CN105882528B - Road condition sharing method, device and balance vehicle for balance vehicle - Google Patents
Road condition sharing method, device and balance vehicle for balance vehicle Download PDFInfo
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- CN105882528B CN105882528B CN201610262826.4A CN201610262826A CN105882528B CN 105882528 B CN105882528 B CN 105882528B CN 201610262826 A CN201610262826 A CN 201610262826A CN 105882528 B CN105882528 B CN 105882528B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J50/00—Arrangements specially adapted for use on cycles not provided for in main groups B62J1/00 - B62J45/00
- B62J50/20—Information-providing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J99/00—Subject matter not provided for in other groups of this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/50—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the display information being shared, e.g. external display, data transfer to other traffic participants or centralised traffic controller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
本公开是关于一种平衡车的路况共享方法、装置及平衡车，该方法包括：通过摄像头采集当前平衡车视野内的路况图像信息，判断所述路况图像信息内是否存在视野盲区；当存在所述视野盲区时，针对所述视野盲区生成盲区信息，并将所述盲区信息发送至与所述当前平衡车处于同一队列中的其他平衡车。
The present disclosure relates to a road condition sharing method and device for a self-balancing vehicle, and a self-balancing vehicle. The method includes: collecting road condition image information in the current field of view of the self-balancing vehicle through a camera, and judging whether there is a blind spot in the road condition image information; When the blind area of the field of view is detected, blind area information is generated for the blind area of the field of view, and the blind area information is sent to other self-balancing vehicles in the same queue as the current self-balancing vehicle.
Description
Technical field
This disclosure relates to smart machine field, and in particular, to a kind of road conditions sharing method, device and the balance of balance car
Vehicle.
Background technique
With the development of science and technology, more and more trip tools enter in people's lives, e.g., Electric Scooter and balance
Vehicle etc..Balance car in the market includes two-wheeled balance car and single-wheel balance car.Balance car has the characteristics that light and handy flexible.Relative to
Compare for traditional bicycle or electrically-powered vehicle, balance car can adapt to more complicated tortuous road conditions, and travel
Speed is also more satisfactory, provides many conveniences for user.
But, most of balance car is all open driving, does not also provide additional safety for driver and protects
Barrier measure.If there may be some potential safety problemss in complex road condition downward driving.Such as tortuous, the obstacle in some routes
Under the more road conditions of object, barrier, which blocks, to form blind area to driver, observe driver can not in blind area
Road conditions, lead to security risk.Even in the case where more balance cars are in platoon driving, can not also it pass through in the related technology
Intelligentized means take security measures to be directed to blind area.
Summary of the invention
To overcome the problems in correlation technique, the disclosure provide the road conditions sharing method of balance car a kind of, device and
Balance car removes the blind area of each vehicle by the visual field technology of sharing when more balance cars are in platoon driving, so as to
Obstacle in clearer discovery road conditions ensures driving safety.
According to the first aspect of the embodiments of the present disclosure, a kind of road conditions sharing method of balance car is provided, which comprises
Acquire the road conditions image information in the current balance car visual field by camera, judge be in the road conditions image information
It is no that there are blind areas；
When there are the blind area, dead zone information is generated for the blind area, and the dead zone information is sent out
It send to other balance cars being in the current balance car in same queue.
The method also includes:
Activate image display unit；Described image display component is that the image being wholely set with the current balance car is shown
Component, or to establish the external image display unit for having communication connection with the current balance car；
Receive the road conditions image information from other balance cars being in same queue with the current balance car；
According to the road conditions image information of road conditions image information and other balance cars in the current balance car visual field
Panorama road conditions image is generated, and the panorama road conditions image is shown on described image display component.
The method also includes:
Corresponding pre-warning signal is generated for the dead zone information of other balance cars；
The pre-warning signal includes: at least one of sense of hearing pre-warning signal, vision pre-warning signal, tactile pre-warning signal.
The method also includes:
The position of the blind area for other balance cars for including in the dead zone information of other balance cars is obtained, and
The position that control camera is directed to the blind area of other balance cars is shot；
The image that will be shot for the position of the blind area of other balance cars is sent to other described balances
Vehicle.
The method also includes:
When the current balance car is arranged to unmanned mode, obtains in the dead zone information of other balance cars and include
The position of the blind area of other balance cars, and it is blind around the visual field of other balance cars to control the current balance car
The position in area.
