooter running on an electric scooter is provided, fig. 1 is a flowchart of the automatic control method for an electric scooter according to an embodiment of the present invention, as shown in fig. 1, the flowchart includes the following steps:
step S102, obtaining a signal detection result, wherein the signal detection result is used for indicating that the signal intensity of a first wireless communication device installed on the electric scooter is lower than a target threshold value;
and step S104, responding to the signal detection result, controlling the electric scooter to move to a target position through a motor of the electric scooter, wherein the signal intensity of the first wireless communication device at the target position is higher than or equal to a target threshold value.
Through the steps, when the signal intensity of the first wireless communication device on the electric scooter is detected to be lower than the target threshold value, the electric scooter is controlled by the motor of the electric scooter to automatically move to the target position where the signal intensity of the first wireless communication device is higher than the target threshold value, so that the signal intensity of the electric scooter can be kept higher than the target threshold value, the problem that the position information of the electric scooter cannot be effectively acquired due to the fact that the electric scooter is improperly parked in the related art is solved, and the acquisition efficiency of the position information of the electric scooter is improved.
Alternatively, the executing body of the above steps may be an electric scooter or the like, but is not limited thereto.
The electric scooter may include a plurality of different components, which may include, but are not limited to, at least one of: handlebar, handlebar pole, vehicle bottom frame, (at least two), adapting unit etc.. In order to facilitate the upright and autonomous movement of the electric scooter, the wheels of the electric scooter can adopt a three-wheel (front-rear-two, front-two-rear-one) or four-wheel design.
In the embodiment of the present invention, the electric scooter is mounted with a wireless communication device that can communicate with a target server (e.g., a central server) corresponding to the electric scooter through a target wireless network (e.g., a 4G network).
In step S102, the electric scooter obtains a signal detection result indicating that the signal strength of the first wireless communication device mounted on the electric scooter is lower than a target threshold.
The electric scooter can periodically trigger or event trigger to execute the operation of acquiring the signal detection result under the condition that the electric scooter is not used by any account (is not bound with any account).
The signal detection result may be obtained by: the first wireless communication device detects a signal strength (e.g., 4G signal) of a network signal of a target network (i.e., a network with which the electric scooter communicates with the target server). When the network signal is abnormal (for example, the signal is disconnected, the connection is unstable, and the signal is weak), the signal strength of the network signal detected by the first wireless communication device is lower than a threshold (target threshold).
The signal strength of the first wireless communication device may be a signal strength of a network signal of the target network detected by the first wireless communication device.
Step S104, in response to the signal detection result, the electric scooter can control the electric scooter to move to a target position through a motor of the electric scooter, wherein the signal intensity of the first wireless communication device at the target position is higher than or equal to a target threshold.
When the signal intensity of the first wireless communication device is lower than the target threshold value, the electric scooter can control the electric scooter to move to the target position through the motor of the electric scooter, so that the electric scooter is parked at the position where the signal intensity of the first wireless communication device is higher than the target threshold value.
In the process of controlling the electric scooter to move to the target position, the moving direction of the electric scooter can be controlled.
As an alternative embodiment, the electric scooter can be controlled to move to the target position by the motor of the electric scooter in the following manner: detecting a target direction through a target sensor of the electric scooter, wherein no obstacle is detected in a target area corresponding to the target direction, the span of the target area in the target direction is larger than a target distance threshold value, and the target area comprises a first position where the electric scooter is currently located; the electric scooter is controlled by a motor of the electric scooter to move along the target direction until the target position is reached.
Alternatively, the detecting of the target direction by the target sensor of the electric scooter may include: detecting the spatial information of the space where the electric scooter is located through a target sensor of the electric scooter; using the detected spatial information, the target direction is calculated.
When moving along the target direction, the central processor of the electric scooter can plan a route which is free of obstacles and does not block road traffic to move a small distance to the target area and detect the signal connection condition until reaching the target position according to the information (such as the image sensed by the image sensing module, the information collected by the distance sensing module and the like) detected by the target sensor.
