Induction methods, systems, devices, and media for dual-mode vehicles

Abstract

The purpose of the present application is to provide an induction method, system, device and medium suitable for dual-mode vehicles, which triggers the instruction through the switch arranged on the vehicle body, drives the induction device to move, and switches between the "extended working" and "retracted hidden" states, and ensures that it is stored within the contour line of the vehicle body in the manual mode. This not only avoids collision with external objects, solves the problem of radar damage and the resulting navigation safety problem; and, eliminates the convex structure, solves the problem of blocking the driver's view, removes the physical collision risk point on the vehicle body, and improves the safety and comfort of manual operation.

Description

Technical Field

[0001] This invention relates to the field of industrial vehicles, and more specifically to the structural optimization of sensing components in industrial vehicles. Background Technology

[0002] Industrial vehicles refer to motorized or non-motorized vehicles used for short-distance material handling, stacking, loading and unloading operations in industrial, warehousing, logistics, and port settings. Examples include various forklifts, stackers, automated guided vehicles (AGVs), and tractors. Dual-mode vehicles combine the functions of automated guided vehicles (AGVs) and manual driving, representing an important category in the development of intelligent and flexible industrial vehicles.

[0003] In existing technologies, dual-mode industrial vehicles often include sensing devices, such as cameras or lidar. These sensing devices, as functional components for environmental perception and navigation sensing, are responsible for scanning and modeling, navigation and positioning, and obstacle avoidance. Their standard installation method involves fixed connection to the vehicle body, protruding significantly beyond the vehicle's maximum outline in an outward-convex form.

[0004] However, this technical solution has certain technical defects.

[0005] On the one hand, sensors are often located at the highest or outermost point of the vehicle's outline. When manually driven vehicles pass through narrow passages, shelving areas, or low doorways, they are highly susceptible to collisions and scrapes with surrounding facilities. Sensors, such as lidar, are high-precision optical devices with fragile structures and high unit prices; such collisions can cause physical damage, optical path misalignment, or lens contamination. Furthermore, if the lidar is displaced or its calibration fails due to a collision, it will directly lead to inaccurate environmental data. This will cause positioning drift and path deviation in navigation systems that rely on this data, while also partially or completely disabling obstacle avoidance functions, significantly increasing the safety risks of collisions, impacts with shelving, and even injuries to personnel in automatic mode. Downtime for repairs due to equipment damage also directly affects the continuity of production operations.

[0006] On the other hand, in mixed driving scenarios requiring human intervention, the protruding structure of the sensing device obstructs the driver's view, creating significant blind spots when the vehicle is turning, reversing, or stacking at height, thus posing a safety hazard. Furthermore, in a human-machine coexisting work environment, this protruding structure itself constitutes a prominent physical hazard. Operators walking nearby face the risk of collision and injury, reducing safety. Summary of the Invention

[0007] The purpose of this invention is to provide a sensing method, system, device, and medium suitable for dual-mode vehicles. A switch located on the vehicle body triggers a command, causing the sensing device to move and switch between "extended" and "retracted" states. In manual mode, this ensures the sensor is concealed within the vehicle's outline. This not only avoids collisions with external objects, resolving the vulnerability of radar and the resulting navigation safety issues, but also eliminates protruding structures, solving the problem of obstructing the driver's view, removing physical collision risk points on the vehicle body, and improving the safety and comfort of manual operation.

[0008] The sensing method applicable to dual-mode vehicles includes the following steps:

[0009] Determine the working mode, whether it is manual or automatic;

[0010] In manual mode, the drive unit operates, causing the sensor to extend outward and enter the position for use.

[0011] In automatic mode, the drive device operates, causing the sensor to retract and enter the retracted position.

[0012] The position of the sensor is checked for readiness. When the sensor is extended into position, manual driving is permitted; when the sensor is retracted into position, automatic driving is permitted.

[0013] As a preferred embodiment of the present invention, the determination of the working mode depends on the driver sensing of the steering wheel and / or the driver's seat pedal sensing and / or the human body weight sensing of the driver's seat.

[0014] As a preferred embodiment of the present invention, the determination of the working mode depends on the signal of a manual selection switch, which is installed on the vehicle body.

[0015] As a preferred embodiment of the present invention, the position verification of the sensor is performed by relying on a radar position signal, which comes from a position sensor installed on the vehicle body or from a stroke signal of the drive device.

