Control method and device for auxiliary wheels

Abstract

The present invention provides a control method and device for auxiliary wheels, which obtain a destination point selected by a user terminal based on a base map, receive an auxiliary mode selected by the user terminal, determine a planned path corresponding to an auxiliary device according to the auxiliary mode and the destination point, determine terrain information of the planned path, determine multiple switching nodes corresponding to the planned path according to the terrain information, obtain the switching node corresponding to the auxiliary device based on the auxiliary mode, determine the control speed corresponding to the switching node, update the control speed according to the feedback speed input by the user terminal to obtain an adjustment speed, and perform adaptive speed switching on the auxiliary device according to the adjustment speed.

Description

Technical Field

[0001] The present invention relates to data processing technology, and in particular to a control method and device for auxiliary wheels. Background Art

[0002] With the continuous development of science and technology, the emergence of smart camping cars has gradually changed people’s camping methods and camping experiences.

[0003] In the prior art, in camping bases, traditional manual camping carts mainly rely on human power to transport supplies. This method can still cope with flat roads, but in complex and changeable camping base terrains, such as ramps, rugged trails, or when crossing grass, sand and other areas, the efficiency of manual camping carts will be greatly reduced. Users are not only prone to fatigue, but may also increase safety risks due to poor road conditions.

[0004] Therefore, how to flexibly adjust the use of camping cars according to the actual road conditions of the base and improve the working efficiency of camping cars has become an urgent problem to be solved. Summary of the invention

[0005] The present invention provides a control method and device for auxiliary wheels, which can flexibly adjust the use of a camping vehicle in combination with the actual road conditions of a base, thereby improving the working efficiency of the camping vehicle.

[0006] A first aspect of the present invention provides a method for controlling an auxiliary wheel, comprising:

[0007] Acquire a destination point selected by a user terminal based on a base map, receive an auxiliary mode selected by the user terminal, and determine a planned path corresponding to an auxiliary device according to the auxiliary mode and the destination point;

[0008] Determine terrain information of the planned path, and determine a plurality of switching nodes corresponding to the planned path according to the terrain information;

[0009] Acquire a switching node corresponding to the auxiliary device based on the auxiliary mode, and determine a control speed corresponding to the switching node;

[0010] The control speed is updated according to the feedback speed input by the user end to obtain an adjustment speed, and the auxiliary device is adaptively switched in speed according to the adjustment speed.

[0011] Optionally, in a possible implementation manner of the first aspect, obtaining a destination point selected by a user terminal based on a base map, receiving an auxiliary mode selected by the user terminal, and determining a planned path corresponding to an auxiliary device according to the auxiliary mode and the destination point includes:

[0012] Acquire the location point of the auxiliary device, and determine multiple candidate paths between the location point and the destination point;

[0013] receiving an assistance mode selected by the user terminal, wherein the assistance mode includes an automatic assistance mode and a power assistance mode;

[0014] Determining that a fully automatic device is an auxiliary device corresponding to the automatic assistance mode, and determining a plurality of terrain segments corresponding to each of the to-be-selected paths according to the automatic assistance mode;

[0015] Acquire terrain segments with adjacent positions and different terrain types as a set of switching groups, and determine the candidate path with the least switching groups as the planned path corresponding to the auxiliary device;

[0016] It is determined that the power assisting device is an auxiliary device corresponding to the power assisting mode, and the candidate path selected by the user end is obtained as a planned path corresponding to the auxiliary device.

[0017] Optionally, in a possible implementation manner of the first aspect, determining terrain information of the planned path, and determining a plurality of switching nodes corresponding to the planned path according to the terrain information includes:

[0018] Parsing the terrain information to obtain the terrain type corresponding to each position point in the planned path, and determining the path segment corresponding to the position points that are adjacent in position and have the same terrain type as the terrain segment;

[0019] The path starting point of each of the terrain segments is determined as a switching node, and the terrain type corresponding to the terrain segment is bound to the switching node.

[0020] Optionally, in a possible implementation manner of the first aspect, acquiring a switching node corresponding to the auxiliary device based on the auxiliary mode, and determining a control speed corresponding to the switching node includes:

[0021] Determine, according to the automatic assistance mode, a direction from the starting point to the end point of the planned path as a traversal direction, and arrange the switching nodes in sequence according to the traversal direction to obtain a node sequence;

[0022] Obtaining an estimated duration corresponding to each of the switching nodes in the node sequence, determining a switching node corresponding to the auxiliary device based on the travel duration of the auxiliary device and the estimated duration, and determining a control speed corresponding to the switching node according to a terrain type corresponding to the switching node;

[0023] The current position of the auxiliary device is acquired according to the power assistance mode, the switching node corresponding to the auxiliary device is determined based on the terrain segment corresponding to the current position, and the control speed corresponding to the switching node is determined according to the terrain type corresponding to the switching node.

[0024] Optionally, in a possible implementation manner of the first aspect, obtaining an estimated duration corresponding to each switching node in the node sequence, determining the switching node corresponding to the auxiliary device based on the travel duration of the auxiliary device and the estimated duration, and determining the control speed corresponding to the switching node according to the terrain type corresponding to the switching node, includes:

[0025] Acquire the path length and standard speed of each of the terrain segments, and obtain the estimated duration corresponding to each of the switching nodes based on the ratio of the path length to the standard speed;

[0026] Determine that the first switching node in the node sequence is the target node corresponding to the auxiliary device;

[0027] Obtaining the travel time of the auxiliary device based on the planned path, and when the travel time is equal to the estimated time corresponding to the target node, determining that the auxiliary device meets the switching condition, and continuing to determine the second switching node as the next target node corresponding to the auxiliary device;

[0028] Re-obtain the travel time of the auxiliary device, and repeat the above steps of determining the target node according to the travel time and the estimated time until the last switching node is reached;

[0029] A standard speed corresponding to the terrain type of the target node is obtained, and the standard speed is determined as the control speed.

[0030] Optionally, in a possible implementation manner of the first aspect, acquiring a current position of the auxiliary device according to the power assistance mode, determining a switching node corresponding to the auxiliary device based on a terrain segment corresponding to the current position, and determining a control speed corresponding to the switching node according to a terrain type corresponding to the switching node, includes:

[0031] Acquire the switching node corresponding to the terrain segment where the current position is located as the target node corresponding to the auxiliary device;

[0032] Determine the terrain type corresponding to the target node, and when the terrain type is a flat type, determine the standard speed corresponding to the terrain type as the control speed;

[0033] When the terrain type is an uphill type, obtaining a first inclination of the auxiliary device, and accelerating and adjusting a standard speed corresponding to the terrain type according to the first inclination to obtain a control speed;

[0034] When the terrain type is a downhill type, a second inclination of the auxiliary device is acquired, and a standard speed corresponding to the terrain type is decelerated and adjusted according to the second inclination to obtain a control speed.

[0035] Optionally, in a possible implementation manner of the first aspect, when the terrain type is an uphill type, obtaining a first inclination of the auxiliary device, and accelerating and adjusting a standard speed corresponding to the terrain type according to the first inclination to obtain a controlled speed include:

[0036] When the terrain type is an uphill type, determining a first inclination of the auxiliary device according to an inclinometer;

[0037] Acquire a first standard inclination corresponding to the terrain type, and obtain a first inclination difference according to the first inclination and the first standard inclination;

[0038] A first adjustment coefficient is obtained according to the ratio of the first tilt difference and the first reference difference, a first adjustment offset is obtained based on the product of the first adjustment coefficient and the first reference offset, and a control speed is obtained according to the sum of the standard speed and the first adjustment offset.

