Personal mobility vehicle control method

Abstract

The invention relates to personal mobility vehicle control methods. A map of zones with set rules for personal mobility vehicle control is created and transmitted to an IoT module on a personal mobility vehicle. Current position data from a position sensor installed on said personal mobility vehicle is obtained on the IoT module installed on the personal mobility vehicle. On said IoT module, the current position data is converted into cell values. The cell values of the current position data are searched against cell values of the zone map previously created. If a cell value of the current position data is found to match that of one of the cells of the zone map, a value corresponding to a personal mobility vehicle control method is extracted and applied to the personal mobility vehicle. The zone map is comprised of a set of cells. The invention makes it possible to reduce delay in the processing of geographic data.

Description

[0001] METHOD OF CONTROLLING AN INDIVIDUAL MOBILITY EQUIPMENT

[0002] AREA OF TECHNOLOGY

[0003] This technical solution relates to vehicles, namely to methods of controlling personal mobility vehicles.

[0004] LEVEL OF TECHNOLOGY

[0005] The prior art discloses a motorized scooter disclosed in US 20190248439 A1, published on 15.08.2019. The solution disclosed in the said source of information provides the ability to restrict the movement of a motorized scooter if it is in a restricted area. However, the user can still increase the speed despite the restrictions imposed on the scooter. In addition, the processing of geographic data is provided, but this processing is not performed on the scooter, and there is no 1oT module.

[0006] The difference between the proposed solution and the prior art is that in the proposed solution, the processing of geographic data and the application of the control method are carried out directly on the individual mobility device, and that the processing includes the transformation of location data into cell values ​​that are checked for inclusion on the zone map and, if a match is detected, the value of the control method of the matched cell is applied. By processing geographic data directly on the individual mobility device, using the 1оТ module, the processing of geographic data is simplified and the time for processing geographic data is reduced.

[0007] ESSENCE OF THE INVENTION

[0008] The technical task that the claimed technical solution is aimed at solving is to simplify and reduce the delay time for processing geographic data obtained from individual mobility devices for the application of a specific method for controlling an individual mobility device in a given area, by processing geographic data and applying the control method directly on the individual mobility device.Currently, the processing of all incoming geographic data from each individual mobility device and the transmission of commands for the application of the control method for a given area is carried out on the server, which entails a number of problems, namely: a large load on the server, where each coordinate from each individual mobility device is processed; a long wait time for data from the individual mobility device to the server and for processed data and control commands from the server to the individual mobility device; loss of data during transmission from the individual mobility device to the server and from the server to the individual mobility device.

[0009] The technical result achieved by solving the above-mentioned technical problem is the simplification and reduction of the delay time for processing geographic data obtained from individual mobility devices for the application of a specific method for controlling an individual mobility device in a given area, due to the processing of data on a 10T module installed on the individual mobility device.

[0010] The claimed technical result is achieved by implementing a method for controlling an individual mobility device, comprising the following stages: a) creating a zone map with established rules for controlling an individual mobility device and transmitting it to the 1оT module of the individual mobility device, wherein the zone map is a set of cells, wherein each cell has a value corresponding to the method for controlling an individual mobility device; b) receiving current location data from a location sensor installed on the individual mobility device on the 1оT module installed on the individual mobility device; c) converting the current location data into cell values ​​on the 1оT module; d) searching for the cell values ​​of the current location data based on the cell values ​​of the created zone map with established rules for controlling the individual mobility device;e) if the entry of the value of the current location data cells is defined in one of the cells of the zone map, the value corresponding to the control method of the individual mobility device is extracted and applied to the individual mobility device;

[0011] In a particular version of the implementation of the proposed method, the creation of a zone map is carried out on a third-party server and includes the following steps:

[0012] • selecting at least one primary zone, which is a polygon of points with latitude and longitude, as well as a value corresponding to the method of controlling the individual mobility vehicle for the primary zone; • selecting at least one child zone, which is a polygon of points with latitude and longitude, as well as a value corresponding to the method of controlling the individual mobility vehicle for the child zone, different from the primary zone;

[0013] • divide the main zone into at least one main zone cell;

[0014] • divide the child zone into at least one child zone cell, where each cell corresponds to a value corresponding to the method of controlling the individual mobility device for the given child zone;

[0015] • receive an executive file in which at least one cell of the main zone and links to child zones that are included in at least one cell of the main zone are stored and transmit it to the 1oT module of the personal mobility device.