[0016] As a preferred embodiment of the present invention, during the process of the driving device moving the sensor, the vehicle's driving system is triggered to an unavailable state, and the vehicle's emergency stop system is triggered to an active state.

[0017] As a preferred embodiment of the present invention, the sensing device includes a sensor, a mounting base, a connecting arm, and a driving device.

[0018] The drive device is mounted on the mounting base, and its output end is connected to the connecting arm.

[0019] The sensor is mounted on the connecting arm;

[0020] The drive device is configured to move the connecting arm, thereby switching the sensor's usage state and retracted state.

[0021] As a preferred embodiment of the present invention, one end of the connecting arm is rotatably connected to the mounting base, and the other end is flipped under the drive of the driving device.

[0022] As a preferred embodiment of the present invention, the flipping direction of the connecting arm is horizontal.

[0023] As a preferred embodiment of the present invention, the mounting base includes a base frame and a side frame connected to the base frame, and the driving device and the connecting arm are both rotatably connected to the side frame.

[0024] As a preferred embodiment of the present invention: the connecting arm includes a locking plate, the sensor is mounted on the locking plate, and the side frame is provided with a locking groove for the locking plate to enter in the retracted state.

[0025] As a preferred embodiment of the present invention, the flipping direction of the connecting arm is vertical.

[0026] As a preferred embodiment of the present invention, the mounting base includes a fixing frame, and the fixing frame has a receiving cavity for the sensor to be tilted down and inserted into when it is in the retracted state.

[0027] As a preferred embodiment of the present invention, the industrial vehicle includes a vehicle body and wheels mounted on the vehicle body, and also includes the aforementioned sensing device suitable for dual-mode industrial vehicles, wherein the mounting base is mounted on the vehicle body.

[0028] As a preferred embodiment of the present invention, the sensing device comprises three sets, namely a rear sensing device installed at the rear end of the vehicle body and two side sensing devices installed on both sides of the front of the vehicle body.

[0029] As a preferred embodiment of the present invention, the rear sensing device is a vertically flipping sensing device, while the two side sensing devices are horizontally flipping sensing devices.

[0030] In summary, the present invention has the following beneficial effects:

[0031] 1. The connecting arm is moved by a drive device, enabling the sensor to switch between its active and retracted states. When the vehicle switches to manual mode, the sensor can be driven to retract, thus preventing collision damage due to its outward protrusion during manual driving and eliminating obstruction of the driver's view and safety hazards.

[0032] 2. The sensor can rotate and fold in the horizontal plane, making it particularly suitable for extension and retraction from the side of the vehicle. This method effectively utilizes the side space of the vehicle, achieving compact lateral storage and significantly reducing the overall width of the vehicle.

[0033] 3. The design of the locking plate and locking groove defines the positioning structure in the retracted state. When the sensor is retracted, the locking plate can be inserted into the locking groove to achieve positioning, which can prevent the sensor from shaking or shifting due to vibration during vehicle movement, ensuring the stability of the retracted state.

[0034] 4. The sensor can pitch in the vertical plane, enabling it to be raised and lowered for storage. This method is suitable for storage from above or behind the vehicle, significantly reducing the overall height of the sensor and preventing top collisions in low-ceilinged spaces.

[0035] 5. When the sensor is tilted vertically downwards, it can be completely hidden inside the housing cavity, achieving all-round wrapping and protection of the sensor, further improving the dustproof, impact-proof and aesthetic effects.

[0036] 6. Three sets of sensors are installed on the vehicle body. By placing sensors on the front sides and rear end, 360-degree perception coverage around the vehicle can be achieved in automatic mode, greatly improving the comprehensiveness of navigation and obstacle avoidance. At the same time, the overall vehicle outline can be optimized when the sensors are recessed.

[0037] 7. The front and rear sensing devices adopt different flipping methods. Through the mixed layout of vertical and horizontal flipping, the optimal storage path can be adopted according to the spatial characteristics of different parts of the vehicle, so as to minimize the overall vehicle outline and comprehensively improve passability.

[0038] 8. The system determines the driving mode by detecting signals indicating the presence of the driver, such as the weight of the steering wheel, pedals, or driver's seat. This intelligently identifies the driver's presence in the vehicle, automatically triggering corresponding sensor state switching, improving the accuracy and automation of mode determination, and making operation more convenient.