[0039] Optionally, in a possible implementation manner of the first aspect, when the terrain type is a downhill type, obtaining a second inclination of the auxiliary device, and decelerating and adjusting a standard speed corresponding to the terrain type according to the second inclination to obtain a controlled speed, includes:

[0040] When the terrain type is a downhill type, determining a second inclination of the auxiliary device according to an inclinometer;

[0041] Acquire a second standard inclination corresponding to the terrain type, and obtain a second inclination difference according to the second inclination and the second standard inclination;

[0042] A second adjustment coefficient is obtained according to the ratio of the second tilt difference and the second reference difference, a second adjustment offset value is obtained based on the product of the second adjustment coefficient and the second reference offset value, and a control speed is obtained according to the difference between the standard speed and the second adjustment offset value.

[0043] Optionally, in a possible implementation manner of the first aspect, after the control speed is updated according to the feedback speed input by the user terminal to obtain the adjustment speed, the method further includes:

[0044] Acquire multiple historical adjustment speeds corresponding to the terrain type of the switching node, and determine a speed average of each of the historical adjustment speeds;

[0045] Determining the adjustment preference of the user terminal according to the comparison result of the speed average and the standard speed, wherein the adjustment preference includes an upward adjustment preference and a downward adjustment preference;

[0046] obtaining a first difference between the speed mean and the standard speed based on the upward adjustment preference, obtaining an upward adjustment coefficient according to a ratio of the first difference to the standard upward adjustment difference, and obtaining the standard speed adjusted for the terrain type based on a sum of the upward adjustment coefficient and the standard speed;

[0047] According to the downward adjustment preference, a second difference between the standard speed and the speed mean is obtained, a downward adjustment coefficient is obtained based on the ratio of the second difference and the standard downward adjustment difference, and the standard speed after adjustment of the terrain type is obtained according to the difference between the downward adjustment coefficient and the standard speed, and the adjusted standard speed is associated with the user terminal.

[0048] A second aspect of the present invention provides a control device for an auxiliary wheel, comprising:

[0049] A receiving module, used to obtain a destination point selected by a user terminal based on a base map, receive an auxiliary mode selected by the user terminal, and determine a planned path corresponding to an auxiliary device according to the auxiliary mode and the destination point;

[0050] A determination module, used to determine the terrain information of the planned path, and determine a plurality of switching nodes corresponding to the planned path according to the terrain information;

[0051] an acquisition module, configured to acquire a switching node corresponding to the auxiliary device based on the auxiliary mode, and determine a control speed corresponding to the switching node;

[0052] An updating module is used to update the control speed according to the feedback speed input by the user end to obtain an adjustment speed, and to perform adaptive speed switching on the auxiliary device according to the adjustment speed.

[0053] The beneficial effects of the present invention are as follows:

[0054] 1. The present invention can transport camping supplies through auxiliary equipment with auxiliary wheels on both sides, and control the auxiliary equipment by controlling the auxiliary wheels, so that the auxiliary equipment can be controlled to reach the destination. When controlling the auxiliary equipment to go to the destination, different auxiliary modes can be selected in combination with the needs of the user end, and a planned path that is more in line with the auxiliary equipment can be generated, so that the corresponding auxiliary equipment can be controlled by different auxiliary modes to go to the destination where the user wants to camp according to the planned path, and in the process of going to the destination, the speed of the auxiliary equipment will be adjusted accordingly in combination with the terrain type of the planned path, so as to ensure that the auxiliary equipment can quickly reach the destination under the premise of safety, thereby improving transportation efficiency.

[0055] 2. When controlling the auxiliary equipment to go to the destination, this scheme can switch the speed of the auxiliary equipment at the switching node in combination with the terrain types corresponding to different terrain sections. When obtaining the control speed corresponding to the switching node, the method of obtaining the switching node and the method of determining the control speed corresponding to the switching node are different in different auxiliary modes. In the automatic auxiliary mode, it can be determined whether the auxiliary equipment has reached the next terrain section in combination with the travel time corresponding to the auxiliary equipment in different terrain sections, and when reaching the next terrain section, the speed of the auxiliary equipment can be switched according to the standard speed corresponding to the next terrain section, which can improve the flexibility of adjusting the speed of the auxiliary equipment, thereby improving the overall transportation efficiency. In the power-assisted mode, the control speed corresponding to the terrain type can be determined according to the terrain type corresponding to the switching node and switched accordingly, so that the auxiliary equipment can better adapt to various terrains and improve the transportation efficiency and stability of the auxiliary equipment in different terrain sections.

[0056] 3. In the power-assisted mode, the present invention can combine the terrain type corresponding to the terrain segment where the auxiliary device is located, and offset the standard speed corresponding to the terrain type to a certain extent to obtain the control speed corresponding to the auxiliary device. When the auxiliary device is located in an uphill type terrain segment, the standard speed corresponding to the uphill type can be combined with the inclination angle of the auxiliary device on the uphill road to increase accordingly. When the auxiliary device is located in a downhill type terrain segment, the standard speed corresponding to the downhill type can be combined with the inclination angle of the auxiliary device on the downhill road to reduce accordingly. In this way, the speed of the auxiliary device can be adaptively adjusted in combination with the actual situation of the terrain segment, and the stability and safety of the auxiliary device in the forward process can be improved, so that the user can be better assisted and the transportation efficiency of the auxiliary device can be improved. When the user wants to adjust the control speed of the auxiliary device, the present invention can feedback-adjust the control speed of the auxiliary device in combination with the user's own needs. By updating the control speed of the auxiliary device to the feedback speed input by the user in combination with his own needs, and taking the feedback speed as the final adjustment speed, the auxiliary device can adaptively switch the speed according to the adjustment speed, so as to obtain an adjustment speed that is more in line with the user's needs. After obtaining the adjustment speed corresponding to the terrain type, the present invention can offset the standard speed corresponding to the terrain type in combination with multiple historical adjustment speeds corresponding to the terrain type, so that the offset standard speed better adapts to the user's personal adjustment preference, thereby obtaining a standard speed that is more in line with user needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 is a flow chart of a method for controlling an auxiliary wheel provided in an embodiment of the present invention;

[0058] Figure 2is a schematic diagram of a planned path corresponding to an automatic assistance mode provided in an embodiment of the present invention;

[0059] Figure 3 is a schematic diagram of a planned path corresponding to a power assist mode provided in an embodiment of the present invention;

[0060] Figure 4 It is a schematic structural diagram of a control device for an auxiliary wheel provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] See also Figure 1 , is a flow chart of a method for controlling an auxiliary wheel provided in an embodiment of the present invention, Figure 1 The execution subject of the method shown may be a software and / or hardware device. The execution subject of the present application may include but is not limited to at least one of the following: user equipment, network equipment, etc. Among them, user equipment may include but is not limited to computers, smart phones, personal digital assistants (PDA) and the electronic devices mentioned above. Network equipment may include but is not limited to a single network server, a server group consisting of multiple network servers, or a cloud based on cloud computing consisting of a large number of computers or network servers, wherein cloud computing is a type of distributed computing, a super virtual computer composed of a group of loosely coupled computers. This embodiment does not limit this. It includes steps S1 to S4, as follows:

[0063] S1, obtaining a destination point selected by a user terminal based on a base map, receiving an auxiliary mode selected by the user terminal, and determining a planned path corresponding to an auxiliary device according to the auxiliary mode and the destination point.