[0016] In a particular version of the implementation of the proposed method, the creation of a zone map is carried out on a third-party server and includes the following steps:

[0017] • select a primary zone, which is a polygon of points with latitude and longitude, as well as a value corresponding to the method of controlling the personal mobility device for the primary zone;

[0018] • divide the main zone into at least one main zone cell, where each cell corresponds to an index, as well as a value corresponding to the method of controlling the personal mobility device for the main zone;

[0019] • receive an executive file in which at least one cell of the main zone is stored and transmit it to the 10T module of the personal mobility device.

[0020] In a particular embodiment of the proposed method, the method for controlling the personal mobility vehicle is, at least, limiting the speed of the personal mobility vehicle, prohibiting the movement of the personal mobility vehicle, turning off the electric motor of the personal mobility vehicle, permitting or prohibiting parking of the personal mobility vehicle.

[0021] DESCRIPTION OF DRAWINGS

[0022] The implementation of the invention will be described further in accordance with the attached drawings, which are presented to explain the essence of the invention and in no way limit the scope of the invention. The following drawings are attached to the application:

[0023] Fig. 1 illustrates a block diagram of the operation for creating a zone map;

[0024] Fig. 2 illustrates a block diagram of the operation of the proposed method using the created zone map on the individual mobility vehicle;

[0025] Fig. 3 illustrates an example of the original polygons of the main zone and two child zones;

[0026] Fig. 4 illustrates an example where a main zone cell includes 5 child zones;

[0027] Fig. 5 illustrates an example of the original polygons of the main zone and two child zones, divided into cells of the main and child zones, respectively;

[0028] Fig. 6 illustrates an example where one cell of the main zone may only partially intersect with a child zone;

[0029] Fig. 7 illustrates an example of a child zone cell.

[0030] DETAILED DESCRIPTION OF THE INVENTION

[0031] In the following detailed description of the embodiment of the invention, numerous implementation details are provided in order to provide a clear understanding of the present invention. However, it will be obvious to one skilled in the art how the present invention can be used with or without these implementation details. In other instances, well-known methods, procedures, and components have not been described in detail in order not to obscure the features of the present invention.

[0032] In addition, it will be clear from the above description that the invention is not limited to the embodiment shown. Numerous possible modifications, changes, variations and substitutions, preserving the essence and form of the present invention, will be obvious to those skilled in the art.

[0033] The proposed solution includes a system consisting of a data processing server and an individual mobility device.

[0034] The data processing server (100) is designed to create a zone map with established rules for controlling the personal mobility device, which will be transmitted to the personal mobility device to determine the zones of application of the control methods. Fig. 1 illustrates a block diagram for creating a zone map. The personal mobility device is an electric scooter, electric bicycle, electric skateboard, gyro scooter, segway, unicycle and other similar vehicles. The personal mobility device includes: an electric motor, a battery pack, a 10T module (200).1оТ module (200) is a set of one or more printed circuit boards on which are installed: a microcontroller, a communication module (GSM, Bluetooth), a location determination module, a memory unit (RAM and ROM), one or more digital interfaces (UART, CAN), a power supply circuit, various sensors at least, but not limited to: an accelerometer, a gyroscope, a magnetometer, a barometer, a temperature sensor, etc., as well as sound and light indication devices.

[0035] All elements of the 1оТ module (200) are interconnected and perform certain functions. For example, the microcontroller is the main element of the 1оТ module and, thanks to a specially configured operating system, it performs the main interactions between the other elements of the module.

[0036] 1оТ module (200) is capable of functioning both as part of a personal mobility device and separately from it.

[0037] On the personal mobility device, the 1оТ module (200) performs a number of critically important tasks, namely: communicates with the server and transmits control commands to the personal mobility device; collects, analyzes and sends to the server information about the state of the personal mobility device, as well as other information received from built-in sensors (operability, battery charge level, etc.); if necessary, communicates with the user's mobile device.