[0039] 9. The operating mode is determined by the signal from the manually selected switch. This improves the certainty of the operating intention and the user-friendliness of the human-computer interaction, and avoids automatic misjudgment.

[0040] 10. The position of the sensor is verified by the travel signal of the position sensor or drive unit. A precise position feedback mechanism is provided to ensure that the sensor can accurately reach the predetermined working position when it is extended or retracted, preventing sensing failure or safety risks caused by improper positioning.

[0041] 11. During the unstable phase of sensor state switching, forcing the vehicle to remain stationary and increasing the braking readiness level effectively prevents the vehicle from malfunctioning when the sensor is not in position, thus enhancing the safety of the entire switching process. Attached Figure Description

[0042] Figure 1A side view of an industrial vehicle according to several embodiments of this specification is shown;

[0043] Figure 2 It shows Figure 1 Top view;

[0044] Figure 3 A schematic diagram of the horizontally flipping sensor in use is shown.

[0045] Figure 4 A schematic diagram of the horizontally flipping sensor in its retracted state is shown.

[0046] Figure 5 A schematic diagram of the vertically flipping sensor in use is shown;

[0047] Figure 6 Flowcharts illustrating several embodiments of sensing methods applicable to dual-mode vehicles are shown in this specification;

[0048] Figure 7 Schematic diagrams of several embodiments of a sensing system applicable to dual-mode vehicles are shown in this specification.

[0049] Figure 8 Schematic diagrams of the structure of electronic devices according to various embodiments of this specification are shown.

[0050] In the diagram: 91, vehicle body; 92, wheel body; 1, rear sensor; 2, side sensor; 3, mounting base; 31, side frame; 311, engaging slot; 32, base frame; 33, fixing frame; 34, receiving cavity; 4, connecting arm; 41, engaging plate; 5, drive device; 6, sensor. Detailed Implementation

[0051] The present invention will be further described in detail below with reference to the accompanying drawings.

[0052] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings.

[0053] The terms "first," "second," "third," etc., in the description, claims, and accompanying drawings are used to distinguish different objects, not to describe a particular order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0054] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made to the function and arrangement of the described elements without departing from the scope of this specification. Various processes or components may be appropriately omitted, substituted, or added to the examples. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined into other examples.

[0055] like Figure 1 and Figure 2 As shown in the figure, the specific application environment of the sensing method suitable for dual-mode vehicles is illustrated. The industrial vehicle in the figure includes a body 91, wheels 92, and a sensing device arranged on the body 91. Unlike existing technologies, the sensor 6 is not fixed to the body 91, but its position is dynamically switched through a drive mechanism. This allows the sensor 6 to extend and operate in automated guided vehicle (AGV) mode and retract and hide in manual driving mode, thus adapting to the different requirements of vehicle profile and safety in both operating modes.

[0056] like Figure 1 and Figure 2 As shown, to obtain comprehensive environmental perception capabilities, three sets of sensing devices are preferably installed on the vehicle body 91. Specifically, these include a rear sensing device 1 installed at the rear end of the vehicle body 91, and two side sensing devices 2 installed on the left and right sides of the front of the vehicle body 91. Each set of sensing devices mainly includes a mounting base 3, a drive device 5, a connecting arm 4, and a sensor 6.

[0057] In different embodiments, different sensing devices can employ different motion trajectories. For example, a translational sliding type can be used, where a linear guide rail is mounted on the vehicle body 91, a slider is provided on the connecting arm 4, and the driving device 5 drives the slider to slide on the linear guide rail. In other embodiments, a flipping motion trajectory can be used, such as... Figure 3-5 The drawing depicts a flip-type sensor.

[0058] like Figures 3-5As shown, mounting base 3 is used to fix the entire device to the body 91 of the industrial vehicle. Drive unit 5 is fixed to mounting base 3, and its output end is driven to the connecting arm 4. Sensor 6 is mounted at the end of the connecting arm 4. Drive unit 5, as a power source, can be, for example, an electric actuator, a rotary motor, etc., and receives mode switching commands from the vehicle control system. When the vehicle needs to switch to automatic guidance mode, drive unit 5 operates, driving connecting arm 4 to move sensor 6 to a preset "usage state." At this time, sensor 6 extends beyond the outline of the vehicle body 91 to obtain an unobstructed detection field of view, performing environmental scanning, navigation, and obstacle avoidance functions. When the vehicle needs to switch to manual driving mode, drive unit 5 operates in the opposite direction, driving connecting arm 4 to move sensor 6 to an "inward state," so that sensor 6 is entirely housed within the maximum outer contour line of the vehicle body 91, thereby fundamentally eliminating the collision risk and field-of-view obstruction problems caused by the protruding structure.