[0064] With people's love for outdoor leisure activities and the improvement of living standards, camping bases have gradually become an important part of the outdoor leisure tourism market. In actual applications, when users go to camping bases to camp, it may be inconvenient for users to carry a wide variety of equipment and supplies required for camping. This solution can use auxiliary equipment with auxiliary wheels on both sides, such as a smart camping car, to transport supplies, and control the auxiliary equipment by controlling the auxiliary wheels, so that the auxiliary equipment can be controlled to go to the destination.

[0065] When controlling the auxiliary equipment to go to the destination, the present solution allows the user to select different auxiliary modes according to their own needs, and determine different auxiliary equipment according to different auxiliary modes, so that the corresponding auxiliary equipment can be controlled through different auxiliary modes to go to the destination where the user wants to camp along the planned driving route. In the process of controlling the auxiliary equipment to go to the destination, the driving speed of the auxiliary equipment can also be controlled accordingly based on the terrain information of the driving route, so as to ensure that the auxiliary equipment can adapt to different terrains and can reach the destination quickly, thereby improving efficiency.

[0066] Specifically, there are many camping spots in the camping base. When the user arrives at the camping base, the base map corresponding to the camping base can be sent to the user end. The user can select the destination point for camping from the base map, and can select the corresponding auxiliary mode according to their own needs. Different auxiliary modes correspond to different auxiliary devices. The server can determine the best path for the auxiliary device to go to the destination point according to the auxiliary mode and destination point selected by the user, that is, plan the path, and the auxiliary device can go to the destination according to the planned path.

[0067] Among them, the user end refers to the terminal held by the user who goes camping, such as a mobile phone, computer, etc., the base map refers to the map corresponding to the camping base, the destination point refers to the location point corresponding to the destination selected by the user for camping, the auxiliary mode refers to the control mode of the auxiliary equipment, the auxiliary equipment refers to the equipment that helps the user transport camping supplies, such as an intelligent camping car, and the planned path refers to the path determined in combination with the user's needs and compatible with the auxiliary equipment. The auxiliary equipment can go to the destination along the planned path.

[0068] Based on the above embodiment, the specific implementation of step S1 may be:

[0069] S11, obtaining a location point of the auxiliary device, and determining a plurality of candidate paths between the location point and the destination point.

[0070] In actual applications, the auxiliary device can be configured with a GPS positioning system, through which the current location of the auxiliary device can be determined. According to the relative position relationship between the current location of the auxiliary device and the destination, the server can generate multiple candidate paths from the current location to the destination based on the base's map data and path planning algorithm.

[0071] The location point refers to the point corresponding to the current location of the auxiliary device, and the selected path refers to multiple paths that the auxiliary device can take from the current location to the destination.

[0072] S12, receiving an assistance mode selected by the user terminal, where the assistance mode includes an automatic assistance mode and a power assistance mode.

[0073] It can be understood that this solution controls the auxiliary equipment to go to the destination where the user wants to camp through two different modes. One is a mode in which the auxiliary equipment can automatically go to the destination according to the planned path, namely, the automatic assistance mode. When the user wants the auxiliary equipment to automatically go to the destination, the automatic assistance mode can be selected. In the automatic assistance mode, this solution can combine the destination point selected by the user and the current location of the auxiliary equipment to determine a planned path that is more appropriate for the auxiliary equipment, and then the auxiliary equipment can be controlled to go to the destination along the planned path.

[0074] The other is a mode in which the user pulls the auxiliary equipment to the destination according to the planned path, that is, the power-assisted mode. In the power-assisted mode, the auxiliary equipment can automatically provide assistance. The user does not need to use force during the traction process, but only needs to provide guidance for the auxiliary equipment in the direction of travel. Since the terrain in the camping base is different, for example, for a sloped slope, the user will have to go uphill. If no assistance is provided, the resistance to the auxiliary equipment's forward movement may be greater, causing the auxiliary equipment's driving speed to slow down, which may affect the auxiliary equipment's transportation efficiency. Therefore, in the power-assisted mode, the auxiliary equipment can automatically provide assistance according to the terrain changes of the planned path, thereby reducing the user's physical exertion and improving transportation efficiency.

[0075] Among them, the automatic assistance mode refers to a mode in which the auxiliary device is controlled to automatically go to the destination, and the power assistance mode refers to a mode in which the auxiliary device can automatically provide assistance during the process of controlling the auxiliary device to go to the destination.

[0076] S13, determining that the fully automatic device is the auxiliary device corresponding to the automatic assistance mode, and determining a plurality of terrain segments corresponding to each of the to-be-selected paths according to the automatic assistance mode.

[0077] Since the auxiliary equipment can automatically go to the destination in the automatic assistance mode, the fully automatic equipment can be determined as the auxiliary equipment corresponding to the automatic assistance mode. When controlling the fully automatic equipment to go to the destination, since the terrain information corresponding to different selected paths is different, when this scheme controls the auxiliary equipment to go to the destination in the automatic assistance mode, the speed of the auxiliary equipment will be adjusted based on the time information of the auxiliary equipment moving in different terrain sections. If there are many changes in the terrain in the selected path, the number of times the speed of the auxiliary equipment is adjusted during the movement will also increase accordingly, which may affect the accuracy of the speed adjustment of the auxiliary equipment.

[0078] In order to improve the accuracy of adjusting the speed of the auxiliary equipment, a candidate path with less terrain changes can be selected. Therefore, when determining the planned path corresponding to the automatic assistance mode, multiple candidate paths can be screened according to the terrain information corresponding to the candidate paths, so that the candidate path with the least terrain changes can be obtained. Specifically, it is first possible to obtain multiple terrain segments corresponding to each candidate path in the automatic assistance mode, and then the terrain changes of the candidate path can be judged according to the different terrain segments.

[0079] Among them, fully automatic equipment refers to auxiliary equipment that automatically travels to the destination, and terrain segments refer to different sections on the path divided according to the terrain type. Each terrain segment has different terrain types, such as flat type, uphill type, downhill type, etc. By dividing these path segments into different terrain segments, the driving speed of the auxiliary equipment can be more conveniently adjusted to adapt to different terrain conditions.

[0080] S14, acquiring terrain segments with adjacent positions and different terrain types as a switching group, and determining a candidate path with the least switching groups as the planned path corresponding to the auxiliary device.

[0081] Specifically, when the terrain types corresponding to adjacent terrain segments are different, it can be considered that the speed of the auxiliary device will switch when passing through the adjacent terrain segments. Therefore, the terrain segments with adjacent positions and different terrain types can be determined as a switching group. The fewer the switching groups, the fewer the number of speed switching adjustments, which helps to improve the stability and accuracy of the auxiliary device during driving. Therefore, the candidate path with the least switching groups can be determined as the planned path corresponding to the auxiliary device.

[0082] Among them, the terrain type refers to the type corresponding to the terrain with different characteristics, such as flat type, uphill type, downhill type, etc. The switching group is composed of two adjacent terrain segments. The terrain characteristics between these terrain segments have changed, so the speed of the auxiliary equipment will switch when passing through the switching group.