[0038] On the data processing server, a map of zones with established rules for managing the individual mobility device is created.

[0039] The creation of a zone map (107) includes the following steps.

[0040] First, the zone of operation of the proposed method is selected. The zone of operation of the service can be presented as a map of the city, district, etc. The zone of operation of the proposed method is the main zone.

[0041] The main zone (101) is a polygon of points with latitude and longitude, as well as the value of the individual mobility vehicle control method. The main zone (101) is the zone for which the individual mobility vehicle control methods are applied. For example, a speed limit of 20 km / h has been established for the Garden Ring area in Moscow. In Fig. 3, the Garden Ring area is marked with a light gray zone. After selecting the main zone, child zones (104) are selected. A child zone (104) is a polygon of points with latitude and longitude, as well as the value of the individual mobility vehicle control method, which differs from the main zone. For example, a speed limit of 15 km / h has been established in the Lubyanka Square area (In Fig. 3, the Lubyanka Square area is marked with a dark gray zone), or, for example, a ban on parking an individual mobility vehicle has been established in the Kremlin area.An example of a cell of the main zone, which includes 5 child zones, which consist of individual cells with coordinates and values ​​of the method of controlling the individual mobility vehicle, is shown in Fig.4.

[0042] The method of controlling an individual mobility vehicle is understood to mean a method of controlling at least the speed limitation of the individual mobility vehicle, prohibition of movement of the individual mobility vehicle, switching off the electric motor of the individual mobility vehicle, permission or prohibition of parking of the individual mobility vehicle, etc.

[0043] Next, the main zone is divided into main zone cells (hexagons) using the Uber HZ (102) algorithm, applying the following criteria:

[0044] 1. each of the cells of the main zone may not include any child zones, or may include several child zones. For example, for the cells of the main zone, which does not include any child zones, the value (rule) of the individual mobility vehicle control of the entire main zone is applied, i.e. for these cells there is no intersection with the child zones (in Fig. 5, the cells of the main zone are marked in dark gray). In another case, one cell of the main zone can intersect with several child zones, i.e. in one cell of the main zone there are several child zones with different methods of individual mobility vehicle control (in Fig. 6, the cell of the main zone is marked in white, and the child zones are marked in dark gray). In another case, two different cells of the main zone can intersect with the same child zone - in two cells of the main zone, the rules of the method of individual mobility vehicle control of the same child zone are applied (in Fig.7 the cell of the child zone is marked in white and the intersection of one child zone with two different cells of the main zone is visible). In another case, one cell of the main zone can include one child zone;.

[0045] 2. The size of the cell of the main zone is selected based on two opposing criteria: the cells should be as large as possible in order to minimize their number, but at the same time the total zone formed by all the cells should coincide as much as possible with the original polygon.

[0046] In addition, for optimization purposes, the number of entries of child zones in the cell of the main zone should be distributed as evenly as possible. If the distribution of child zones is uneven, this will increase the file size and reduce the speed of determining the current coordinates of the individual mobility vehicle in the zone map.

[0047] The primary zone cell contains a cell index and a value corresponding to the personal mobility device control method for the primary zone.

[0048] The cell index contains information about the cell, including its type and representation (https: / / h3Qeo,orQ / docs / core-iibrary / h3indexinq / ), for example, in Fig. 6 the cell index is designated as 8b11aa7ab1a0fff.

[0049] Child zones are in turn divided into child zone cells using the Uber H3 (105) algorithm, where each cell corresponds to a cell index and a value corresponding to the individual mobility vehicle control method for a given child zone. The size of child zone cells can be different. This allows for a more compact filling of the original child zone polygon with cells (function https: / / h3geo.Org / docs / api / hierarchy / #compactcells).

[0050] The data of each child zone is written to a separate text file (106), where the metadata of the child zone is written to the beginning of the file, and the indices of the cells that make up the zone are sorted alphabetically and written one after another. The metadata of the child zone contains information about the file that is necessary for its processing (for example, the size of the cells), as well as the value of the control method. Next, for each cell of the main zone, intersections with child zones are checked and, if there are intersections, links to the files of the child zones are indicated. Then, an executive file of the main zone (103) is created, in which for each cell its index and the corresponding links to the child zones (if any) are indicated, as well as metadata for the main zone: cell size, control method.