[0059] like Figure 3 and Figure 4 As shown, taking the side sensing device 2 as an example, a specific implementation of a horizontally flipping type is illustrated. In this structure, the mounting base 3 includes a base frame 32 and a side frame 31 fixedly connected thereto. The drive device 5 and one end of the connecting arm 4 are rotatably connected to the side frame 31 via a rotating shaft. The other end of the connecting arm 4 is provided with a locking plate 41, on which the sensor 6 is fixedly mounted.

[0060] like Figure 3 As shown, in automatic mode, the drive unit 5, for example an electric push rod, extends the drive connecting arm 4 and horizontally tilts it outward from the vehicle body 91, causing the sensor 6 to extend to its working position. Figure 4 As shown, when storage is required, the drive unit 5 drives the connecting arm 4 to rotate horizontally inward toward the vehicle body 91. When rotated to the retracted position, the locking plate 41 at the end of the connecting arm 4 will precisely engage with the specially opened locking groove 311 on the side frame 31. The cooperative design of the locking plate 41 and the locking groove 311 provides mechanical limitation and stable support for the sensor 6 in the retracted state. On the one hand, this effectively prevents the sensor 6 from shaking or shifting due to vibration during vehicle operation, ensuring the stability of the retracted state; on the other hand, it allows the sensor 6 to be as flush as possible with the side wall of the vehicle body 91 when retracted, significantly reducing the overall width of the vehicle, optimizing the side profile, and greatly improving the vehicle's passability and safety when manually driven in narrow passages or dense shelving.

[0061] and Figure 5As shown, the rear sensing device 1 illustrates a specific embodiment of a vertically flipping type. In this structure, the mounting base 3 is a fixed frame 33 with an internal space. The fixed frame 33 has a receiving cavity 34 inside. The connecting arm 4 is connected to the output end of the drive device 5, but its flipping axis is set horizontally, so that the connecting arm 4 can perform pitching motion in a vertical plane.

[0062] like Figure 5 As shown, in automatic mode, the drive unit 5 drives the connecting arm 4 to flip upward, lifting the sensor 6 out of the receiving cavity 34, placing it in a high-position working state to obtain a better rearward detection field of view. When switching to manual mode, the drive unit 5 drives the connecting arm 4 to flip downward, causing the sensor 6 to rotate downward until it is completely lowered and hidden in the receiving cavity 34 of the fixing frame 33. Figure 1 The sensor 1 is shown in the middle and rear position. The receiving cavity 34 provides full circumferential protection for the sensor 6 after it is folded down, effectively preventing dust accumulation, moisture intrusion, and accidental scratches from the side and rear. While achieving compact storage, it also enhances the protection and service life of the device.

[0063] pass Figure 1 and Figure 2 The overall layout shown integrates the vertically flipping rear sensor 1 and the horizontally flipping side sensor 2 onto the same industrial vehicle. In automatic guidance mode, the three sensors 6 extend in coordination, forming a 360-degree perception network with no blind spots, ensuring comprehensive navigation and obstacle avoidance.

[0064] The rear sensor 1 employs a vertically flipping design, which efficiently utilizes the space at the rear of the vehicle. The rear area of ​​industrial vehicles typically requires the concentrated placement of drive wheels, steering wheels, and counterweights, while also necessitating a driver's operating platform, resulting in limited horizontal space. Designing the rear sensor 1 to flip vertically allows it to move along the vehicle's height in its retracted state and ultimately be hidden within the receiving cavity 34 of the mounting bracket 33. Figure 5 As shown. This method mainly occupies the relatively ample vertical space at the rear of the vehicle body, while avoiding interference with the numerous functional components in the already cramped horizontal space behind.