For example, can add image perception and distance perception module (target sensor) at sharing electric scooter, two modules can automatic level and every single move rotation, and the vehicle is in the locking form after the use, and when the automobile body signal appears unstably and disconnection, image module and distance perception module can scan the automobile body all around and upper and lower spatial information transmission gives central processing unit, and central processing unit calculates the direction that spacious position place was.
As another alternative, the electric scooter may be controlled to move to the target position by a motor of the electric scooter in the following manner: acquiring a second position of the target scooter through the electric scooter, wherein the first wireless communication device acquires that the signal intensity of a second wireless communication device installed on the target scooter is higher than or equal to a target threshold value; and controlling the electric scooter to move to the second position by the motor of the electric scooter until the target position is reached.
Optionally, obtaining the second position where the target scooter is located by the electric scooter includes: receiving a wireless signal sent by a target scooter through a second wireless communication device through a first wireless communication device, wherein the wireless signal carries indication information for indicating that the signal intensity of the second wireless communication device is higher than or equal to a target threshold value and position information for indicating a second position; and acquiring the second position of the target scooter according to the received wireless signal.
The signal strength of the second wireless communication device may be a signal strength of a network signal of the target network detected by the second wireless communication device.
The network that is adopted for communication between electric scooter and the target server and the network that is adopted for communication between electric scooter can be different. The first wireless communication device on the electric scooter can be used for communicating with other scooters through the same or different network as the target network besides communicating with the target server through the target network. This electric scooter can use first wireless communication device to realize the interconnection with target server and other scooter.
In the embodiment of the present invention, a WIFI (Wireless Fidelity) or 5G (the 5th Generation mobile communication technology, fifth Generation mobile communication technology) module may be built in the scooter to implement interconnection between the scooter and the scooter. When a certain vehicle loses the signal, the vehicle with the signal nearby can be searched, and the vehicle with the signal closest to the vehicle can be moved.
For example, electric scooter A and electric scooter B embed has WIFI or 5G module, and the position is close to, and all communicate with central server through the 4G network. The 4G signal of the electric scooter A is disconnected, and the 4G signal of the electric scooter B is good. When electric scooter A detected the disconnection of 4G signal, searched electric scooter B through the WIFI module, and learned electric scooter B's 4G signal through the interaction with electric scooter B good, then removed to electric scooter B.
As still another alternative embodiment, the electric scooter may be controlled to move to the target position by a motor of the electric scooter in the following manner: controlling the electric scooter to move along a preset second target direction through a motor of the electric scooter; and in the case that the signal strength of the first wireless communication device becomes large, continuing to move along the second target direction until reaching the target position.
Optionally, after the electric scooter is controlled by the motor of the electric scooter to move along the predetermined second target direction, in the case that the signal strength of the first wireless communication device becomes small or constant, the electric scooter is controlled by the motor of the electric scooter to move along the predetermined third target direction; and in the case that the signal strength of the first wireless communication device becomes large, continuing to move along the third target direction until the target position.
After obtaining the signal detection result, the electric scooter can randomly select a direction to move, and if the electric scooter detects that the signal intensity in the direction becomes large (may be always large, or may be wholly large, that is, the signal becomes good) after moving for a certain time or a certain distance, the electric scooter continues to move along the direction until the signal intensity of the first wireless communication device is higher than or equal to the target threshold. If the electric scooter detects that the signal intensity is reduced or unchanged (can be always reduced or kept unchanged, or is reduced or kept unchanged as a whole, namely the signal is not changed) in the direction after moving for a certain time or a certain distance, the electric scooter does not move towards the direction any more, but moves towards a new direction, and judges whether to continue moving or move after changing the direction according to the change of the signal intensity until the target position.
For example, electric scooter a detects that electric scooter a is in no-signal position, then control electric scooter a to move to the east, after having moved 2s, if judge that the signal strength grow in the moving process, then continue to move to the east, otherwise, control electric scooter a to move to the south (can be directly move to the south, also can be return to initial position and move to the south again).
As still another alternative embodiment, the electric scooter may be controlled to move to the target position by a motor of the electric scooter in the following manner: the motor through electric scooter controls electric scooter and returns along the target movement path that electric scooter recorded, up to the target location.