Include: with the presence or absence of blind area in the judgement road conditions image information
Using image recognition technology, judge in the road conditions image information, whether the area that is blocked exceeds preset threshold value；
It is blind area by the location determination being blocked when the area being blocked exceeds the preset threshold value.
According to the second aspect of an embodiment of the present disclosure, a kind of road conditions sharing means of balance car are provided, described device includes:
Camera module is configured as acquiring the road conditions image information in the current balance car visual field；
Picture recognition module is configured as judging in the road conditions image information with the presence or absence of blind area；When there are institute
When stating blind area, dead zone information is generated for the blind area；
Communication module, is configured as the dead zone information being sent to and is in same queue with the current balance car
Other balance cars.
Described device further include:
Active module is configured as activation image display；
Image generation module is configured as receiving other balances from being in the current balance car in same queue
The road conditions image information of vehicle；According to the road of road conditions image information and other balance cars in the current balance car visual field
Condition image information generates panorama road conditions image；And
Described image display module is configured as showing the panorama road conditions image in active state；Described image is aobvious
Show that module is the image display being wholely set with the current balance car, or to have communication with the current balance car foundation
The external image display of connection.
Described device further include:
Warning module is configured as generating corresponding pre-warning signal for the dead zone information of other balance cars；The early warning
Signal includes at least one of sense of hearing pre-warning signal, vision pre-warning signal, tactile pre-warning signal.
Described device further include:
Camera control module is configured as other the described balances for including in the dead zone information for obtaining other balance cars
The position of the blind area of vehicle, and the position for controlling the blind area that camera is directed to other balance cars is shot；
Then the communication module is additionally configured to, and will shoot to obtain for the position of the blind area of other balance cars
Image, be sent to other described balance cars.
Described device further include:
Driving control module is configured as when the current balance car is arranged to unmanned mode, and it is flat to obtain other
The position of the blind area for other balance cars for including in the dead zone information of weighing apparatus vehicle, and control the current balance car and bypass
The position of the blind area of other balance cars.
Described image identification module includes:
Judging submodule is configured as judging in the road conditions image information, be blocked area using image recognition technology
Whether preset threshold value is exceeded；It is view by the location determination being blocked when the area being blocked exceeds the preset threshold value
Wild blind area；
Submodule is handled, is configured as generating dead zone information for the blind area.
According to the third aspect of an embodiment of the present disclosure, a kind of road conditions sharing means of balance car are provided, described device includes:
Processor；
Memory for storage processor executable instruction；
Wherein, the processor is configured to: the road conditions image information in the current balance car visual field is acquired by camera,
Judge in the road conditions image information with the presence or absence of blind area；When there are the blind area, for the blind area
Dead zone information is generated, and the dead zone information is sent to other balances being in same queue with the current balance car
Vehicle.
According to a fourth aspect of embodiments of the present disclosure, a kind of balance car is provided, the balance car includes above-mentioned balance car
Road conditions sharing means.
The technical scheme provided by this disclosed embodiment can include the following benefits: pass through balance car each in queue
Between share blind area so that each balance car can more fully learn the presence of blind area and barrier；Convenient for detailed
Thin accurate understanding road conditions are simultaneously handled in time；Thus security risk is reduced, the safety of traveling is improved；It is generated according to dead zone information pre-
Alert signal, prompts driver and early warning；Driver is set intuitively to learn the presence of blind area and barrier, in order to drive
Person understands road conditions and accordingly handles, and further improves the safety of traveling；Each balance car in queue is enabled to shoot other
The blind area of balance car realizes the visual field complementation between balance car and shares, achieved the effect that remove blind area, significantly mention
High driving safety；Panorama road conditions image is generated by the road conditions image information of each balance car, to realize view to the greatest extent
Open country is shared and complementary, significantly extends the visual field of balance car, the driver of balance car is enable to learn richer comprehensive road
Condition information；Abundant removing has been carried out to blind area simultaneously.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and together with specification for explaining the principles of this disclosure.
Fig. 1 is embodiment of the present disclosure the method flow chart；
Fig. 2 is another embodiment the method flow chart of the disclosure；
Fig. 3 is another embodiment the method flow chart of the disclosure；
Fig. 4 is embodiment of the present disclosure described device structural schematic diagram；
Fig. 5 is another embodiment described device structural schematic diagram of the disclosure；
Fig. 6 A~Fig. 6 B is balance car structural schematic diagram described in the embodiment of the present disclosure.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
Aforementioned known, balance car is lightly flexible, can be more flexible compared to traditional bicycle or electrically-powered vehicle
Adapt to tortuous, snagged complex road condition.But the traveling under complex road condition, equally also bring additional security risk.