[0065] The side sensor 2 employs a horizontal flip-up design because, in typical operating environments such as narrow aisles or densely packed shelving, the clearance between the vehicle's side and the aisle sidewall is extremely limited. To fully retract the sensor 6 in manual driving mode and avoid any outward protrusion, a relatively long connecting arm 4 is typically required to provide a sufficient flipping radius. If a vertical flip-up design were used on the side, the lifting and lowering of the long connecting arm 4 would require a greater ground clearance and longitudinal space, potentially affecting vehicle maneuverability or interfering with the front structure of the vehicle. However, if... Figure 3and Figure 4 As shown, a horizontal flipping method is adopted, with the connecting arm 4 driving the sensor 6 to rotate in the horizontal plane. Its motion trajectory matches the spatial shape of the narrow alley, enabling the sensor to be completely retracted within the limited lateral space through lateral rotation, effectively narrowing the overall width of the vehicle, thereby significantly improving the vehicle's passability in narrow environments. Moreover, no additional vertical space is required, making it a more efficient and reasonable response method to lateral space constraints.

[0066] In summary, in manual driving mode, the rear sensor 1 is folded down and hidden to avoid horizontal interference, while the side sensors 2 are retracted and flipped inward to reduce the vehicle width. This hybrid retraction and deployment strategy, designed based on the spatial characteristics of different parts of the vehicle body, collaboratively minimizes the overall vehicle dimensions. This allows the vehicle to seamlessly adapt to the sensor field of view requirements during AGV operations, as well as the requirements for vehicle compactness, maneuverability, and operational safety during manual driving, resolving the inherent contradictions of dual-mode vehicles.

[0067] The hardware implementation of this technical solution has been described above. The method flow of the technical solution will be described below.

[0068] Figure 6 A schematic flowchart of several embodiments of the sensing methods applicable to dual-mode vehicles is shown in this specification.

[0069] Method 100 includes:

[0070] In box 101, the working mode is determined.

[0071] This step is the logical starting point for the method execution, and its core task is to determine the vehicle's current target operating mode. The system needs to collect one or more signals and determine whether the vehicle should enter "manual mode" or "automatic mode" based on preset rules.

[0072] The signal sources upon which this judgment relies can be implemented in various ways. For example, it can rely on intelligent perception of the driver's presence in the vehicle. Specifically, the system can comprehensively determine whether a driver is preparing to perform manual operation by detecting signals from steering wheel grip, pedal input, or body weight sensing in the driver's seat. When a valid driver presence signal is detected, it is determined that "manual mode" should be entered; otherwise, it is determined that "automatic mode" can be entered. This approach achieves seamless and automatic pattern recognition, improving operational convenience.

[0073] Furthermore, as a more direct and reliable implementation, the determination of the operating mode can rely on explicit instructions given by the operator. For example, by installing a manual selection switch, such as a rocker switch or knob, on the vehicle body 91, the operator can directly select the "manual" or "automatic" setting. The system receives the electrical signal from this switch and determines the mode accordingly. This method gives the operator complete control, ensures clear intent, avoids potential misjudgments from automatic sensing, and is particularly suitable for scenarios requiring a mandatory mode specification.

[0074] In box 102, sensor position driving and switching are performed.

[0075] After completing the mode determination in box 101, this step controls the drive device 5 to change the physical position of the sensor 6 based on the determination result, so that it switches between "use state" and "retracted state".

[0076] Specifically, if the system determines that the vehicle needs to enter automatic mode, it sends a control command to the drive unit 5. The drive unit 5 operates, driving the connecting arm 4 to move, thereby extending the sensor 6 outward and moving and fixing it in a preset "usage state" position. In this position, the sensor 6 is located outside the outline of the vehicle body 91, which allows it to obtain a good detection field of view, preparing for the subsequent possible activation of automatic navigation and obstacle avoidance functions.

[0077] Conversely, if the system determines that the vehicle needs to enter manual mode, it sends a reverse control command to the drive unit 5. The drive unit 5 operates, driving the connecting arm 4 to move, thereby retracting the sensor 6 inward, moving it and fixing it in a preset "retracted state" position. In this position, the sensor 6 is completely housed within the maximum outer contour line of the vehicle body 91, eliminating the protruding structure.

[0078] In box 103, perform position verification and driving authorization.

[0079] This step is crucial for ensuring reliable and safe state transitions. After the drive unit 5 moves the sensor 6, the system needs to verify the actual position of the sensor 6 to confirm whether it has accurately reached the target position.

