Obstacle avoidance method of scooter, controller, storage medium and program product
By installing an environment sensing device on the rotation device of the scooter, obtaining and compensating environmental data and generating obstacle avoidance information, the problem of the scooter lacking obstacle avoidance function is solved, and a high-accurate obstacle avoidance function is achieved.
Patent Information
- Application Number
- CN202411322718.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-20
- Publication Date
- 2025-02-14
AI Technical Summary
The scooter lacks obstacle avoidance function, especially among elderly users, which makes it difficult to accurately collect environmental data when rotating, which in turn affects the accuracy of obstacle avoidance.
By installing an environment sensing device on the rotation device of the scooter, target environmental data is obtained and obstacle avoidance information is generated based on these data to instruct the scooter to avoid obstacle avoidance. At the same time, real-time compensation is used to ensure the accuracy of environmentally perceived data.
It realizes effective obstacle avoidance of the scooter, improves the accuracy of environmental perception, and ensures that the scooter can accurately identify and avoid obstacles when it rotates.
Smart Images
Figure CN119439984A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of mobility scooter control, and in particular to an obstacle avoidance method, controller, storage medium and program product for a mobility scooter. Background Art
[0002] With the development of smart tools, the demand for mobility scooters as a means of transportation is gradually increasing. For mobility scooters, the user group is usually elderly users. Therefore, there is a lack of obstacle avoidance function in mobility scooters. Summary of the invention
[0003] The embodiments of the present application provide an obstacle avoidance method, a controller, a storage medium and a program product for a mobility scooter, so as to achieve the effect of improving the correct obstacle avoidance of the mobility scooter.
[0004] In a first aspect, an embodiment of the present application provides an obstacle avoidance method for a mobility scooter, wherein the mobility scooter includes a rotating device for controlling the rotation of the mobility scooter, and an environment sensing device is provided on the rotating device. The method includes:
[0005] Obtain target environment data of the mobility scooter through an environment sensing device;
[0006] Based on the target environment data, obstacle avoidance information of the mobility scooter is generated, where the obstacle avoidance information is used to instruct the mobility scooter to avoid obstacles.
[0007] In a possible implementation, obtaining target environment data of the mobility scooter includes:
[0008] Obtain the initial environment data corresponding to the mobility scooter;
[0009] Determine the rotation angle of the mobility scooter when it rotates, the rotation angle being obtained by an angle detection device;
[0010] Based on the rotation angle and the initial environment data, the target environment data of the mobility scooter is obtained.
[0011] In a possible implementation, obtaining target environment data of the mobility scooter based on the rotation angle and the initial environment data includes:
[0012] Determine target compensation parameters according to the preset compensation model and rotation angle;
[0013] Based on the target compensation parameters, the initial environmental data is compensated to obtain the target environmental data.
[0014] In a possible implementation, determining a target compensation parameter according to a preset compensation model and a rotation angle includes:
[0015] According to the compensation model and the rotation angle, the deviation compensation parameter is obtained;
[0016] Obtain initial calibration parameters for the mobility scooter;
[0017] Based on the initial calibration parameters and the deviation compensation parameters, the target compensation parameters are determined.
[0018] In a possible implementation, based on the target compensation parameter, compensating the initial environment data to obtain the target environment data includes:
[0019] Determine the initial distance between the scooter and the environmental objects in the initial environmental data;
[0020] The target compensation parameters are used to correct the initial distance and obtain the target distance between the scooter and the environmental object.
[0021] In a possible implementation manner, determining the rotation angle of the mobility scooter when it rotates includes:
[0022] Acquire angle data detected by an angle detection device;
[0023] Based on the angle data, a rotation angle of the rotating device is determined.
[0024] In a possible implementation, the mobility scooter is provided with an obstacle measuring device;
[0025] Get the initial environment data corresponding to the scooter, including:
[0026] Obtain obstacle data of the environment where the mobility scooter is located through an obstacle measuring device;
[0027] Taking obstacle data as initial environment data;
[0028] Based on the rotation angle and the initial environment data, the target environment data of the scooter is obtained, including:
[0029] Based on the rotation angle and the obstacle data, target obstacle data corresponding to the mobility scooter is obtained; the target obstacle data is used to instruct the mobility scooter to perform obstacle avoidance warning.
[0030] In a possible implementation manner, the mobility scooter further includes an angle detection device installed on the rotating device; the angle detection device is used to determine the rotation angle of the mobility scooter.