The disclosure will provide a kind of road conditions sharing method of balance car as a result, in the case where more balance car platoon drivings, pass through view
Open country shares to remove the blind area of each vehicle, so as to the obstacle in clearer discovery road conditions, ensures driving safety.Referring to Fig. 1
It is shown, it is one embodiment of disclosure the method.In the present embodiment, it the described method comprises the following steps:
Step 101 acquires the road conditions image information in the current balance car visual field by camera.
In the present embodiment, the method can be applied under the application scenarios of more balance car platoon drivings.Balance car
On can carry camera.Then in the process of moving, it can be acquired by camera under presently described position, the road conditions in the visual field.
Collect the road conditions image information of image format.It is envisaged that the position and the visual field of each balance car be not in queue
It is identical, so the collected road conditions image information of each car also different from.
Step 102 judges in the road conditions image information with the presence or absence of blind area.
If there are various types of barriers in the visual field, the visual field would generally be generated and be blocked, form blind area.
In the present embodiment, the road conditions image information is analyzed by image recognition technology, can judge whether have the visual field blind
The presence in area.
Specifically, using image recognition technology, judge in the road conditions image information, whether the area that is blocked exceeds
Preset threshold value；It is blind area by the location determination being blocked when the area being blocked exceeds the preset threshold value.
It is of course possible to realize the image recognition technology means of same or like effect, the entirety of the disclosure may be incorporated in
In technical solution.
Step 103, when there are the blind area, generate dead zone information for the blind area, and will be described blind
Area's information is sent to other balance cars being in same queue with the current balance car.
It is readily apparent that the blind area as caused by the presence of barrier, the exactly security risk in driving process
Place.So in the present embodiment, dead zone information will be generated for the blind area.In turn, dead zone information is shared to team
Other balance cars in column, the presence for recognizing barrier that may make other balance cars instant.
It should be noted that the dead zone information may include image information, i.e., in road conditions image information, blind area institute
Parts of images.It can also include simultaneously other types information relevant to blind area；Such as the specific position of blind area
Set and blind area in obstacle identity etc..Specifically it can be set and be chosen according to actual use demand.
It should also be noted that, in the present embodiment, it is believed that each balance car in queue is functionally equity
's.That is, each balance car both can send dead zone information to other balance cars, can also receive to come from other balance cars
Dead zone information.It is that can timely carry out accordingly when a balance car receives the dead zone information from other balance cars
Processing.Thus, it is possible to reduce security risk as far as possible, the safety of traveling is improved.
As seen through the above technical solutions, beneficial effect existing for the present embodiment is: by balance car each in queue it
Between share blind area so that each balance car can more fully learn the presence of blind area and barrier；Convenient for detailed
It is accurate to understand road conditions and handle in time；Thus security risk is reduced, the safety of traveling is improved.
Fig. 1 show the basic embodiment of disclosure the method.It, can also be on the basis of embodiment shown in Fig. 1
The combination optimal technical scheme of one step, obtains the other embodiments with bonus effect.It is shown in Figure 2, it is described in the disclosure
Another embodiment of method.By on the basis of embodiment shown in Fig. 1, specific description is carried out for dead zone information for this implementation
Respective treated the relevant technologies feature.In the present embodiment, the method specifically includes the following steps:
Step 201 acquires the road conditions image information in the current balance car visual field by camera.
Step 202 judges in the road conditions image information with the presence or absence of blind area.
Step 203, when there are the blind area, generate dead zone information for the blind area, and will be described blind
Area's information is sent to other balance cars being in same queue with the current balance car.
Step 204, when receiving the blind area from other balance cars being in same queue with the current balance car
When information, corresponding pre-warning signal is generated for the dead zone information of other balance cars.
It is described to be performed corresponding processing according to dead zone information in this step, it may include early warning processing.Pass through
It generates pre-warning signal and plays the role of prompt to the driver of the balance car, driver is made timely to recognize that other balance cars are sent out
Existing blind area and barrier guarantees the safety driven.
In the present embodiment without limitation, any type of pre-warning signal can be tied the concrete form of the pre-warning signal
It closes under the overall technical architecture of the disclosure.