[0080] The positioning verification relies on a valid "radar positioning signal." This signal can originate from direct physical position feedback. For example, a positioning sensor, such as a proximity switch or photoelectric sensor, can be installed at a corresponding location on the vehicle body 91 or mounting base 3. When sensor 6 moves to the target position, the sensor is triggered, generating a positioning signal. Alternatively, the positioning signal can also originate indirectly from the drive unit 5 itself. For example, if the drive unit 5 is an electric actuator or servo motor, its built-in encoder or limit switch can emit a signal when it reaches a specific travel distance; this signal is equivalent to sensor 6 being in position.

[0081] The system only authorizes the vehicle to drive in the corresponding mode after receiving a correct positioning confirmation signal. Specifically: when sensor 6 is in position, the system allows the vehicle to enter manual driving mode; when sensor 6 is extended and in position, the system allows the vehicle to enter autonomous driving mode. If no positioning signal is received, the vehicle can remain locked and a fault message will be displayed, thereby preventing perception failure or safety accidents caused by sensor misalignment.

[0082] Furthermore, during the entire state transition process—from the start of the drive unit 5's operation to the confirmation of the sensor 6's position—a preferred safety interlock strategy can be implemented to further ensure safety: the vehicle's driving system is triggered to an unavailable state, while the vehicle's emergency braking system is triggered to an active state. This means that during the sensor's extension and retraction, the vehicle's power is cut off or its driving enable is disabled, preventing movement; and the braking system is in the highest level of readiness, ready to perform emergency braking at any time. This design completely eliminates the possibility of the vehicle moving when the sensor is in an unstable transitional position, greatly enhancing the safety of the entire mode transition process.

[0083] Figure 7 Schematic diagrams of several embodiments of a sensing system applicable to dual-mode vehicles are shown in this specification.

[0084] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments. Figure 7 As shown, the sensing system 200 includes:

[0085] The mode judgment module 201 is configured to judge the working mode and determine whether it is manual mode or automatic mode.

[0086] The mode switching module 202 is configured such that in manual mode, the drive device 5 operates, causing the sensor 6 to extend outward and enter the use state; and in automatic mode, the drive device 5 operates, causing the sensor 6 to retract inward and enter the retracted state.

[0087] The inspection module 203 is configured to perform position verification on the sensor 6. When the sensor 6 is extended into position, manual driving is allowed; when the sensor 6 is retracted into position, automatic driving is allowed.

[0088] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this specification are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in or transmitted through a computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., Digital Versatile Discs (DVDs)), or semiconductor media (e.g., Solid State Disks (SSDs)).

[0089] Figure 8 A block diagram of an electronic device 300 that can implement various embodiments of the present disclosure is shown. For example... Figure 8 As shown, device 300 includes a processor 301, which can perform various appropriate actions and processes based on computer program instructions loaded into random access memory (RAM) 303 according to computer program instructions stored in read-only memory (ROM) 302. RAM 303 may also store various programs and data required for the operation of device 300. The processor 301, ROM 302, and RAM 303 are interconnected via bus 304. Input / output (I / O) interface 305 is also connected to bus 304.

[0090] The various processes and procedures described above, such as method 100, can be executed by processor 301. For example, in some embodiments, method 100 may be implemented as a software program tangibly contained in a machine-readable medium. In some embodiments, part or all of the software program may be loaded and / or installed on device 300 via ROM 302. When the software program is loaded into RAM 303 and executed by processor 301, one or more actions of method 300 described above may be performed.

[0091] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0092] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing. Furthermore, although operations are depicted in a specific order, this should be understood as requiring that such operations be performed in the specific order shown or in sequential order, or requiring that all illustrated operations be performed to achieve the desired result. In certain environments, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the foregoing discussion, these should not be construed as limiting the scope of this disclosure. Certain features described in the context of individual embodiments may also be implemented in combination in a single implementation. Conversely, various features described in the context of a single implementation may also be implemented individually or in any suitable sub-combination in multiple implementations.