[0031] In a possible implementation, the environment perception device is an obstacle measurement device, which is used to obtain obstacle data of the environment in which the mobility scooter is located.
[0032] In a second aspect, an embodiment of the present application provides a controller, the controller comprising: a memory, a processor;
[0033] Memory stores computer-executable instructions;
[0034] The processor executes the computer-executable instructions stored in the memory, so that the processor executes various possible implementations of the above method.
[0035] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement various possible implementation methods of the above method.
[0036] In a fourth aspect, an embodiment of the present application provides a computer program product, including a computer program, which implements various possible implementation methods of the above method when executed by a processor.
[0037] The embodiment of the present application provides an obstacle avoidance method, controller, storage medium and program product for a mobility scooter, which obtains target environment data of the mobility scooter; generates obstacle avoidance information of the mobility scooter based on the target environment data, and the obstacle avoidance information is used to instruct the mobility scooter to avoid obstacles. Compared with the traditional technology, the obstacle avoidance data is applied to the mobility scooter to avoid obstacles, which is conducive to achieving obstacle avoidance of the mobility scooter. BRIEF DESCRIPTION OF THE DRAWINGS
[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.
[0039] Figure 1 The structure of the walking vehicle provided in this application is shown in FIG. Figure 1 ;
[0040] Figure 2 The structure of the walking vehicle provided in this application is shown in FIG. Figure 2 ;
[0041] Figure 3 A schematic diagram of the structure of a controller of a mobility scooter is provided for this application;
[0042] Figure 4 Schematic diagram of the process of the obstacle avoidance method for the mobility scooter provided in this application Figure 1 ;
[0043] Figure 5 Schematic diagram of the process of the obstacle avoidance method for the mobility scooter provided in this application Figure 2 ;
[0044] Figure 6 Schematic diagram of the process of the obstacle avoidance method for the mobility scooter provided in this application Figure 3 ;
[0045] Figure 7 Schematic diagram of the process of the obstacle avoidance method for the mobility scooter provided in this application Figure 4 ;
[0046] Figure 8 Schematic diagram of the process of the obstacle avoidance method for the mobility scooter provided in this application Figure 5 ;
[0047] Fig. 9 Schematic diagram of the process of the obstacle avoidance method for the mobility scooter provided in this application Figure 6 ;
[0048] Fig.10 A schematic diagram of the principle of the obstacle avoidance method for a mobility scooter provided in an embodiment of the present application;
[0049] Fig.11 This is a schematic diagram of the structure of the device for determining environmental data of a mobility scooter provided in this application.
[0050] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION
[0051] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.
[0052] With the development of smart tools, the demand for mobility scooters as a means of transportation is gradually increasing. For mobility scooters, the user group is usually elderly users. Therefore, there is a lack of obstacle avoidance function in mobility scooters.
[0053] The present application provides an obstacle avoidance function applied to a mobility scooter. However, research has found that elderly users often twist the scooter's rotating device when using the scooter. The degree of rotation of the scooter and its rotating device is very high. Therefore, it is very difficult to correctly collect environmental data, and it is difficult to implement the obstacle avoidance function of the scooter.
[0054] In combination with the above-mentioned related technical background, it can be known that in the related technology, firstly, the mobility scooter does not have an obstacle avoidance function, and further research has found that there is a problem of inaccurate data collection when the mobility scooter avoids obstacles.
[0055] In order to solve the above problems, the obstacle avoidance method of the scooter provided in the present application obtains the target environment data of the scooter; based on the target environment data, generates obstacle avoidance information of the scooter, and the obstacle avoidance information is used to instruct the scooter to avoid obstacles. In this way, the scooter can realize the obstacle avoidance function, and by measuring the rotation angle of the scooter in real time and compensating the environmental data in real time, it can ensure that the scooter can still provide accurate environmental perception data when it rotates, thereby improving the accuracy of the scooter's environmental perception.
[0056] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.
[0057] Figure 1 The structure of the walking vehicle provided in this application is shown in FIG. Figure 1 , Figure 2 The structure of the walking vehicle provided in this application is shown in FIG. Figure 2 ,like Figure 1 and Figure 2 As shown, the mobility scooter provided by the present application comprises: a vehicle body 110, a rotating device 120, and an angle detection device. Among them:
[0058] The rotating device 120 is disposed on the vehicle body and can be used as a component of the vehicle body 110. The rotating device 120 can be used to control the rotation of the scooter. For example, the user of the scooter can control the scooter to turn and perform other operations through the rotating device 120. As an example, the scooter includes an environment sensing device, which can be disposed on the rotating device 120. When the rotating device 120 rotates, the environment sensing device may rotate along with the rotation of the rotating device.