[0083] S15, determining that the power assisting device is the auxiliary device corresponding to the power assisting mode, and obtaining the candidate path selected by the user end as the planned path corresponding to the auxiliary device.

[0084] In the power-assist mode, the power-assist device can be determined as the corresponding auxiliary device. Since the user can see the driving path of the auxiliary device in the power-assist mode, after generating multiple candidate paths, the multiple candidate paths can be sent to the user end, and the user can select one of the candidate paths as the planned path corresponding to the auxiliary device. Among them, the power-assist device refers to an auxiliary device that can automatically assist.

[0085] Through the above implementation, a planned path that is more consistent with the auxiliary equipment can be generated to improve transportation efficiency.

[0086] S2, determining terrain information of the planned path, and determining a plurality of switching nodes corresponding to the planned path according to the terrain information.

[0087] In actual applications, since there are many different types of terrain in the camping base, if the speed of the auxiliary equipment is consistent in different terrains, then due to the increased resistance when going uphill, the speed may decrease due to insufficient power, and may even cause an inability to move forward. When going downhill, due to the effect of gravity, the auxiliary equipment has a natural acceleration tendency. If the speed of the auxiliary equipment remains unchanged, it may cause the speed to be too fast, which in turn causes safety hazards. Therefore, this solution can combine the terrain information in the planned path to control the driving speed of the auxiliary equipment accordingly. For example, the driving speed can be increased when going uphill and reduced when going downhill.

[0088] When controlling the driving speed of the auxiliary device, when the auxiliary device drives to a location where the terrain changes, the driving speed of the auxiliary device can be switched to a speed that matches the terrain type. Therefore, the location where the terrain type changes, that is, the switching node, must be obtained first. The switching speeds corresponding to different switching nodes can be determined by different terrain types. Subsequently, the speed of the auxiliary device can be switched accordingly at the switching node in combination with the switching speed. Specifically, after obtaining the planned path, the terrain information corresponding to the planned path can be determined, and multiple switching nodes corresponding to the planned path can be determined according to the changes in the terrain information.

[0089] The terrain information refers to information that can be used to describe different terrain features on the planned path, and the switching node refers to a node at which the speed of the auxiliary device is switched.

[0090] In some embodiments, step S2 includes S21 to S22, which are specifically as follows:

[0091] S21, parsing the terrain information to obtain the terrain type corresponding to each position point in the planned path, and determining that the path segments corresponding to the position points that are adjacent in position and have the same terrain type are terrain segments.

[0092] See also Figure 2 , which is a schematic diagram of a planned path corresponding to an automatic assistance mode provided in an embodiment of the present invention, such as Figure 2 As shown in , terrain segment 1 is an uphill type terrain segment, terrain segment 2 is a downhill type terrain segment, and terrain segment 3 is a flat type terrain segment.

[0093] Specifically, since there are multiple location points corresponding to the planned path, after obtaining the terrain information, the terrain information can be analyzed to obtain the terrain type corresponding to each location point in the planned path. When the location points are adjacent and the corresponding terrain types are the same, then it can be considered that the adjacent location points are on the same path segment of the same type, and the corresponding path segment can be determined as a terrain segment corresponding to the corresponding terrain type according to the terrain type. For example, if the terrain types corresponding to multiple adjacent location points are all flat types, then the path segments corresponding to the adjacent location points can be determined as flat terrain segments. By dividing the path segments into different terrain segments, the driving speed of the auxiliary equipment can be more conveniently adjusted to adapt to different terrain conditions.

[0094] Among them, the location point refers to the point corresponding to each location in the planned path.

[0095] S22, determining the path starting point of each of the terrain segments as a switching node, and binding the terrain type corresponding to the terrain segment to the switching node.

[0096] In practical applications, in order to accurately control the speed of the auxiliary equipment, when switching the speed of the auxiliary equipment, the switching can be performed at the beginning of the terrain segment. Therefore, the starting point of the path corresponding to each terrain segment can be determined as the switching node, such as Figure 2 As shown in , the path starting point on terrain segment 1 is switch node 1, the path starting point on terrain segment 2 is switch node 2, and the path starting point on terrain segment 3 is switch node 3. The terrain type corresponding to each terrain segment is bound to the corresponding switch node. When the auxiliary device drives to the switch node, it can switch to a speed that matches the terrain according to the bound terrain type information. For example, when the auxiliary device drives to switch node 1, the speed of the auxiliary device can be switched to the speed corresponding to the uphill type. Among them, the path starting point refers to the location point where the terrain segment starts.

[0097] S3: acquiring a switching node corresponding to the auxiliary device based on the auxiliary mode, and determining a control speed corresponding to the switching node.

[0098] When obtaining the control speed corresponding to the switching node, the method of obtaining the switching node and the method of determining the control speed corresponding to the switching node are different in different auxiliary modes. In the automatic auxiliary mode, it is possible to determine whether the auxiliary device has reached the next terrain segment in combination with the corresponding travel time of the auxiliary device in different terrain segments, and when reaching the next terrain segment, the speed of the auxiliary device is switched according to the standard speed corresponding to the next terrain segment. In the power-assisted mode, the corresponding speed switching can be performed through the switching node corresponding to the current position of the auxiliary device. Specifically, the control speed corresponding to the terrain type can be determined according to the terrain type corresponding to the switching node and switched accordingly.

[0099] The control speed refers to the speed that matches the terrain type of the terrain segment, and the auxiliary equipment moves in each terrain segment according to the control speed corresponding to each terrain segment.

[0100] In some embodiments, the specific implementation of step S3 may be:

[0101] S31, determining, according to the automatic assistance mode, a direction from the starting point to the end point of the planned path as a traversal direction, and arranging the switching nodes in sequence according to the traversal direction to obtain a node sequence.

[0102] Specifically, in the autonomous assistance mode, the auxiliary device can automatically move from the starting point of the planned path until it reaches the end point of the planned path and stops moving. When the auxiliary device moves along the planned path, it will pass through each switch node on the planned path in an orderly manner. Therefore, the direction from the starting point to the end point of the planned path can be determined as the traversal direction of traversing each switch node in turn, such as Figure 2 As shown in , the auxiliary device passes through switch node 1, switch node 2, and switch node 3 from left to right along the planned path. Therefore, the direction from left to right can be determined as the traversal direction. By arranging switch node 1, switch node 2, and switch node 3 according to the traversal direction, a node sequence can be obtained.

[0103] The traversal direction refers to the direction of traversing the switch nodes in sequence, and the node sequence refers to the sequence obtained by arranging the switch nodes according to the traversal direction.

[0104] S32, obtaining the estimated duration corresponding to each switching node in the node sequence, determining the switching node corresponding to the auxiliary device based on the passage time of the auxiliary device and the estimated duration, and determining the control speed corresponding to the switching node according to the terrain type corresponding to the switching node.

[0105] Specifically, this scheme can estimate the time required for the auxiliary device to pass through the corresponding terrain segment based on the terrain segment corresponding to the switching node, and can obtain the estimated time corresponding to each switching node. By comparing the passage time of the auxiliary device with the estimated time, it can be determined whether the auxiliary device has reached the next terrain segment. When the auxiliary device reaches the next terrain segment, the control speed corresponding to the switching node can be determined according to the terrain type of the switching node corresponding to the next terrain segment, so as to determine the speed of the auxiliary device moving in the next terrain segment.