[0051] In another variant of creating a zone map, there is no selection of child zones, i.e. only the main zone is divided into cells of the main zone. Since the main zone contains one value of the method of controlling the individual mobility device, all cells of the main zone contain data of the value of the method of controlling the individual mobility device. In this variant, metadata of the cell of the main zone are written to the beginning of the file of the cell of the main zone. Then, an executive file of the main zone is created, which contains at least one cell of the main zone. These executive files in each of the variants are a zone map (107) and are transmitted to the IO module (200) of the individual mobility device via telecommunication.

[0052] When updating the values ​​of the individual mobility device control method or adjusting the main zone or adjusting the child zones, changes are made on the data processing server and also transmitted to the 1oT module

[0053] (200) personal mobility aids.

[0054] After the zone map is transmitted to the I oT module (200) of the individual mobility vehicle, the determination of the control method includes the following steps (Fig. 2).

[0055] The personal mobility device receives current location data (coordinates) via the location module

[0056] (201). The 1oT module (200) converts the current location data into cell values ​​using the Uber H3 algorithm (202). The cell of the current coordinates must match the size of the cell of the main zone and / or the child zone. If the cell sizes do not match, the required cell will not be found. This algorithm was chosen because it provides functions for the efficient conversion of location data (longitude and latitude) into the H3 cell identifier and the conversion of the H3 cell identifier back into the location and does not require a large computational load on the microcontroller. And since a low-performance controller is installed on the personal mobility vehicle, this algorithm is optimal and efficient for operation.

[0057] After the location data have been converted into cell values, the 10T module (200) accesses the zone map (107) that has been transmitted to the individual mobility vehicle to search (203) for the current cell in the zone map to apply the individual mobility vehicle control rules. A binary search is performed on the zone map executive file that is stored on the individual mobility vehicle to search for the cell index value, based on the current coordinates of the individual mobility vehicle, to match exactly the same cell index value of the zone map. First, the main zone cells are checked; if the cell index value of the current coordinates is not found in the main zone cells, the search is terminated and no other rules are applied.If an index corresponding to the cell index of the current coordinates is found in the cells of the main zone, and this cell of the main zone has no references to child zones, then the rule of control of the individual mobility vehicle corresponding to the main zone is applied. If it is determined that this main cell has references to child zones, then the current coordinates are re-translated, but this time to the cell size corresponding to the child zone. After that, a search is made for the cell index value based on the current coordinates of the individual mobility vehicle for compliance with exactly the same index value of the cells of the child zone (204). If it is determined that exactly the same index value of the child zone is present in the file, then the IOT module extracts the value corresponding to the individual mobility vehicle control method and applies it to the individual mobility vehicle (205).

[0058] For example, if an entry into a cell of the zone map is determined where the speed of the individual mobility vehicle should not exceed 15 km / h, and the speed of the individual mobility vehicle is 20 km / h, then the 1oT module sends a signal to the electric motor to reduce the speed to 15 km / h. When the speed is reduced, the 1oT module gives an audible signal about the start of the speed reduction, and a notification can also be sent to the user's mobile application that the speed exceeds the set value and the speed is being reduced.

[0059] In another example, if the current location data cell is determined to be in a cell of a map of a zone where parking of a personal mobility vehicle is prohibited, and the user decides to park the personal mobility vehicle in this location, then the IoT module transmits a signal to the information processing server, and the information processing server sends a notification to the user in the mobile application.

[0060] A computing system that provides data processing necessary for the implementation of the claimed solution generally contains the following components: one or more processors, at least one memory, a data storage facility, input / output interfaces, an input facility, and network interaction facilities.

[0061] When executing machine-readable instructions contained in the RAM, the processor of the device is configured to perform the basic computing operations necessary for the functioning of the device or the functionality of one or more of its components.

[0062] Memory is usually implemented as RAM, where the necessary program logic is loaded, providing the required functionality. When implementing the proposed solution, the memory volume required to implement the proposed solution is allocated.