[0059] The angle detection device may be disposed on the rotating device 120 , and may be used to detect the rotation angle of the rotating device 120 , so that the rotation angle of the mobility scooter may be determined by the rotation angle of the rotating device 120 .
[0060] Optionally, the scooter may further include a controller, which may be used to control the start of the scooter and receive angle data detected by the angle detection device, etc. The controller may be disposed on the vehicle body 110 or inside the vehicle body 110 to achieve overall vehicle control of the scooter.
[0061] Understandably, a mobility scooter can be Figure 1 The four-wheeled scooter shown can also Figure 2The two-wheeled scooter shown in the figure can also be a three-wheeled scooter not shown in the figure. The two-wheeled scooter and the three-wheeled scooter can be equipped with a seat or not. Optionally, the above-mentioned scooter can guide the rotation of the wheels by the rotation of the handlebars to change the driving trajectory of the vehicle.
[0062] Figure 3 The present application provides a schematic diagram of the structure of the controller of the scooter. Figure 3 As shown, the controller 30 provided in this embodiment includes: at least one processor 301 and a memory 302. Optionally, the device 30 further includes a communication component 303. The processor 301, the memory 302 and the communication component 303 are connected via a bus 304.
[0063] In a specific implementation process, at least one processor 301 executes the computer-executable instructions stored in the memory 302, so that at least one processor 301 executes the above method.
[0064] The specific implementation process of the processor 301 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.
[0065] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.
[0066] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.
[0067] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.
[0068] Optionally, the mobility scooter further comprises: an obstacle measuring device.
[0069] The obstacle measuring device may be the above-mentioned environment sensing device, and may be installed on the rotating device of the mobility scooter. The obstacle measuring device may be used to obtain obstacle data of the environment in which the mobility scooter is located.
[0070] In practical applications, the angle detection device may be an angle sensor, a potentiometer, a Hall angle sensor, a photoelectric encoder, or other device that can be used to measure the rotation angle of a rotating device. The rotating device of a mobility scooter may be a handlebar. The obstacle measurement device may include distance measurement units such as a camera for visual recognition and a laser ranging unit. These distance measurement units may perform distance measurement and obstacle detection and provide distance information to environmental objects through algorithms.
[0071] In an exemplary embodiment, Figure 4 Schematic diagram of the process of the obstacle avoidance method for the mobility scooter provided in the embodiment of the present application Figure 1 ,like Figure 4 As shown, this embodiment applies this method to Figure 3 The controller in the example is used for illustration. It is understandable that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the scooter includes a rotating device for controlling the rotation of the scooter, and the rotating device is provided with an environment sensing device. The method includes S401 to S402, wherein:
[0072] S401, obtaining target environment data of the mobility scooter through an environment sensing device.
[0073] S402: Generate obstacle avoidance information of the mobility scooter based on the target environment data, where the obstacle avoidance information is used to instruct the mobility scooter to avoid obstacles.
[0074] The environment sensing device may be a device for acquiring environment data, for example, it may include a camera, a laser rangefinder, etc., for acquiring environment images and / or environment distance measurement information. The environment data may be environment data measured by the environment sensing device. The environment data may include environment images and distance information, and the environment data may refer to obstacle data. The target environment data refers to the environment data accurately determined by the mobility scooter, for example, the target environment data may be environment data compensated based on the initial environment data.
[0075] Exemplarily, the environment perception device can determine the environment data around the scooter, for example, it can obtain the environment data in front of the scooter, and feed the environment data back to the controller of the scooter. The controller of the scooter can determine the current target environment data of the scooter based on the feedback from the environment perception device. For example, the controller can obtain accurate target environment data by data compensation. The controller uses the target environment data to generate obstacle avoidance information, and the obstacle avoidance information is used to instruct the scooter to avoid obstacles.
[0076] Optionally, the environment sensing device can be used to realize the driving recording function of the mobility scooter, and the formation of a record of the mobility scooter is realized through the measurement of environmental image data and the distance of environmental objects.
[0077] Optionally, when a set collision threshold is reached, an alarm may be sounded to achieve obstacle avoidance, and nearby environmental data may be displayed in real time on a display screen of the mobility scooter to remind the user to pay attention to obstacle avoidance information.