[0106] Among them, the estimated duration refers to the time required for the auxiliary equipment to pass through the terrain segment corresponding to the switching node based on the terrain segment corresponding to the switching node, and the travel time refers to the time it takes the auxiliary equipment to travel on the terrain segment corresponding to the switching node under actual circumstances.

[0107] In some embodiments, the specific implementation of step S32 may be:

[0108] S321, obtaining the path length and standard speed of each of the terrain segments, and obtaining the estimated duration corresponding to each of the switching nodes based on the ratio of the path length to the standard speed.

[0109] Specifically, the present solution may pre-configure a corresponding standard speed for each terrain segment. The standard speeds corresponding to terrain segments of different terrain types may be different. For example, the standard speed corresponding to an uphill type terrain segment may be larger, the standard speed corresponding to a flat type terrain segment may be smaller than that of an uphill type, and the standard speed corresponding to a downhill type terrain segment may be smaller than that of a flat type. After obtaining the path length and standard speed corresponding to each terrain segment, the ratio of the path length to the standard speed may be calculated to obtain the estimated duration corresponding to each switching node.

[0110] Among them, the path length refers to the length corresponding to the terrain segment, and the standard speed refers to the normal speed at which the pre-configured auxiliary equipment moves within the terrain segment.

[0111] S322: Determine that the first switching node in the node sequence is the target node corresponding to the auxiliary device.

[0112] The target node refers to the node corresponding to the current position of the auxiliary device. Figure 2 As shown in , switch node 1 is the first switch node in the node sequence, so switch node 1 can be determined as the target node.

[0113] S323, obtaining the travel time of the auxiliary device based on the planned path, and when the travel time is equal to the estimated time corresponding to the target node, determining that the auxiliary device meets the switching condition, and continuing to determine the second switching node as the next target node corresponding to the auxiliary device.

[0114] Specifically, after the auxiliary device starts to move along the planned path, the duration information of the auxiliary device moving on the planned path, that is, the travel duration, can be obtained. The travel duration can be considered as the duration recorded when the auxiliary device starts to move from the target node. When the travel duration is equal to the estimated duration corresponding to the target node, it can be considered that the auxiliary device has just arrived at the switching node corresponding to the next terrain segment. Therefore, it can be determined that the auxiliary device meets the switching condition, the speed of the auxiliary device can be switched, and then the second switching node can be determined as the next target node corresponding to the auxiliary device, and it is judged whether the auxiliary device meets the switching condition at the next target node, such as Figure 2As shown in , since the switch node 2 is the second switch node in the node sequence, the switch node 2 can be determined as the next target node for determination.

[0115] S324, re-obtaining the travel time of the auxiliary device, repeating the above steps of determining the target node according to the travel time and the estimated time, and stopping when traversing to the last switching node.

[0116] After determining the next target node, the travel time of the auxiliary device will be re-recorded starting from the next target node. Therefore, the new travel time corresponding to the auxiliary device can be obtained, and it is judged whether the estimated time corresponding to the next target node is equal to the new travel time of the auxiliary device. If they are equal, it can be determined that the auxiliary device meets the switching conditions at the second target node, and then the target node is repeatedly obtained according to the same steps until the last switching node is determined as the target node, and the step of obtaining the target node is stopped.

[0117] S325, obtaining a standard speed corresponding to the terrain type of the target node, and determining the standard speed as the control speed.

[0118] Specifically, when the auxiliary device meets the switching condition at the target node, the speed of the auxiliary device can be switched at the target node, and the standard speed corresponding to the terrain type at the target node can be determined as the control speed of the auxiliary device when moving in the corresponding terrain segment, for example Figure 2 As shown in , since switching node 1 is a node on terrain segment 1, when it is determined that the auxiliary device meets the switching conditions at switching node 1, since the terrain type of switching node 1 is an uphill type, the standard speed corresponding to the uphill type can be determined as the current control speed of the auxiliary device.

[0119] S33, obtaining the current position of the auxiliary device according to the power assistance mode, determining the switching node corresponding to the auxiliary device based on the terrain segment corresponding to the current position, and determining the control speed corresponding to the switching node according to the terrain type corresponding to the switching node.

[0120] In the power assistance mode, the current position of the auxiliary device can first be obtained according to the GPS positioning system configured by the auxiliary device. Since each position point on the planned path has a corresponding terrain segment, the terrain segment where the auxiliary device is located can be determined according to the current position of the auxiliary device, so that the switching node currently corresponding to the auxiliary device can be determined according to the terrain segment, and the corresponding standard speed can be determined according to the terrain type corresponding to the switching node. Then, the standard speed can be adjusted in combination with the terrain type corresponding to the switching node, and the adjusted standard speed is determined as the control speed of the auxiliary device when moving in the corresponding terrain segment. In the power assistance mode, when it is identified that the driving path of the auxiliary device deviates from the planned path, the user can be reminded.

[0121] Based on the above embodiment, the specific implementation of step S33 may be:

[0122] S331, obtaining a switching node corresponding to the terrain segment where the current position is located as a target node corresponding to the auxiliary device.

[0123] Specifically, after obtaining the current position of the auxiliary device, the switching node corresponding to the terrain segment where the auxiliary device is currently located can be determined as the target node, see Figure 3 , which is a schematic diagram of a planned path corresponding to a power assist mode provided in an embodiment of the present invention, such as Figure 3 As shown in , the auxiliary device is currently located on terrain segment B, so the switching node B corresponding to terrain segment B can be determined as the target node, and the control speed of the auxiliary device can be adjusted accordingly according to the terrain type corresponding to the target node. Among them, the target node here refers to the switching node corresponding to the current position of the auxiliary device on the planned path generated in the power assist mode.

[0124] S332, determining the terrain type corresponding to the target node, and when the terrain type is a flat type, determining a standard speed corresponding to the terrain type as the control speed.

[0125] It is understandable that in the power assist mode, due to different terrain types, the speed at which the auxiliary equipment moves in the corresponding terrain segment will also be different, such as Figure 3 As shown in , terrain segment A is a flat type, terrain segment B is an uphill type, and terrain segment C is a downhill type. This solution can be combined with the terrain type corresponding to the target node. When the terrain segment has a certain slope, such as an uphill type terrain segment and a downhill type terrain segment, the standard speed corresponding to the terrain type can be offset to a certain extent to obtain the control speed corresponding to the auxiliary equipment, so that the control speed of the auxiliary equipment can be more in line with the actual road conditions. When the terrain segment is relatively flat, the standard speed corresponding to the terrain type can be determined as the control speed of the auxiliary equipment.

[0126] Specifically, after determining the target node, the terrain type corresponding to the target node can be determined. When the terrain type corresponding to the target node is a flat type, the corresponding terrain segment is relatively flat. At this time, the impact of the external force on the auxiliary equipment can be almost ignored. However, for uphill terrain, the resistance has a greater impact on the auxiliary equipment. For downhill terrain, the inertia force has a greater impact on the auxiliary equipment. Therefore, the standard speed corresponding to the flat type can be directly determined as the control speed of the auxiliary equipment when moving forward.

[0127] S333: When the terrain type is an uphill type, a first inclination of the auxiliary device is obtained, and a standard speed corresponding to the terrain type is accelerated and adjusted according to the first inclination to obtain a control speed.