For example, the pre-warning signal can be sense of hearing pre-warning signal, vision pre-warning signal, in tactile pre-warning signal
It is at least one.The sense of hearing pre-warning signal may include prompt tone or voice prompting；The vision pre-warning signal can be light
Prompt, or early warning is more intuitively carried out by the display of text, image；The tactile early warning can be balance car
The vibration prompting that the vibration prompting of sending or the intelligent wearable device matched with balance car issue.
The blind area for other balance cars for including in the dead zone information of other balance cars described in step 205, acquisition
Position, and the position for controlling the blind area that camera is directed to other balance cars is shot.
Step 206, the image that will be shot for the position of the blind area of other balance cars, are sent to described
Other balance cars.
It is understood that each balance truck position and the visual field in queue are all different, so each car is collected
Road conditions image information also different from.The blind area of so one balance car, it is likely to visible in other balance car visuals field
Region.So in this step, described to be performed corresponding processing according to dead zone information, it can specifically include to other balances
The position of the blind area of vehicle is shot.
It can make the specifying information that the position about blind area is carried in dead zone information first.Then a balance car receives
When the dead zone information of other balance cars, the position of the blind area can be obtained；Then its camera is controlled to the visual field
The position of blind area is shot.If the blind area of other balance cars just at the visible region in the balance car visual field,
The balance car clearer can take the concrete condition of the blind area position.Being equivalent to realizes for the view
The removing of wild blind area.
Preferably, the image that can also be shot the position of the blind area to other balance cars, is sent to
Other described balance cars.In other words, any balance car that the image taken can be sent in queue, to realize
The visual field of each balance car is shared in queue.Optionally, other image taken being sent in queue
Balance car can be instant transmission, is also possible to the request according to other balance cars and sends.
As seen through the above technical solutions, further existing beneficial on the basis of the present embodiment embodiment shown in Fig. 1
Effect is: generating pre-warning signal according to dead zone information, prompts driver and early warning；Driver is set intuitively to learn blind area
And the presence of barrier further improves the safety of traveling in order to which driver understands road conditions and accordingly handles；It enables
Each balance car shoots the blind area of other balance cars in queue, realizes the visual field complementation between balance car and shares, reaches
The effect for removing blind area has been arrived, driving safety is significantly improved.
It is shown in Figure 3, it is another embodiment of disclosure the method.The present embodiment is again by shown in Fig. 1
Embodiment combination optimal technical scheme obtains.Method described in the present embodiment specifically includes the following steps:
Step 301 acquires the road conditions image information in the current balance car visual field by camera.
Step 302 judges in the road conditions image information with the presence or absence of blind area.
Step 303, when there are the blind area, generate dead zone information for the blind area, and will be described blind
Area's information is sent to other balance cars being in same queue with the current balance car.
Step 304, when the current balance car is arranged to unmanned mode, obtain the dead zone information of other balance cars
In include other balance cars blind area position, and control the current balance car and bypass other described balance cars
Blind area position.
In some specific application scenarios, the balance car can also be unmanned mode, in other words remote driving
Mode.In this case, the processing for the dead zone information of other balance cars may include that control the balance car straight
The position where the blind area around other balance cars is connect, security risk is avoided the occurrence of.
Step 305, activation image display unit.
Described image display component can be the image display unit being wholely set with the current balance car；Such as it is flat
Weigh the included display screen of vehicle.It is also possible to establish the external image display unit for having communication connection, example with the current balance car
Such as intelligent terminal or intelligent glasses equipment.In short, described image display component is able to respond in the behaviour of the current balance car
Control, to carry out the display of image.Described image display component is activated in this step, to be shown for completing subsequent image.
Step 306 receives the road conditions image from other balance cars being in same queue with the current balance car
Information.
Step 307, according to the road conditions of road conditions image information and other balance cars in the current balance car visual field
Image information generates panorama road conditions image, and the panorama road conditions image is shown on described image display component.
Through the foregoing embodiment it is found that can realize that blind area is removed by the complementary of the visual field between each balance car.Then into
One step, also the description more comprehensive panorama road conditions image of road condition can be obtained by the complementary and shared of the visual field.