When the electric scooter is used, the last moving path (target moving path) can be recorded. After the signal detection result is obtained, the path information can be returned along the last moving path according to the recorded path information until the target position is reached.
Through the technical scheme of the embodiment of the invention, the electric scooter is controlled to move to the target position in different modes, so that the electric scooter can adapt to different scenes, the requirements under different scenes are met, the time consumed by the electric scooter to move to the target position is reduced, and the automatic control efficiency of the electric scooter is improved.
In the process of controlling the electric scooter to move to the target position through the motor of the electric scooter, the moving speed of the electric scooter can be adjusted as required, so that the electric scooter is kept in a low-speed state in the moving process and does not obstruct traffic.
In the process of controlling the electric scooter to move, the signal intensity is detected in real time or periodically. The target position may be a position where the signal strength is detected to be higher than or equal to the target threshold for the first time and then moved by a distance so as to keep the signal stable.
In the embodiment of the present invention, after the electric scooter is controlled by the motor of the electric scooter to move to the target position, the electric scooter may send target position data to the server corresponding to the electric scooter, where the target position data is position data, collected by the electric scooter in the process of moving to the target position, of which the signal intensity of the first wireless communication device is lower than the target threshold value.
In the process of controlling the electric scooter to move to the target position through the motor of the electric scooter, the electric scooter can record the signal strength detected on the moving path, and can report the recorded information to the server after reaching the target position. The reported information may be: the correspondence between the recorded position information and the signal strength (the position information of no signal can be calculated based on the moving path and the position information of a signal), the position data of a signal, the position data of a no signal, and the like.
According to the technical scheme of the embodiment of the invention, the target position data is sent to the server corresponding to the electric scooter, so that the signal weakness can be found and counted according to the reported position data, and the planning of signal distribution is facilitated. Meanwhile, through the automatic control of the electric scooter, the operator can be helped to count the number of the shared electric scooter and control the position distribution, and the vehicle can be better and accurately thrown to a required place; the vehicle protection device helps an operator to find the undamaged lost vehicle in time, helps the operator to find the vehicles which need to be charged, repaired and the like and need to be maintained in time, and reduces the condition that the vehicle finally loses signals due to the fact that the battery is overdischarged because the electric quantity is insufficient and electric energy cannot be supplemented in time.
The following description will discuss an automatic control method of the electric scooter with reference to the following examples. In this example, when the user stops the vehicle at a certain position after the vehicle is completely ridden, and the vehicle processor detects that the signal is disconnected or unstable, the image sensing module and the distance sensing module on the scooter are automatically started and scan the surrounding space, the upper space and the lower space, which are priorities, and the left space and the right space, which are assistants. When the fact that a long distance exists at a certain position above the road and no object is shielded is determined after scanning the vertical distance, the central processing unit judges that the road is an open area when the left space and the right space are not obviously shielded, the central processing unit plans a barrier-free road without blocking road traffic according to the images and the information collected by the distance sensing module, and moves a small distance to the open area after the road traffic is not blocked, and meanwhile, the signal connection state is detected until the power system is connected with the signal and enters a standby state.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
Example 2
In this embodiment, an electric scooter is further provided, which is used for implementing the above embodiments and preferred embodiments, and the description of the electric scooter is omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 2 is a block diagram of an alternative electric scooter according to an embodiment of the present invention, as shown in fig. 2, the electric scooter includes:
an obtaining module 22, configured to obtain a signal detection result, where the signal detection result is used to indicate that the signal strength of the first wireless communication device installed on the electric scooter is lower than a target threshold;
and a control module 24, connected to the obtaining module 22, for controlling the electric scooter to move to a target position by a motor of the electric scooter in response to the signal detection result, wherein the signal strength of the first wireless communication device at the target position is higher than a target threshold.
Alternatively, the control module 24 may include: the detection unit is used for detecting a target direction through a target sensor of the electric scooter, wherein no obstacle is detected in a target area corresponding to the target direction, the span of the target area in the target direction is larger than a target distance threshold value, and the target area comprises a first position where the electric scooter is located currently; and the first control unit is connected to the detection unit and used for controlling the electric scooter to move along the target direction until the target position through the motor of the electric scooter.