[0128] like Figure 3 As shown in , when the auxiliary device is located on an uphill type terrain segment B, since the uphill type terrain segment has a certain inclination angle, the resistance of the auxiliary device when moving forward will increase, and since the inclination angles corresponding to different uphill types of terrain segments may be different, the degree of increase in the resistance of the auxiliary device when moving forward is also different. However, since the standard speeds corresponding to the uphill types are the same, for steeper slopes, if the auxiliary device travels at the standard speed corresponding to the uphill type, it may be unable to move forward due to insufficient power. In order to reduce the impact of different inclination angles on the forward movement of the auxiliary device, the standard speed corresponding to the uphill type can be adjusted accordingly in combination with the inclination angle of the auxiliary device on the uphill road.

[0129] Specifically, the first inclination of the auxiliary device on the uphill slope can be obtained, and the standard speed corresponding to the terrain type can be adjusted according to the size of the first inclination to obtain the control speed, so that the control speed of the auxiliary device can be more closely matched to the terrain type.

[0130] In some embodiments, step S333 includes the following steps:

[0131] S3331: When the terrain type is an uphill type, determine the first inclination of the auxiliary equipment according to an inclinometer.

[0132] Specifically, when the auxiliary device is located in an uphill terrain section, the inclination angle of the auxiliary device can be measured by an inclinometer to obtain a corresponding first inclination. The inclinometer refers to an instrument for measuring the inclination angle of the auxiliary device on a ramp, which can be a gyroscope in practical applications. The gyroscope can be used to determine the inclination of the auxiliary device when going uphill and when going downhill. The first inclination refers to the inclination angle of the auxiliary device when going uphill.

[0133] S3332: Obtain a first standard inclination corresponding to the terrain type, and obtain a first inclination difference according to the first inclination and the first standard inclination.

[0134] Among them, the first standard inclination refers to the standard inclination angle corresponding to a preset uphill type terrain segment, and the first inclination difference refers to the value obtained by calculating the difference between the first inclination and the first standard inclination. The larger the first inclination difference, the greater the difference between the first inclination of the auxiliary equipment and the first standard inclination. For example, the steeper the uphill type terrain segment may be, the greater the amplitude of the adjustment of the standard speed.

[0135] S3333, obtaining a first adjustment coefficient according to the ratio of the first tilt difference and the first reference difference, obtaining a first adjustment offset value based on the product of the first adjustment coefficient and the first reference offset value, and obtaining a control speed according to the sum of the standard speed and the first adjustment offset value.

[0136] The first reference difference refers to a preset standard tilt difference, and the first reference offset refers to a preset standard offset difference. The first reference difference can be set corresponding to the first reference offset, so that the first reference offset can be offset according to the first reference difference.

[0137] Specifically, by calculating the ratio of the first inclination difference and the first reference difference, a first adjustment coefficient can be obtained. The larger the first inclination difference, the larger the first adjustment coefficient, and the larger the adjustment amplitude of the standard speed will be accordingly. By multiplying the first adjustment coefficient by the first reference offset value, the first reference offset value can be offset to obtain a first adjustment offset value. The first adjustment offset value can represent the amplitude of the offset of the standard speed. The larger the first adjustment offset value, the larger the adjustment amplitude will be. By adding the standard speed and the first adjustment offset value, the control speed of the auxiliary device at the corresponding inclination angle can be obtained.

[0138] S334: When the terrain type is a downhill type, a second inclination of the auxiliary device is obtained, and a standard speed corresponding to the terrain type is decelerated and adjusted according to the second inclination to obtain a control speed.

[0139] When the auxiliary equipment is located in a downhill type terrain section, the downhill type terrain section also has a certain inclination angle. When the auxiliary equipment is traveling on the downhill type terrain section, the inertia force will cause the speed of the auxiliary equipment to increase, and different inclination angles will generate different inertia forces on the auxiliary equipment. However, since the standard speeds corresponding to the downhill type are the same, the inertia force generated for steeper downhill slopes will be greater. If the auxiliary equipment travels at the standard speed corresponding to the downhill type, the speed of the auxiliary equipment may be much greater than the standard speed, and the auxiliary equipment may be out of control or dangerous. Therefore, the standard speed corresponding to the downhill type can be adjusted accordingly in combination with the inclination angle of the auxiliary equipment on the downhill.

[0140] Specifically, the second inclination of the auxiliary device on the downhill slope can be obtained, and the standard speed corresponding to the terrain type is adjusted according to the size of the second inclination to obtain the control speed. The second inclination refers to the inclination angle of the auxiliary device during the downhill process.

[0141] In some embodiments, step S334 includes the following steps:

[0142] S3341: When the terrain type is a downhill type, determine the second inclination of the auxiliary equipment according to an inclinometer.

[0143] Specifically, when the auxiliary device is located in a downhill terrain section, the inclination angle of the auxiliary device can be measured by an inclinometer to obtain a corresponding second inclination.

[0144] S3342: Obtain a second standard inclination corresponding to the terrain type, and obtain a second inclination difference according to the second inclination and the second standard inclination.

[0145] Among them, the second standard inclination refers to the inclination angle corresponding to the downhill type terrain segment under normal circumstances, and the second inclination difference refers to the value obtained by calculating the difference between the second inclination and the second standard inclination. The larger the second inclination difference, the greater the difference between the second inclination of the auxiliary equipment and the second standard inclination. For example, the steeper the downhill type terrain segment may be, the greater the amplitude of the deceleration adjustment of the standard speed.

[0146] S3343, obtaining a second adjustment coefficient according to the ratio of the second tilt difference and the second reference difference, obtaining a second adjustment offset value based on the product of the second adjustment coefficient and the second reference offset value, and obtaining a control speed according to the difference between the standard speed and the second adjustment offset value.

[0147] The second reference difference refers to a preset standard tilt difference, and the second reference offset refers to a preset standard offset difference. The second reference difference can be set corresponding to the second reference offset, so that the second reference offset can be offset according to the second reference difference.

[0148] Specifically, by calculating the ratio of the second inclination difference and the second reference difference, the second adjustment coefficient can be obtained. The larger the second inclination difference, the larger the second adjustment coefficient, and the larger the adjustment amplitude of the standard speed will be accordingly. By multiplying the second adjustment coefficient by the second reference offset value, the second reference offset value can be offset to obtain the second adjustment offset value. The second adjustment offset value can represent the amplitude of the offset of the standard speed. The larger the second adjustment offset value, the larger the adjustment amplitude will be. By subtracting the standard speed from the second adjustment offset value, the control speed of the auxiliary device at the corresponding inclination angle can be obtained.

[0149] Through the above implementation, the speed of the auxiliary equipment can be adaptively adjusted according to the actual situation of the terrain segment, so as to improve the stability and safety of the auxiliary equipment during the forward movement, thereby better assisting the user and improving the transportation efficiency of the auxiliary equipment.

[0150] S4, updating the control speed according to the feedback speed input by the user end to obtain an adjustment speed, and performing adaptive speed switching on the auxiliary device according to the adjustment speed.

[0151] In actual applications, when the user wants to adjust the control speed of the auxiliary device, the user can make feedback adjustments to the control speed of the auxiliary device according to his or her own needs. For example, when the auxiliary device is traveling on a flat terrain section, if the user feels that the control speed of the auxiliary device is slow, the user can input a feedback speed that is larger than the control speed, thereby increasing the control speed of the auxiliary device. If the user feels that the control speed of the auxiliary device is too fast, the user can input a feedback speed that is smaller than the control speed, thereby decreasing the control speed of the auxiliary device. After receiving the feedback speed input by the user, the control speed of the auxiliary device can be updated to the feedback speed, and the feedback speed can be used as the final adjustment speed. The auxiliary device can perform adaptive speed switching according to the adjustment speed, and can continue to travel at the adjustment speed afterwards.