[0078] In this embodiment, the obstacle avoidance data is applied to the mobility scooter to avoid obstacles, which is beneficial to achieving obstacle avoidance for the mobility scooter.
[0079] Figure 5 Schematic diagram of the process of the obstacle avoidance method for the mobility scooter provided in this application Figure 2 ,like Figure 4 As shown, this embodiment applies this method to Figure 3 The controller in the example is used for illustration. It is understandable that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In step S401, the target environment data of the mobility scooter is obtained, including S501 to S503, wherein:
[0080] S501: Acquire initial environment data corresponding to the mobility scooter.
[0081] The initial environment data may be environment data measured by an environment sensing device. The environment sensing device may be a device for measuring environment data. For example, the environment sensing device may include a camera and a laser ranging device. The camera may be used to obtain an environment image, and the laser ranging device may be used to obtain distance information between the mobility scooter and an environment object. The laser ranging device may be a laser radar.
[0082] Exemplarily, the initial environmental data corresponding to the scooter can be measured by an environmental perception device, and the controller can obtain the initial environmental data from the environmental perception device. For example, the environmental perception device can transmit the measured initial environmental data to the computing unit of the controller to realize the calculation of the environmental data of the scooter. As an example, a camera is mounted on the handlebars for visual perception of the environment to obtain the environmental image of the scooter; a laser radar is also mounted on the handlebars for distance measurement and obstacle detection to provide distance information to environmental objects. The camera and the laser radar can transmit the measured initial environmental data to the controller to enable the controller to obtain the initial environment of the scooter, and can determine whether the initial environmental data needs to be compensated. For example, when the controller detects that the scooter turns, it indicates that the initial environmental data needs to be compensated, otherwise, the initial environmental data may not be compensated.
[0083] S502: Determine the rotation angle of the mobility scooter when it rotates, where the rotation angle is obtained by an angle detection device.
[0084] The turning angle may be the turning angle of the scooter when turning. For example, Figure 1 As shown, the rotating device can rotate around the horizontal axis or the vertical axis, and the angle detected by the angle detection device can be the angle after the rotating device rotates around the horizontal axis and the vertical axis. In other words, the rotation angle of the scooter when rotating can be determined based on the angle after the rotating device rotates around the horizontal axis and the vertical axis.
[0085] For example, the angle detection device can detect in real time whether the rotating device of the mobility scooter is rotating, and when the rotating device is rotating, the angle of rotation of the rotating device can be detected. The angle detection device can transmit the rotation angle of the rotating device to the controller, and the controller can determine the rotation angle of the mobility scooter when the mobility scooter is rotating according to the rotation angle of the rotating device.
[0086] In practical applications, such as Figure 1As shown, during the use of the scooter, the joint components of the scooter can rotate, and the user may press the handlebars of the scooter backwards to make the handlebars of the scooter rotate around the horizontal axis, that is, around the horizontal axis where the joint components are located. At this time, the angle detection device can detect the rotation angle of the handlebars. It can be understood that when the scooter needs to turn, the handlebars can also be controlled to rotate around the vertical axis so that the scooter can turn. At this time, the angle detection device can also detect the rotation angle of the handlebars. It should be noted that the rotation angle of the scooter can be the angle of the rotation device rotating around the vertical axis and / or around the horizontal axis.
[0087] S503: Obtain target environment data of the mobility scooter based on the rotation angle and the initial environment data.
[0088] The target environment data may be environment data after compensating or correcting the initial environment data. The environment data may include distance information between the scooter and environment objects. The environment data may include obstacle data.
[0089] Exemplarily, the initial environmental data may be measured by an environmental sensing device installed on a rotating device. As the rotating device rotates, the calibration parameters of the environmental sensing device relative to the center of the vehicle body may change. The controller may compensate the initial environmental data detected by the rotation angle to obtain compensated environmental data as the target environmental data of the mobility scooter. The present application ensures that the environmental sensing device can still provide accurate environmental sensing data when the rotating device rotates, that is, the present application can still accurately sense environmental parameters at different rotation angles, and ensure that accurate obstacle location information can be provided, thereby improving the accuracy of the mobility scooter's environmental perception.