Alternatively, the first control unit may include: the detection subunit is used for detecting the spatial information of the space where the electric scooter is located through a target sensor of the electric scooter; and the calculating subunit is connected to the detecting subunit and used for calculating the target direction by using the detected spatial information.
Alternatively, the control module 24 may include: the acquisition unit is used for acquiring a second position of the target scooter through the electric scooter, wherein the signal intensity of a first wireless communication device, which is acquired by the first wireless communication device and is installed on the target scooter, of a second wireless communication device is higher than or equal to a target threshold value; and the second control unit is connected to the acquisition unit and used for controlling the electric scooter to move to the second position until the target position through the motor of the electric scooter.
Alternatively, the acquiring unit may include: the receiving subunit is configured to receive, through the first wireless communication device, a wireless signal sent by the target scooter through the second wireless communication device, where the wireless signal carries indication information used for indicating that the signal strength of the second wireless communication device is higher than or equal to a target threshold and position information used for indicating a second position; and the obtaining subunit is used for obtaining the second position of the target scooter according to the received wireless signal.
Alternatively, the control module 24 may include: a third control unit for controlling the electric scooter to move along a predetermined second target direction by a motor of the electric scooter; and in the case that the signal strength of the first wireless communication device becomes large, continuing to move along the second target direction until reaching the target position.
Optionally, the third control unit is further configured to control the electric scooter to move along a predetermined third target direction through the motor of the electric scooter under the condition that the signal strength of the first wireless communication device becomes small or unchanged; and in the case that the signal strength of the first wireless communication device becomes large, continuing to move along the third target direction until the target position.
Alternatively, the control module 24 may include: and the fourth control unit is used for controlling the electric scooter to return along the last movement path recorded by the electric scooter through the motor of the electric scooter until the target position is reached.
Fig. 3 is a block diagram of another alternative electric scooter according to an embodiment of the present invention, and as shown in fig. 3, the device includes, in addition to all modules shown in fig. 2:
and a sending module 32, connected to the control module 24, configured to send target position data to a server corresponding to the electric scooter after the electric scooter is controlled by a motor of the electric scooter to move to a target position, where the target position data is position data, collected by the electric scooter in a process of moving to the target position, of which the signal strength of the first wireless communication device is lower than a target threshold.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Example 3
Embodiments of the present invention also provide a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s1, acquiring a signal detection result, wherein the signal detection result is used for indicating that the signal intensity of the first wireless communication device installed on the electric scooter is lower than a target threshold value;
and S2, responding to the signal detection result, controlling the electric scooter to move to a target position through a motor of the electric scooter, wherein the signal intensity of the first wireless communication device at the target position is higher than or equal to a target threshold value.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention further provide an electric scooter, comprising a memory having a computer program stored therein and a processor configured to run the computer program to perform the steps of any of the above method embodiments.
Optionally, the electric scooter may further include a first wireless communication device, wherein the first wireless communication device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, acquiring a signal detection result, wherein the signal detection result is used for indicating that the signal intensity of the first wireless communication device installed on the electric scooter is lower than a target threshold value;
and S2, responding to the signal detection result, controlling the electric scooter to move to a target position through a motor of the electric scooter, wherein the signal intensity of the first wireless communication device at the target position is higher than or equal to a target threshold value.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. An automatic control method of an electric scooter is characterized by comprising the following steps:
acquiring a signal detection result, wherein the signal detection result is used for indicating that the signal intensity of a first wireless communication device installed on the electric scooter is lower than a target threshold value;
responding to the signal detection result, controlling the electric scooter to move to a target position through a motor of the electric scooter, wherein the signal intensity of the first wireless communication device at the target position is higher than or equal to the target threshold value;
wherein, through electric scooter's motor control electric scooter moves target location includes:
detecting a target direction through a target sensor of the electric scooter, wherein no obstacle is detected in a target area corresponding to the target direction, a span of the target area in the target direction is larger than a target distance threshold, and the target area includes a first position where the electric scooter is currently located; controlling the electric scooter to move along the target direction by a motor of the electric scooter until the target position is reached;
or,
controlling the electric scooter to move along a preset second target direction through a motor of the electric scooter; and continuing to move along the second target direction until the target position when the signal strength of the first wireless communication device becomes larger.