[0152] It is worth noting that when the user makes feedback adjustment to the control speed of the auxiliary device, this solution can configure corresponding speed ranges for different terrain types. The control speed of the auxiliary device must be maintained within the speed range, so the feedback speed input by the user needs to be within the speed range. If the feedback speed input by the user exceeds the preset speed range, you can choose not to update the feedback speed input by the user.

[0153] In automatic assistance mode, if the user chooses to adjust the control speed of the auxiliary device, the auxiliary device's travel time on the corresponding terrain segment will change after the adjustment. In order to ensure the accuracy of the speed switching of the auxiliary device, the estimated time corresponding to each switching node can be updated accordingly according to the adjustment speed.

[0154] Among them, the feedback speed refers to the speed of user feedback combined with user demand input. The control speed can be increased or decreased according to the feedback speed. The adjustment speed refers to the speed obtained after increasing or decreasing the control speed.

[0155] Through the above implementation, the speed of the auxiliary device that is more in line with the user's own needs can be obtained.

[0156] Based on the above steps, this solution also includes the following embodiments:

[0157] A1, obtaining multiple historical adjustment speeds corresponding to the terrain type of the switching node, and determining the speed average of each of the historical adjustment speeds.

[0158] The historical adjustment speed refers to the adjustment speed of the terrain type in the historical time, and the speed mean refers to the average value of multiple historical adjustment speeds.

[0159] After obtaining the adjustment speed corresponding to the terrain type, this solution can offset the standard speed corresponding to the terrain type by combining multiple historical adjustment speeds corresponding to the terrain type, so that the offset standard speed is more in line with the actual needs of the user. Specifically, multiple historical adjustment speeds corresponding to the same terrain type can be obtained, and the corresponding speed average can be obtained by averaging the multiple historical adjustment speeds.

[0160] A2, determining the adjustment preference of the user terminal according to the comparison result of the speed mean and the standard speed, wherein the adjustment preference includes an upward adjustment preference and a downward adjustment preference.

[0161] The adjustment preference refers to the user's preference for adjusting the standard speed, the upward adjustment preference refers to the user's preference for increasing the standard speed, and the downward adjustment preference refers to the user's preference for decreasing the standard speed.

[0162] Specifically, by comparing the speed average with the standard speed, the user's adjustment preference can be determined. If the speed average is greater than the standard speed, it can be considered that the user may have increased the standard speed multiple times, and the user's adjustment preference can be determined to be an upward preference. If the speed average is less than the standard speed, it can be considered that the user may have decreased the standard speed multiple times, and the user's adjustment preference can be determined to be a downward preference.

[0163] A3, based on the upward adjustment preference, obtain a first difference between the speed mean and the standard speed, obtain an upward adjustment coefficient according to the ratio of the first difference and the standard upward adjustment difference, and obtain the standard speed after the terrain type is adjusted based on the sum of the upward adjustment coefficient and the standard speed.

[0164] Among them, the first difference refers to the difference obtained by subtracting the standard speed from the mean speed. The upward adjustment coefficient can be used to indicate the extent to which the standard speed is increased. The larger the upward adjustment coefficient, the greater the extent to which the standard speed is increased. The standard upward adjustment difference refers to the difference between the mean speed of the preset standard and the standard speed based on the increase preference.

[0165] Specifically, when the user has a preference for increasing the standard speed, the first difference between the mean speed and the standard speed can be obtained according to the preference for increasing. The first difference can reflect the gap between the mean speed and the standard speed. The larger the first difference is, the larger the standard speed can be increased. By calculating the ratio of the first difference to the standard increase difference, the corresponding increase coefficient can be obtained. The standard speed can be increased by the increase coefficient. The increase coefficient can be added to the standard speed to obtain the increased standard speed corresponding to the terrain type.

[0166] A4, obtaining a second difference between the standard speed and the speed mean according to the downward adjustment preference, obtaining a downward adjustment coefficient based on the ratio of the second difference and the standard downward adjustment difference, obtaining the standard speed after adjustment of the terrain type according to the difference between the downward adjustment coefficient and the standard speed, and associating the adjusted standard speed with the user terminal.

[0167] Among them, the second difference refers to the difference obtained by subtracting the mean speed from the standard speed. The downward adjustment coefficient can be used to indicate the extent to which the standard speed is reduced. The larger the downward adjustment coefficient, the greater the extent to which the standard speed is reduced. The standard downward adjustment difference refers to the difference between the standard speed and the mean speed, which is preset according to the downward adjustment preference.

[0168] Specifically, when the user has a preference to lower the standard speed, the second difference between the standard speed and the average speed can be obtained according to the downward preference. The second difference can reflect the gap between the standard speed and the average speed. The larger the second difference is, the larger the amplitude of the standard speed reduction can be. By calculating the ratio of the second difference to the standard downward difference, the corresponding downward adjustment coefficient can be obtained. The standard speed can be lowered by the downward adjustment coefficient. The standard speed can be subtracted from the downward adjustment coefficient to obtain the lowered standard speed corresponding to the terrain type.

[0169] After the adjusted standard speed is acquired, the adjusted standard speed can be associated with the user terminal, so that when the user uses the auxiliary device again, the auxiliary device can be adjusted to the corresponding speed in accordance with the user's speed requirement.

[0170] Through the above implementation, the standard speed of the auxiliary device can be better adapted to the user's personal adjustment preference, so that a standard speed that is more in line with the user's needs can be obtained.

[0171] See also Figure 4 , is a schematic diagram of the structure of a control device for an auxiliary wheel provided in an embodiment of the present invention, the control device for an auxiliary wheel comprising:

[0172] A receiving module, used to obtain a destination point selected by a user terminal based on a base map, receive an auxiliary mode selected by the user terminal, and determine a planned path corresponding to an auxiliary device according to the auxiliary mode and the destination point;

[0173] A determination module, used to determine the terrain information of the planned path, and determine a plurality of switching nodes corresponding to the planned path according to the terrain information;

[0174] an acquisition module, configured to acquire a switching node corresponding to the auxiliary device based on the auxiliary mode, and determine a control speed corresponding to the switching node;

[0175] An updating module is used to update the control speed according to the feedback speed input by the user end to obtain an adjustment speed, and to perform adaptive speed switching on the auxiliary device according to the adjustment speed.

[0176] Figure 4 The apparatus of the embodiment shown can be used to perform Figure 1 The implementation principles and technical effects of the steps in the method embodiment shown are similar and will not be repeated here.

[0177] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling an auxiliary wheel, characterized in that: include: Acquire a destination point selected by a user terminal based on a base map, receive an auxiliary mode selected by the user terminal, and determine a planned path corresponding to an auxiliary device according to the auxiliary mode and the destination point; Determine terrain information of the planned path, and determine a plurality of switching nodes corresponding to the planned path according to the terrain information; Acquire a switching node corresponding to the auxiliary device based on the auxiliary mode, and determine a control speed corresponding to the switching node; The control speed is updated according to the feedback speed input by the user end to obtain an adjustment speed, and the auxiliary device is adaptively switched in speed according to the adjustment speed.