[0090] In devices such as electric scooters (e.g., smart wheelchairs), environmental perception systems usually rely on sensors mounted on the vehicle body, such as cameras, lidar, etc. These sensors require precise calibration to ensure that the collected environmental data accurately reflects the actual location of obstacles and other environmental elements. However, when the sensor is mounted on the scooter's rotating device (e.g., a rotatable part such as a handlebar), the rotation of the rotating device will cause the calibration parameters of the sensor relative to the center of the vehicle body to change, thereby affecting the accuracy of environmental perception.
[0091] In this embodiment, by using the rotation angle of the mobility scooter when it rotates, the initial environmental data of the mobility scooter is compensated, and the target environmental data of the mobility scooter can be obtained. Compared with the traditional technology, by measuring the rotation angle of the mobility scooter in real time and compensating the environmental data in real time, it can ensure that the mobility scooter can still provide accurate environmental perception data when it rotates, thereby improving the accuracy of the mobility scooter's environmental perception.
[0092] In an exemplary embodiment, Figure 6 Schematic diagram of the process of the obstacle avoidance method for the mobility scooter provided in this application Figure 3 ,like Figure 6 As shown, in this embodiment Figure 5 Based on the embodiment, step S503 is described in detail. In step S503, based on the rotation angle and the initial environment data, the target environment data of the mobility scooter is obtained, including:
[0093] S601: Determine target compensation parameters according to a preset compensation model and rotation angle.
[0094] S602: Based on the target compensation parameter, the initial environment data is compensated to obtain the target environment data.
[0095] The compensation model may be a model for determining compensation parameters corresponding to a rotation angle. The compensation parameters corresponding to a rotation angle here refer to parameters that should be used to compensate the environmental perception data of the scooter after the scooter rotates by the rotation angle. The target compensation parameters refer to parameters used to supplement environmental data.
[0096] Exemplarily, the controller may predetermine a compensation model for calculating compensation parameters corresponding to the rotation angle. The controller may calculate the compensation parameters required for the rotation angle through the compensation model, and based on the compensation parameters corresponding to the rotation angle, may obtain target compensation parameters for compensating the environmental data. The controller may use the target compensation parameters to compensate the initial environmental data to obtain compensated target environmental data. In this way, the environmental data of the mobility scooter when it is rotating can be accurately obtained, thereby improving the accuracy of perceiving the environment of the mobility scooter.
[0097] In this embodiment, the target compensation parameters corresponding to the rotation angle can be determined according to the preset compensation model; and the target compensation parameters can be used to compensate the initial environmental data to obtain the target environmental data. This can effectively compensate for the environmental perception of the mobility scooter when turning, thereby improving the accuracy of the mobility scooter's environmental perception.
[0098] Optionally, in step S601, determining the target compensation parameter according to a preset compensation model and a rotation angle may specifically include:
[0099] According to the compensation model and the rotation angle, the deviation compensation parameters are obtained.
[0100] Get the initial calibration parameters for the mobility scooter.
[0101] Based on the initial calibration parameters and the deviation compensation parameters, the target compensation parameters are determined.
[0102] The deviation compensation parameter refers to the parameter that should compensate the deviation of the rotation angle calculated by the compensation model. The initial calibration parameter can be the parameter for the initial calibration of the mobility scooter. For example, the parameter can be calibrated when the rotating device does not rotate. Under the initial calibration parameter, the initial environmental perception of the mobility scooter can be obtained. In other words, the initial environmental data can be the data under the corresponding initial calibration parameter. If the rotating device of the mobility scooter rotates, the environmental perception will change due to the rotation of the rotating device. Therefore, the initial calibration parameter needs to be compensated to achieve compensation for environmental perception.
[0103] For example, the controller may predetermine the initial calibration parameters of the mobility scooter, and the controller may use the compensation model to determine the deviation compensation parameters that need to be compensated for the rotation angle. The controller may use the deviation compensation parameters to compensate the initial calibration parameters of the mobility scooter to obtain the target compensation parameters.
[0104] Optionally, the environmental data can be compensated when the mobility scooter rotates by the following expression (1):
[0105] R(θ)=R 0 Rotation(θ) (1)
[0106] Where θ is the rotation angle, Rotation(θ) is the deviation compensation parameter calculated based on the rotation angle deviation, and R 0 is the initial calibration parameter, and R(θ) is the target compensation parameter after compensation.
[0107] In practical applications, the rotation matrix can be used to compensate for the rotation of the handlebars. 0 It can be the initial rotation matrix, Rotation(θ) is the deviation compensation matrix calculated according to the rotation angle deviation, and R(θ) is the target compensation matrix after compensation.