In the present embodiment, in available queue each balance car road conditions image information, recycle image procossing skill
The processing that art is overlapped and integrates to whole road conditions image information.By that can make after the processing that is superimposed and integrates
Duplicate parts of images overlaps in each road conditions image information, unduplicated parts of images according to positional relationship with it is described
Duplicate parts of images connects；Or other road conditions can also be made up using the visibility region in some road conditions image informations
With the blind area on position in image information.Thus panorama road conditions image is generated.It should be noted that any can be real
The technological means of existing same or like effect may be incorporated under the overall technical architecture of the disclosure, it is not limited here.
The panorama road conditions image can not only remove blind area to the greatest extent, additionally it is possible to relative to single balance car
It is significant to expand field range.Theoretically the panorama road conditions image is more abundant compared to each road conditions image information, detailed
And it is accurate.
As seen through the above technical solutions, further existing beneficial on the basis of the present embodiment embodiment shown in Fig. 1
Effect is: panorama road conditions image is generated by the road conditions image information of each balance car, to realize that the maximum visual field is shared
And complementation, the visual field of balance car is significantly extended, the driver of balance car is enable to learn richer comprehensive traffic information；
Abundant removing has been carried out to blind area simultaneously.
It is shown in Figure 4, it is one embodiment of balance car road conditions sharing means described in the disclosure.In the present embodiment, institute
Device is stated to be used to execute method described in the illustrated embodiment of Fig. 1~3.Its technical solution substantially with Fig. 1~3 embodiment
Unanimously, the corresponding description in the illustrated embodiment of Fig. 1~3, it is equally applicable in this present embodiment.Described device includes:
Camera module 401 is configured as acquiring the road conditions image information in the current balance car visual field.
Picture recognition module 402 is configured as judging in the road conditions image information with the presence or absence of blind area；Work as presence
When the blind area, dead zone information is generated for the blind area.
Described image identification module 402 includes:
Judging submodule is configured as judging in the road conditions image information, be blocked area using image recognition technology
Whether preset threshold value is exceeded；It is view by the location determination being blocked when the area being blocked exceeds the preset threshold value
Wild blind area.
Submodule is handled, is configured as generating dead zone information for the blind area.
Communication module 403, is configured as the dead zone information being sent to and is in same queue with the current balance car
In other balance cars.
The communication module 403 is additionally configured to, and will be shot for the position of the blind area of other balance cars
The image arrived is sent to other described balance cars.
Preferably, described device further include:
Warning module 404 is configured as generating corresponding pre-warning signal for the dead zone information of other balance cars；It is described pre-
Alert signal includes at least one of sense of hearing pre-warning signal, vision pre-warning signal, tactile pre-warning signal.
Camera control module 405, be configured as including in the dead zone information for obtaining other balance cars it is described other
The position of the blind area of balance car, and the position for controlling the blind area that camera is directed to other balance cars is clapped
It takes the photograph.
Driving control module 406 is configured as obtaining other when the current balance car is arranged to unmanned mode
The position of the blind area for other balance cars for including in the dead zone information of balance car, and control the current balance car around
Cross the position of the blind area of other balance cars.
Active module 407 is configured as activation image display 409.
Image generation module 408, be configured as receiving from be in the current balance car in same queue other
The road conditions image information of balance car；According in the current balance car visual field road conditions image information and other described balance cars
Road conditions image information generate panorama road conditions image.
Image display 409 is configured as showing the panorama road conditions image in active state；Described image is shown
Module is the image display being wholely set with the current balance car, or to have communication link with the current balance car foundation
The external image display connect.
As seen through the above technical solutions, beneficial effect existing for the present embodiment is: by balance car each in queue it
Between share blind area so that each balance car can more fully learn the presence of blind area and barrier；Convenient for detailed
It is accurate to understand road conditions and handle in time；Thus security risk is reduced, the safety of traveling is improved；Early warning is generated according to dead zone information
Signal, prompts driver and early warning；Driver is set intuitively to learn the presence of blind area and barrier, in order to driver
Understand road conditions and accordingly handled, further improves the safety of traveling；Each balance car is enabled in queue to shoot other flat
The blind area of weighing apparatus vehicle realizes the visual field complementation between balance car and shares, achieved the effect that remove blind area, significantly improve
Driving safety；Panorama road conditions image is generated by the road conditions image information of each balance car, to realize the maximum visual field
It is shared and complementary, the visual field of balance car is significantly extended, the driver of balance car is enable to learn richer comprehensive road conditions
Information；Abundant removing has been carried out to blind area simultaneously.