2. The method according to claim 1, characterized in that: Acquiring a destination point selected by a user terminal based on a base map, receiving an auxiliary mode selected by the user terminal, and determining a planned path corresponding to an auxiliary device according to the auxiliary mode and the destination point, including: Acquire the location point of the auxiliary device, and determine multiple candidate paths between the location point and the destination point; receiving an assistance mode selected by the user terminal, wherein the assistance mode includes an automatic assistance mode and a power assistance mode; Determining that a fully automatic device is an auxiliary device corresponding to the automatic auxiliary mode, and determining a plurality of terrain segments corresponding to each of the to-be-selected paths according to the automatic auxiliary mode; Acquire terrain segments with adjacent positions and different terrain types as a set of switching groups, and determine the candidate path with the least switching groups as the planned path corresponding to the auxiliary device; It is determined that the power assisting device is an auxiliary device corresponding to the power assisting mode, and the candidate path selected by the user end is obtained as a planned path corresponding to the auxiliary device.

3. The method according to claim 1, characterized in that Determining terrain information of the planned path, and determining a plurality of switching nodes corresponding to the planned path according to the terrain information, including: Parsing the terrain information to obtain the terrain type corresponding to each position point in the planned path, and determining the path segment corresponding to the position points that are adjacent in position and have the same terrain type as the terrain segment; The path starting point of each of the terrain segments is determined as a switching node, and the terrain type corresponding to the terrain segment is bound to the switching node.

4. The method according to claim 2, characterized in that: Acquiring a switching node corresponding to the auxiliary device based on the auxiliary mode, and determining a control speed corresponding to the switching node, includes: Determine, according to the automatic assistance mode, a direction from the starting point to the end point of the planned path as a traversal direction, and arrange the switching nodes in sequence according to the traversal direction to obtain a node sequence; Obtaining an estimated duration corresponding to each of the switching nodes in the node sequence, determining a switching node corresponding to the auxiliary device based on the travel duration of the auxiliary device and the estimated duration, and determining a control speed corresponding to the switching node according to a terrain type corresponding to the switching node; The current position of the auxiliary device is acquired according to the power assistance mode, the switching node corresponding to the auxiliary device is determined based on the terrain segment corresponding to the current position, and the control speed corresponding to the switching node is determined according to the terrain type corresponding to the switching node.

5. The method according to claim 4, characterized in that Obtaining an estimated duration corresponding to each of the switching nodes in the node sequence, determining a switching node corresponding to the auxiliary device based on the travel duration of the auxiliary device and the estimated duration, and determining a control speed corresponding to the switching node according to a terrain type corresponding to the switching node, including: Acquire the path length and standard speed of each of the terrain segments, and obtain the estimated duration corresponding to each of the switching nodes based on the ratio of the path length to the standard speed; Determine that the first switching node in the node sequence is the target node corresponding to the auxiliary device; Obtaining the travel time of the auxiliary device based on the planned path, and when the travel time is equal to the estimated time corresponding to the target node, determining that the auxiliary device meets the switching condition, and continuing to determine the second switching node as the next target node corresponding to the auxiliary device; Re-obtain the travel time of the auxiliary device, and repeat the above steps of determining the target node according to the travel time and the estimated time until the last switching node is reached; A standard speed corresponding to the terrain type of the target node is obtained, and the standard speed is determined as the control speed.

6. The method according to claim 4, characterized in that Acquiring the current position of the auxiliary device according to the power assist mode, determining a switching node corresponding to the auxiliary device based on a terrain segment corresponding to the current position, and determining a control speed corresponding to the switching node according to a terrain type corresponding to the switching node, including: Acquire the switching node corresponding to the terrain segment where the current position is located as the target node corresponding to the auxiliary device; Determine the terrain type corresponding to the target node, and when the terrain type is a flat type, determine the standard speed corresponding to the terrain type as the control speed; When the terrain type is an uphill type, obtaining a first inclination of the auxiliary device, and accelerating and adjusting a standard speed corresponding to the terrain type according to the first inclination to obtain a control speed; When the terrain type is a downhill type, a second inclination of the auxiliary device is acquired, and a standard speed corresponding to the terrain type is decelerated and adjusted according to the second inclination to obtain a controlled speed.

7. The method according to claim 6, characterized in that When the terrain type is an uphill type, obtaining a first inclination of the auxiliary device, and accelerating and adjusting a standard speed corresponding to the terrain type according to the first inclination to obtain a control speed, including: When the terrain type is an uphill type, determining a first inclination of the auxiliary device according to an inclinometer; Acquire a first standard inclination corresponding to the terrain type, and obtain a first inclination difference according to the first inclination and the first standard inclination; A first adjustment coefficient is obtained according to the ratio of the first tilt difference and the first reference difference, a first adjustment offset is obtained based on the product of the first adjustment coefficient and the first reference offset, and a control speed is obtained according to the sum of the standard speed and the first adjustment offset.

8. The method according to claim 6, characterized in that When the terrain type is a downhill type, obtaining a second inclination of the auxiliary device, and decelerating and adjusting the standard speed corresponding to the terrain type according to the second inclination to obtain a controlled speed, including: When the terrain type is a downhill type, determining a second inclination of the auxiliary device according to an inclinometer; Acquire a second standard inclination corresponding to the terrain type, and obtain a second inclination difference according to the second inclination and the second standard inclination; A second adjustment coefficient is obtained according to the ratio of the second tilt difference and the second reference difference, a second adjustment offset value is obtained based on the product of the second adjustment coefficient and the second reference offset value, and a control speed is obtained according to the difference between the standard speed and the second adjustment offset value.

9. The method according to claim 4, characterized in that After the control speed is updated according to the feedback speed input by the user end to obtain the adjustment speed, the method further includes: Acquire multiple historical adjustment speeds corresponding to the terrain type of the switching node, and determine a speed average of each of the historical adjustment speeds; Determining the adjustment preference of the user terminal according to the comparison result of the speed average and the standard speed, wherein the adjustment preference includes an upward adjustment preference and a downward adjustment preference; obtaining a first difference between the speed mean and the standard speed based on the upward adjustment preference, obtaining an upward adjustment coefficient according to a ratio of the first difference to the standard upward adjustment difference, and obtaining the standard speed adjusted for the terrain type based on a sum of the upward adjustment coefficient and the standard speed; According to the downward adjustment preference, a second difference between the standard speed and the speed mean is obtained, a downward adjustment coefficient is obtained based on the ratio of the second difference and the standard downward adjustment difference, and the standard speed after adjustment of the terrain type is obtained according to the difference between the downward adjustment coefficient and the standard speed, and the adjusted standard speed is associated with the user terminal.

10. A control device for an auxiliary wheel, characterized in that: include: A receiving module, used to obtain a destination point selected by a user terminal based on a base map, receive an auxiliary mode selected by the user terminal, and determine a planned path corresponding to an auxiliary device according to the auxiliary mode and the destination point; A determination module, used to determine the terrain information of the planned path, and determine a plurality of switching nodes corresponding to the planned path according to the terrain information; an acquisition module, configured to acquire a switching node corresponding to the auxiliary device based on the auxiliary mode, and determine a control speed corresponding to the switching node; An updating module is used to update the control speed according to the feedback speed input by the user end to obtain an adjustment speed, and to perform adaptive speed switching on the auxiliary device according to the adjustment speed.

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