[0108] In this embodiment, the deviation compensation parameters corresponding to the turning angle are determined by the compensation model, the initial calibration parameters can be compensated, and the target compensation parameters can be determined, thereby ensuring correct compensation for the environmental perception of the mobility scooter when turning, thereby improving the accuracy of the mobility scooter's environmental perception.
[0109] Optionally, in step S502, based on the target compensation parameter, compensating the initial environment data to obtain the target environment data includes:
[0110] Determine the initial distance between the scooter and the environmental objects in the initial environmental data;
[0111] The target compensation parameters are used to correct the initial distance and obtain the target distance between the scooter and the environmental object.
[0112] The initial distance may be a distance obtained by laser ranging.
[0113] For example, the controller can measure the initial distance between the scooter and the environmental object through a laser rangefinder, and can use the target compensation parameter to compensate and correct the initial distance to obtain the compensated target distance between the scooter and the environmental object. The controller can use the target distance to warn the scooter of obstacle avoidance.
[0114] In this embodiment, by determining the initial distance between the mobility scooter and the environmental objects in the initial environmental data, the target compensation parameter can be used to correct the initial distance to obtain the target distance between the mobility scooter and the environmental objects, thereby further improving the mobility scooter's perception of the distance between environmental objects.
[0115] In an exemplary embodiment, Figure 7 Schematic diagram of the process of the obstacle avoidance method for the mobility scooter provided in this application Figure 4 ,like Figure 7 As shown, in this embodiment Figure 5 Based on the embodiment, step S502 is described in detail. In step S502, determining the rotation angle of the mobility scooter when it rotates includes:
[0116] S701, obtaining angle data detected by an angle detection device;
[0117] S702: Determine the rotation angle of the rotating device based on the angle data.
[0118] The angle data refers to the angle detected and received by the angle detection device. The rotation angle refers to the angle obtained by analyzing the angle data received by the angle detection device.
[0119] Exemplarily, the controller can obtain angle data transmitted by the angle detection device, and can analyze the angle data to obtain the rotation angle of the rotating device. For example, the rotation angle of the rotating device can be analyzed based on the setting relationship between the angle detection device and the rotating device.
[0120] In this embodiment, by acquiring the angle data detected by the angle detection device, the rotation angle of the rotating device can be determined based on the angle data, and the rotation angle of the mobility scooter can be effectively determined, which is beneficial to improving the accuracy of environmental data compensation of the mobility scooter and improving the accuracy of environmental perception of the mobility scooter.
[0121] In an exemplary embodiment, Figure 8 Schematic diagram of the process of the obstacle avoidance method for the mobility scooter provided in this application Figure 5 ,like Figure 8 As shown, in this embodiment Figure 5Based on the embodiment, the steps S501 and S403 are described in detail. The mobility scooter is provided with an obstacle measuring device. In the step S501, the initial environment data corresponding to the mobility scooter is obtained, including:
[0122] S801. Obtain obstacle data of the environment in which the mobility scooter is located through an obstacle measuring device.
[0123] S802: Use obstacle data as initial environment data.
[0124] In step S403, based on the rotation angle and the initial environment data, the target environment data of the mobility scooter is obtained, including:
[0125] S803: Based on the rotation angle and the obstacle data, target obstacle data corresponding to the mobility scooter is obtained; the target obstacle data is used to instruct the mobility scooter to perform obstacle avoidance warning.
[0126] Among them, the obstacle measurement device may include a camera and a laser radar.
[0127] For example, the visual perception of the environment can be obtained by a camera to obtain an image of the environment in front, and the distance information to the environmental objects can be provided by laser radar distance measurement and obstacle detection. The data measured by the camera and the laser radar can be used as obstacle data, and the controller can compensate the obstacle data based on the rotation angle to obtain the target obstacle data of the scooter. The controller can generate obstacle avoidance information based on the target obstacle data.
[0128] In this embodiment, the compensated obstacle data is used to perform obstacle avoidance warning for the mobility scooter, thereby improving the safety of the mobility scooter during use.
[0129] In an exemplary embodiment, Fig. 9 Schematic diagram of the process of the obstacle avoidance method for the mobility scooter provided in this application Figure 6 , Fig. 9 The steps shown in Figures 5 to 8 The embodiment shown is implemented. Fig. 9 As shown, the method includes:
[0130] S901, angle sensor acquisition; wherein, the rotation angle of the scooter when it rotates can be acquired by an angle sensor arranged on the handlebar of the scooter.