Fig. 5 is a kind of block diagram of the road conditions sharing means 500 of balance car shown according to an exemplary embodiment.For example,
Device 500 can be mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, doctor
Equipment, body-building equipment are treated, personal digital assistant etc. has the device of communication connection with balance car, can also be and be built in balance car
Hardware device.
Referring to Fig. 5, device 500 may include following one or more components: processing component 502, memory 504, electric power
Component 506, multimedia component 508, audio component 510, the interface 512 of input/output (I/O), sensor module 514, and
Communication component 516.
The integrated operation of the usual control device 500 of processing component 502, such as with display, telephone call, data communication, phase
Machine operation and record operate associated operation.Processing component 502 may include that one or more processors 520 refer to execute
It enables, to perform all or part of the steps of the methods described above.In addition, processing component 502 may include one or more modules, just
Interaction between processing component 502 and other assemblies.For example, processing component 502 may include multi-media module, it is more to facilitate
Interaction between media component 408 and processing component 502.
Memory 504 is configured as storing various types of data to support the operation in device 500.These data are shown
Example includes the instruction of any application or method for operating on device 500, contact data, and telephone book data disappears
Breath, picture, video etc..Memory 504 can be by any kind of volatibility or non-volatile memory device or their group
It closes and realizes, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM) is erasable to compile
Journey read-only memory (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, flash
Device, disk or CD.
Electric power assembly 506 provides electric power for the various assemblies of device 500.Electric power assembly 506 may include power management system
System, one or more power supplys and other with for device 500 generate, manage, and distribute the associated component of electric power.
Multimedia component 508 includes the screen of one output interface of offer between described device 500 and user.One
In a little embodiments, screen may include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel, screen
Curtain may be implemented as touch screen, to receive input signal from the user.Touch panel includes one or more touch sensings
Device is to sense the gesture on touch, slide, and touch panel.The touch sensor can not only sense touch or sliding action
Boundary, but also detect duration and pressure associated with the touch or slide operation.In some embodiments, more matchmakers
Body component 508 includes a front camera and/or rear camera.When device 500 is in operation mode, such as screening-mode or
When video mode, front camera and/or rear camera can receive external multi-medium data.Each front camera and
Rear camera can be a fixed optical lens system or have focusing and optical zoom capabilities.
Audio component 510 is configured as output and/or input audio signal.For example, audio component 510 includes a Mike
Wind (MIC), when device 500 is in operation mode, when such as call mode, recording mode, and voice recognition mode, microphone is matched
It is set to reception external audio signal.The received audio signal can be further stored in memory 504 or via communication set
Part 516 is sent.In some embodiments, audio component 510 further includes a loudspeaker, is used for output audio signal.
I/O interface 512 provides interface between processing component 502 and peripheral interface module, and above-mentioned peripheral interface module can
To be keyboard, click wheel, button etc..These buttons may include, but are not limited to: home button, volume button, start button and lock
Determine button.
Sensor module 514 includes one or more sensors, and the state for providing various aspects for device 500 is commented
Estimate.For example, sensor module 514 can detecte the state that opens/closes of device 500, and the relative positioning of component, for example, it is described
Component is the display and keypad of device 500, and sensor module 514 can be with 500 1 components of detection device 500 or device
Position change, the existence or non-existence that user contacts with device 500,500 orientation of device or acceleration/deceleration and device 500
Temperature change.Sensor module 514 may include proximity sensor, be configured to detect without any physical contact
Presence of nearby objects.Sensor module 514 can also include optical sensor, such as CMOS or ccd image sensor, at
As being used in application.In some embodiments, which can also include acceleration transducer, gyro sensors
Device, Magnetic Sensor, pressure sensor or temperature sensor.
Communication component 516 is configured to facilitate the communication of wired or wireless way between device 500 and other equipment.Device
500 can access the wireless network based on communication standard, such as WiFi, 2G or 3G or their combination.In an exemplary implementation
In example, communication component 516 receives broadcast singal or broadcast related information from external broadcasting management system via broadcast channel.
In one exemplary embodiment, the communication component 516 further includes near-field communication (NFC) module, to promote short range communication.Example
Such as, NFC module can be based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band (UWB) technology,
Bluetooth (BT) technology and other technologies are realized.
In the exemplary embodiment, device 500 can be believed by one or more application specific integrated circuit (ASIC), number
Number processor (DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for executing the above method.