[0093] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

Claims

1. A sensing method applicable to dual-mode vehicles, characterized in that, It includes the following steps: Determine the working mode, whether it is manual or automatic; In manual mode, the drive device (5) operates, causing the sensor (6) to extend outward and enter the position of use; In automatic mode, the drive device (5) operates, causing the sensor (6) to retract and enter the retracted position; The position of the sensor (6) is checked. When the sensor (6) is extended outward, manual driving is allowed; when the sensor (6) is retracted inward, automatic driving is allowed.

2. The sensing method for dual-mode vehicles according to claim 1, characterized in that: The determination of the working mode relies on the driver's sensor on the steering wheel and / or the pedal sensor in the driver's seat and / or the human weight sensor in the driver's seat.

3. The sensing method for dual-mode vehicles according to claim 1, characterized in that: The determination of the working mode depends on the signal of the manual selection switch, which is installed on the vehicle body (91).

4. The sensing method for dual-mode vehicles according to claim 1, characterized in that: The position verification of the sensor (6) is performed by relying on the radar position signal, which comes from the position sensor installed on the vehicle body (91) or from the stroke signal of the drive device (5).

5. The sensing method for dual-mode vehicles according to claim 1, characterized in that: During the process of the driving device (5) moving the sensor (6), the vehicle's driving system is triggered to be unavailable and the vehicle's emergency stop system is triggered to be active.

6. The sensing method for dual-mode vehicles according to claim 1, characterized in that: The drive device (5) is mounted on the mounting base (3), and its output end is connected to the connecting arm (4); The sensor (6) is mounted on the connecting arm (4); The drive device (5) is configured to move the connecting arm (4) to switch the position of the sensor (6) in the use state and the position in the retracted state.

7. The sensing method for dual-mode vehicles according to claim 6, characterized in that: One end of the connecting arm (4) is rotatably connected to the mounting base (3), and the other end is flipped under the drive of the driving device (5).

8. The sensing method for dual-mode vehicles according to claim 6, characterized in that: The flipping direction of the connecting arm (4) is horizontal.

9. The sensing method for dual-mode vehicles according to claim 7, characterized in that: The mounting base (3) includes a base frame (32) and a side frame (31) connected to the base frame (32). The drive device (5) and the connecting arm (4) are both rotatably connected to the side frame (31).

10. The sensing method for dual-mode vehicles according to claim 9, characterized in that: The connecting arm (4) includes a locking plate (41), the sensor (6) is mounted on the locking plate (41), and the side frame (31) has a locking groove (311) for the locking plate (41) to enter in the retracted state.

11. The sensing method for dual-mode vehicles according to claim 6, characterized in that: The flipping direction of the connecting arm (4) is vertical.

12. The sensing method for dual-mode vehicles according to claim 11, characterized in that: The mounting base (3) includes a fixing frame (33), and the fixing frame (33) has a receiving cavity (34) for the sensor (6) to be folded down and entered in the retracted state.

13. The sensing method for dual-mode vehicles according to claim 6, characterized in that: The sensing device consists of three sets, each set including the mounting base (3), the connecting arm (4), the driving device (5) and the sensor (6); the three sets of sensing devices are respectively the rear sensing device (1) installed at the rear end of the vehicle body (91) and the two side sensing devices (2) installed on both sides of the front of the vehicle body (91).

14. The sensing method for dual-mode vehicles according to claim 13, characterized in that: The rear sensing device (1) is a vertically flipping sensing device, while the two side sensing devices (2) are horizontally flipping sensing devices.

15. A sensing system, based on the sensing method applicable to dual-mode vehicles according to any one of claims 1-14, characterized in that, include The mode determination module is configured to determine the working mode, whether it is manual mode or automatic mode. The mode switching module is configured such that in manual mode, the drive device (5) operates, causing the sensor (6) to extend outward and enter the position of use; in automatic mode, the drive device (5) operates, causing the sensor (6) to retract inward and enter the position of retracted. The inspection module is configured to perform position inspection on the sensor (6). When the sensor (6) is extended into position, manual driving is allowed; when the sensor (6) is retracted into position, automatic driving is allowed.

16. An electronic device, comprising a processor and a memory; the processor being connected to the memory; the memory being used to store executable program code; the processor running a program corresponding to the executable program code by reading the executable program code stored in the memory, for performing the method as claimed in any one of claims 1-14.

17. A computer-readable storage medium for storing a computer program, characterized in that, When the computer program is executed by a processor, it is capable of performing the method as described in any one of claims 1-14.

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