2. The method according to claim 1, wherein detecting the target direction by the target sensor of the electric scooter comprises:
detecting the spatial information of the space where the electric scooter is located through a target sensor of the electric scooter;
and calculating the target direction by using the detected spatial information.
3. The method of claim 2,
through electric scooter's target sensor detects electric scooter is located the spatial information in space includes: scanning surrounding space information and upper and lower space information of a body of the electric scooter through an image module and a distance sensing module of the electric scooter;
using the detected spatial information, calculating the target direction includes: and determining an unobstructed open area based on the surrounding space information and the upper and lower space information, and determining the direction of the open area as the target direction.
4. The method of claim 3, wherein controlling the electric scooter to move in the target direction by a motor of the electric scooter until the target position comprises:
planning a barrier-free and road traffic-free route for reaching the open area based on the surrounding space information and the upper and lower space information;
and controlling the electric scooter to move to the open area according to the route by the motor of the electric scooter until the target position is reached.
5. The method according to claim 1, wherein after controlling the electric scooter to move in the predetermined second target direction by a motor of the electric scooter, the method further comprises:
under the condition that the signal intensity of the first wireless communication device is reduced or unchanged, controlling the electric scooter to move along a preset third target direction through a motor of the electric scooter;
and continuing to move along the third target direction until the target position when the signal strength of the first wireless communication device becomes large.
6. The method according to any one of claims 1 to 5, wherein after controlling the electric scooter to move to the target position by a motor of the electric scooter, the method further comprises:
and sending target position data to a server corresponding to the electric scooter, wherein the target position data is position data which is collected by the electric scooter in the process of moving to the target position and is obtained when the signal intensity of the first wireless communication device is lower than the target threshold value.
7. An electric scooter, comprising:
the acquisition module is used for acquiring a signal detection result, wherein the signal detection result is used for indicating that the signal intensity of a first wireless communication device installed on the electric scooter is lower than a target threshold value;
the control module is used for responding to the signal detection result and controlling the electric scooter to move to a target position through a motor of the electric scooter, wherein the signal intensity of the first wireless communication device at the target position is higher than the target threshold value;
wherein the control module comprises:
a detection unit, configured to detect a target direction through a target sensor of the electric scooter, where no obstacle is detected in a target area corresponding to the target direction, a span of the target area in the target direction is greater than a target distance threshold, and the target area includes a first position where the electric scooter is currently located; the first control unit is used for controlling the electric scooter to move along the target direction through a motor of the electric scooter until the target position is reached;
or,
a third control unit for controlling the electric scooter to move along a predetermined second target direction by a motor of the electric scooter; and continuing to move along the second target direction until the target position when the signal strength of the first wireless communication device becomes larger.
8. The electric scooter of claim 7, wherein the detection unit comprises:
the detection subunit is used for detecting the spatial information of the space where the electric scooter is located through a target sensor of the electric scooter;
and the calculating subunit is connected to the detecting subunit and used for calculating the target direction by using the detected spatial information.
9. The electric scooter of claim 7 or 8, further comprising:
a sending module, configured to send target location data to a server corresponding to the electric scooter after the electric scooter is controlled by a motor of the electric scooter to move to the target location, where the target location data is location data that is collected by the electric scooter in a process of moving to the target location and that is lower than the target threshold for the signal strength of the first wireless communication device.
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| CN202010599036.1A CN111688859B (en) | 2018-12-07 | 2018-12-07 | Automatic control method of electric scooter and electric scooter |
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| CN202010599036.1A CN111688859B (en) | 2018-12-07 | 2018-12-07 | Automatic control method of electric scooter and electric scooter |
| CN201811497126.9A CN109603143B (en) | 2018-12-07 | 2018-12-07 | Automatic control method of electric scooter and electric scooter |
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|---|---|
| CN109603143A (en) | 2019-04-12 |
| CN109603143B (en) | 2020-08-11 |
| CN111688859B (en) | 2022-04-19 |
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