In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instruction, example are additionally provided
It such as include the memory 504 of instruction, above-metioned instruction can be executed by the processor 520 of device 500 to complete the above method.For example,
The non-transitorycomputer readable storage medium can be ROM, random access memory (RAM), CD-ROM, tape, floppy disk
With optical data storage devices etc..
In addition, the disclosure further includes a kind of balance car.Balance car involved in the balance car, that is, foregoing embodiments.?
In some embodiments, the balance car includes road conditions sharing means described in Fig. 4 or embodiment illustrated in fig. 5；Mean the dress
Set be built in balance car or it is external with the balance car in and establish and communicate to connect with the balance car.Referring to Fig. 6 A~
Shown in Fig. 6 B.
Those skilled in the art will readily occur to other embodiment party of the disclosure after considering specification and practicing the disclosure
Case.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or adaptability
Variation follows the general principles of this disclosure and including the undocumented common knowledge or usual skill in the art of the disclosure
Art means.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following claim
It points out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.
Claims (11)
1. a kind of road conditions sharing method of balance car, which is characterized in that the described method includes:
The road conditions image information in the current balance car visual field is acquired by camera, judges whether deposit in the road conditions image information
In blind area；
When there are the blind area, dead zone information is generated for the blind area, and the dead zone information is sent to
Other balance cars in same queue are in the current balance car；
The method also includes:
Corresponding pre-warning signal is generated for the dead zone information of other balance cars；
The pre-warning signal includes: at least one of sense of hearing pre-warning signal, vision pre-warning signal, tactile pre-warning signal；
The method also includes:
Activate image display unit；Described image display component is the image display group being wholely set with the current balance car
Part, or to establish the external image display unit for having communication connection with the current balance car；
Receive the road conditions image information from other balance cars being in same queue with the current balance car；
It is generated according to the road conditions image information of road conditions image information and other balance cars in the current balance car visual field
Panorama road conditions image, and the panorama road conditions image is shown on described image display component.
2. method according to claim 1, which is characterized in that the method also includes:
The position of the blind area for other balance cars for including in the dead zone information of other balance cars is obtained, and is controlled
The position that camera is directed to the blind area of other balance cars is shot；
The image that will be shot for the position of the blind area of other balance cars is sent to other described balance cars.
3. method according to claim 1 or claim 2, which is characterized in that the method also includes:
When the current balance car is arranged to unmanned mode, include in the dead zone information of other balance cars described is obtained
The position of the blind area of other balance cars, and control the blind area of the current balance car other balance cars around described in
Position.
4. method according to claim 1 or claim 2, which is characterized in that whether there is in the judgement road conditions image information
Blind area includes:
Using image recognition technology, judge in the road conditions image information, whether the area that is blocked exceeds preset threshold value；
It is blind area by the location determination being blocked when the area being blocked exceeds the preset threshold value.
5. a kind of road conditions sharing means of balance car, which is characterized in that described device includes:
Camera module is configured as acquiring the road conditions image information in the current balance car visual field；
Picture recognition module is configured as judging in the road conditions image information with the presence or absence of blind area；When there are the views
When wild blind area, dead zone information is generated for the blind area；
Communication module is configured as the dead zone information being sent to other being in same queue with the current balance car
Balance car；
Described device further include:
Warning module is configured as generating corresponding pre-warning signal for the dead zone information of other balance cars；The early warning
Signal includes at least one of sense of hearing pre-warning signal, vision pre-warning signal, tactile pre-warning signal；
Described device further include:
Active module is configured as activation image display；
Image generation module is configured as receiving from other balance cars being in the current balance car in same queue
Road conditions image information；According to the road conditions figure of road conditions image information and other balance cars in the current balance car visual field
As information generates panorama road conditions image；And
Described image display module is configured as showing the panorama road conditions image in active state；Described image shows mould
Block is the image display being wholely set with the current balance car, or to have communication connection with the current balance car foundation
External image display.
6. device according to claim 5, which is characterized in that described device further include:
Camera control module is configured as other balance cars in the dead zone information for obtaining other balance cars included
The position of blind area, and the position for controlling the blind area that camera is directed to other balance cars is shot；
Then the communication module is additionally configured to, the figure that will be shot for the position of the blind area of other balance cars
Picture is sent to other described balance cars.
7. according to claim 5 or 6 described devices, which is characterized in that described device further include:
Driving control module is configured as obtaining other balance cars when the current balance car is arranged to unmanned mode
Dead zone information in include other balance cars blind area position, and control the current balance car around described
The position of the blind area of other balance cars.