[0131] S902, camera and lidar sensor data collection; wherein, the environmental data of the mobility scooter can be collected through the camera and lidar sensor.
[0132] S903, data is transmitted to a computing unit; wherein the rotation angle and environmental data may be transmitted to the computing unit of the controller.
[0133] S904, compensation calculation: The calculation unit of the controller can compensate the environmental data based on the rotation angle.
[0134] S905: Output the compensated environmental data.
[0135] Fig.10 The schematic diagram of the principle of the obstacle avoidance method for the mobility scooter provided in this application is as follows: Fig.10 As shown, this principle schematic diagram can be used as a more detailed description of the above-mentioned embodiments.
[0136] S1001, handlebar rotation; S1002, angle sensor measurement to obtain angle information; S1003, calculation unit receives angle information; S1004, calculation unit parses out the handlebar rotation angle; S1005, calibrates initial value through environmental perception sensor; S1006, obtains obstacle information through environmental perception sensor perception; S1007, calculation unit performs compensation calculation on the calibrated initial value; S1008, calculation unit realizes data correction after compensation calculation; S1009, obtains corrected obstacle information.
[0137] Exemplarily, the environmental perception sensor includes a camera and a laser radar. The camera is used for visual perception of the environment and is installed on the handlebar to obtain an image of the environment in front. The laser radar is used for distance measurement and obstacle detection. It is also installed on the handlebar to provide distance information to environmental objects. The angle sensor can be a rotary angle sensor, a Hall angle sensor, a photoelectric encoder, an electromagnetic induction sensor or a MEMS angle sensor, which is installed on the rotating axis of the handlebar to measure the rotation angle of the handlebar in real time. The rotation angle measured by the angle sensor is transmitted to the calculation unit in real time through the communication interface. The environmental data collected by the environmental perception sensor is also transmitted to the calculation unit, which compensates the initial calibrated sensor data and calculates the accurate posture and position of the current sensor relative to the vehicle body. Combined with the compensated rotation matrix, the data of environmental perception sensors such as cameras and laser radars are corrected in real time to ensure the accuracy of the final environmental perception results.
[0138] It can be understood that the rotation matrix can be determined by the embodiment corresponding to the above expression (1).
[0139] In this embodiment, a real-time compensation mechanism is used to ensure that the sensor can still provide high-precision environmental perception data when the handlebars are rotated. In addition, this application is applicable to various types of sensors (cameras, lidars, etc.) and has a wide range of application prospects. This application can avoid excessive intervention caused by sensor misjudgment while ensuring safety, thereby improving the user experience of the scooter.
[0140] For example, the controller can determine the target environment data of the scooter according to the above-mentioned obstacle avoidance method of the scooter, and then obtain the obstacle avoidance information of the scooter according to the target environment data, and the controller can generate collision warning information from the obtained obstacle avoidance information, or display the obstacle avoidance information on the display panel. In this way, the goal of obstacle avoidance for the scooter can be achieved.
[0141] In this embodiment, obstacle avoidance of the mobility scooter is achieved through the above-mentioned target environment data with high accuracy, thereby improving the accuracy of obstacle avoidance of the mobility scooter.
[0142] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.
[0143] In an exemplary embodiment, Fig.11 The schematic diagram of the structure of the obstacle avoidance device of the mobility scooter provided in this application is as follows: Fig.11 As shown, the mobility scooter includes a rotating device for controlling the rotation of the mobility scooter, and an environment sensing device is provided on the rotating device. The obstacle avoidance device 110 of the mobility scooter provided in this embodiment includes:
[0144] The acquisition module 1101 is used to acquire the target environment data of the mobility scooter through an environment sensing device.
[0145] The generating module 1102 is used to generate obstacle avoidance information of the mobility scooter based on the target environment data.
[0146] In an exemplary embodiment, the acquisition module 1101 is used to determine the target compensation parameters according to a preset compensation model and a rotation angle; based on the target compensation parameters, the initial environment data is compensated to obtain the target environment data.
[0147] In an exemplary embodiment, the acquisition module 1101 is used to obtain deviation compensation parameters according to the compensation model and the rotation angle; obtain initial calibration parameters for the mobility scooter; and determine target compensation parameters based on the initial calibration parameters and the deviation compensation parameters.
[0148] In an exemplary embodiment, the acquisition module 1101 is used to determine the initial distance between the mobility scooter and the environmental object in the initial environmental data; and to correct the initial distance using the target compensation parameter to obtain the target distance between the mobility scooter and the environmental object.