[0063] The data storage facility can be implemented as an HDD, SSD disks, RAID array, network storage, flash memory, etc. The facility allows for long-term storage of various types of information, such as the above-mentioned files with user / passenger data sets, databases containing records of time intervals measured for each user, user identifiers, etc.

[0064] Interfaces are standard means for connecting and operating peripheral and other devices, such as USB, RS232, RJ45, COM, HDMI, PS / 2, Lightning, etc.

[0065] The choice of interfaces depends on the specific design of the device, which can be a personal computer, mainframe, server cluster, thin client, smartphone, laptop, etc.

[0066] A keyboard may be used as a means of data input in any embodiment of the system implementing the described method. The keyboard hardware may be any known one: it may be either a built-in keyboard used on a laptop or netbook, or a separate device connected to a desktop computer, server or other computer device. The connection may be either wired, in which the keyboard connecting cable is connected to a PS / 2 or USB port located on the desktop computer system unit, or wireless, in which the keyboard exchanges data via a wireless communication channel, for example, a radio channel, with a base station, which, in turn, is directly connected to the system unit, for example, to one of the USB ports.In addition to the keyboard, the following may also be used as input means: joystick, display (touch display), projector, touchpad, mouse, trackball, light pen, speakers, microphone, etc.

[0067] Network interaction means are selected from a device that provides network reception and transmission of data, for example, an Ethernet card, WLAN / Wi-Fi module, Bluetooth module, BLE module, NFC module, IrDa, RFID module, GSM modem, etc. The means ensure the organization of data exchange via a wired or wireless data transmission channel, for example, WAN, PAN, LAN, Intranet, Internet, WLAN, WMAN or GSM.

[0068] The components of the device are connected via a common data transmission bus.

[0069] In these application materials, a preferred disclosure of the implementation of the claimed technical solution was presented, which should not be used as limiting other particular embodiments of its implementation, which do not go beyond the scope of the requested scope of legal protection and are obvious to specialists in the relevant field of technology.

Claims

Formula 1. A method for controlling an individual mobility device, comprising the following steps: a) creating a zone map with established rules for controlling the individual mobility device and transmitting it to an IoT module of the individual mobility device, wherein the zone map is a set of cells, wherein each cell has a value corresponding to the method for controlling the individual mobility device; b) receiving current location data from a location sensor installed on the individual mobility device on an IoT module installed on the individual mobility device; c) converting the current location data into cell values ​​on the IoT module; d) searching for the cell values ​​of the current location data based on the cell values ​​of the created zone map with established rules for controlling the individual mobility device;e) if an entry of the current location data cell value is defined in one of the zone map cells, the value corresponding to the individual mobility device control method is extracted and applied to the individual mobility device; 2. The method according to paragraph 1, characterized in that the creation of a zone map is carried out on a third-party server and includes the following steps: • at least one main zone is selected, which is a polygon of points with latitude and longitude, as well as a value corresponding to the method of controlling the personal mobility device for the main zone; • at least one child zone is selected, which is a polygon of points with latitude and longitude, as well as a value corresponding to the method of controlling the individual mobility device for the child zone, different from the main zone; • divide the main zone into at least one main zone cell; • divide the child zone into at least one child zone cell, where each cell corresponds to a value corresponding to the method of controlling the individual mobility device for a given child zone cell; • receive an executive file in which at least one cell of the main zone and links to child zones that are included in at least one cell of the main zone are stored and transmit it to the IOT module of the personal mobility device.

3. The method according to paragraph 1, characterized in that the creation of a zone map is carried out on a third-party server and includes the following steps: • select a primary zone, which is a polygon of points with latitude and longitude, as well as a value corresponding to the method of controlling the personal mobility device for the primary zone; • divide the main zone into at least one main zone cell, where each cell corresponds to a division index, as well as a value corresponding to the method of controlling the personal mobility device for a given cell; • receive an executive file in which at least one cell of the main zone is stored and transmit it to the 10T module of the personal mobility device.

4. The method according to claim 1, characterized in that the method of controlling the personal mobility vehicle is, at least, limiting the speed of the personal mobility vehicle, prohibiting the movement of the personal mobility vehicle, turning off the engine of the personal mobility vehicle, permitting or prohibiting parking of the personal mobility vehicle.

Images