8. according to claim 5 or 6 described devices, which is characterized in that described image identification module includes:
Judging submodule is configured as judging in the road conditions image information, whether the area that is blocked using image recognition technology
Beyond preset threshold value；It is that the visual field is blind by the location determination being blocked when the area being blocked exceeds the preset threshold value
Area；
Submodule is handled, is configured as generating dead zone information for the blind area.
9. a kind of road conditions sharing means of balance car, which is characterized in that described device includes:
Processor；
Memory for storage processor executable instruction；
Wherein, the processor is configured to: the road conditions image information in the current balance car visual field is acquired by camera, judge
It whether there is blind area in the road conditions image information；When there are the blind area, generated for the blind area
Dead zone information, and the dead zone information is sent to other balance cars being in same queue with the current balance car；
The processor is also configured to
Corresponding pre-warning signal is generated for the dead zone information of other balance cars；
The pre-warning signal includes: at least one of sense of hearing pre-warning signal, vision pre-warning signal, tactile pre-warning signal；
Described device further include:
Activate image display unit；Described image display component is the image display group being wholely set with the current balance car
Part, or to establish the external image display unit for having communication connection with the current balance car；
The processor is also configured to
Receive the road conditions image information from other balance cars being in same queue with the current balance car；
It is generated according to the road conditions image information of road conditions image information and other balance cars in the current balance car visual field
Panorama road conditions image, and the panorama road conditions image is shown on described image display component.
10. a kind of balance car, which is characterized in that the balance car includes the balance car as described in claim 5~8 any one
Road conditions sharing means.
11. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer instruction, which is characterized in that the finger
The step of any one of claims 1 to 4 the method is realized when order is executed by processor.
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| CN106781440B (en) * | 2016-12-26 | 2019-11-22 | 北汽福田汽车股份有限公司 | The monitoring method and system of fleet |
| CN107613014A (en) * | 2017-09-29 | 2018-01-19 | 联想(北京)有限公司 | A kind of data sharing method, system, terminal, storage medium and automobile |
| GB2569279B (en) * | 2017-10-30 | 2020-08-05 | Smidsy Ltd | Sensing bicycles |
| CN110853387A (en) * | 2018-08-21 | 2020-02-28 | 上海擎感智能科技有限公司 | Road condition panoramic video construction display method, system, server and vehicle |
| CN110843672A (en) * | 2018-08-21 | 2020-02-28 | 上海博泰悦臻网络技术服务有限公司 | Vehicle driving panoramic monitoring method and system for simulating rear vehicle view angle and vehicle |
| CN109774840A (en) * | 2018-12-07 | 2019-05-21 | 纳恩博（北京）科技有限公司 | Control method, control device, system and the storage medium of the vehicles |
| US10955858B2 (en) | 2018-12-27 | 2021-03-23 | Wipro Limited | Method of generating a surround view of a vehicle platoon and a device thereof |
| CN110766334A (en) * | 2019-10-29 | 2020-02-07 | 上海钧正网络科技有限公司 | Self-balancing shared vehicle management method and device, computer equipment and storage medium |
| CN112261340B (en) * | 2020-10-22 | 2023-04-07 | 维沃移动通信有限公司 | Visual field sharing method and device, electronic equipment and readable storage medium |
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| US9738223B2 (en) * | 2012-05-31 | 2017-08-22 | GM Global Technology Operations LLC | Dynamic guideline overlay with image cropping |
| DE102012213132B4 (en) * | 2012-07-26 | 2020-03-12 | Bayerische Motoren Werke Aktiengesellschaft | Method and device for the fusion of camera images of at least two vehicles |
| JP5865547B2 (en) * | 2013-03-19 | 2016-02-17 | 株式会社日立国際電気 | Image display device and image display method |
| TWI552897B (en) * | 2013-05-17 | 2016-10-11 | 財團法人工業技術研究院 | Dynamic fusion method and device of images |
| SE539053C2 (en) * | 2013-07-18 | 2017-03-28 | Scania Cv Ab | Procedure and sensor for information transfer between vehicles |
| US9466210B2 (en) * | 2013-09-22 | 2016-10-11 | Comtrol Corporation | Stop violation detection system and method |
| CN103661097B (en) * | 2013-11-15 | 2017-12-26 | 长安大学 | A kind of vehicle-mounted emergence pedestrian information sharing means and its sharing method |
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