[0149] In an exemplary embodiment, the acquisition module 1101 is used to acquire angle data detected by an angle detection device; and determine the rotation angle of the rotation device based on the angle data.
[0150] In an exemplary embodiment, the mobility scooter is provided with an obstacle measuring device;
[0151] In an exemplary embodiment, the acquisition module 1101 is used to acquire obstacle data of the environment in which the mobility scooter is located through an obstacle measurement device; the obstacle data is used as the initial environment data. The acquisition module 1101 is used to obtain target obstacle data corresponding to the mobility scooter based on the rotation angle and the obstacle data; the target obstacle data is used to instruct the mobility scooter to perform obstacle avoidance warning.
[0152] The obstacle avoidance device for the mobility scooter provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be described in detail here.
[0153] In an exemplary embodiment, the present application provides a mobility scooter, the mobility scooter comprising:
[0154] A rotating device, used for controlling the rotation of the mobility scooter;
[0155] An angle detection device is installed on the rotating device; the angle detection device is used to determine the rotation angle of the scooter;
[0156] Such as the controller mentioned above.
[0157] In an exemplary embodiment, the mobility scooter further comprises:
[0158] The obstacle measuring device is used to obtain obstacle data of the environment in which the mobility scooter is located.
[0159] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.
[0160] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.
[0161] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.
[0162] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.
[0163] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.
[0164] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0165] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
[0166] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.
[0167] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.
[0168] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.
Claims
1. A method for avoiding obstacles of a mobility scooter, characterized in that: The scooter includes a rotating device for controlling the rotation of the scooter, and the rotating device is provided with an environment sensing device. The method includes: Acquiring target environment data of the mobility scooter through the environment sensing device; Obstacle avoidance information of the mobility scooter is generated based on the target environment data, where the obstacle avoidance information is used to instruct the mobility scooter to avoid obstacles.
2. The method according to claim 1, characterized in that The step of obtaining target environment data of the mobility scooter includes: Acquiring initial environment data corresponding to the mobility scooter; Determining a rotation angle of the mobility scooter when it rotates, wherein the rotation angle is obtained by an angle detection device; Based on the rotation angle and the initial environment data, target environment data of the mobility scooter is obtained.
3. The method according to claim 2, characterized in that The step of obtaining target environment data of the scooter based on the rotation angle and the initial environment data includes: Determining target compensation parameters according to a preset compensation model and the rotation angle; Based on the target compensation parameter, the initial environment data is compensated to obtain the target environment data.
4. The method according to claim 3, characterized in that The step of determining a target compensation parameter according to a preset compensation model and the rotation angle includes: Obtaining a deviation compensation parameter according to the compensation model and the rotation angle; Acquiring initial calibration parameters for the mobility scooter; The target compensation parameter is determined based on the initial calibration parameter and the deviation compensation parameter.
5. The method according to claim 3, characterized in that: The compensating the initial environment data based on the target compensation parameter to obtain the target environment data includes: Determining an initial distance between the mobility scooter and an environmental object in the initial environmental data; The initial distance is corrected using the target compensation parameter to obtain the target distance between the mobility scooter and the environmental object.
6. The method according to claim 2, characterized in that The step of determining the rotation angle of the mobility scooter when it rotates comprises: Acquiring angle data detected by the angle detection device; Based on the angle data, a rotation angle of the rotating device is determined.
7. The method according to claim 2, characterized in that The mobility scooter is provided with an obstacle measuring device; The obtaining of initial environment data corresponding to the mobility scooter includes: Obtaining obstacle data of the environment in which the mobility scooter is located through the obstacle measuring device; Using the obstacle data as the initial environment data; The step of obtaining target environment data of the scooter based on the rotation angle and the initial environment data includes: Based on the rotation angle and the obstacle data, target obstacle data corresponding to the mobility scooter is obtained; the target obstacle data is used to instruct the mobility scooter to perform obstacle avoidance warning.
8. The method according to claim 2, characterized in that: The mobility scooter further comprises an angle detection device installed on the rotating device; the angle detection device is used to determine the rotating angle of the mobility scooter.
9. The method according to claim 1, characterized in that: The environment perception device is an obstacle measurement device, which is used to obtain obstacle data of the environment in which the mobility scooter is located.
10. A controller, characterized in that: The controller includes: a memory and a processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 10.
11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 10 when executed by a processor.
12. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 13 when being executed by a processor.