Methods and apparatuses for controlling a personal transportation vehicle

• US 9,827,984 B2
• Filed: 05/06/2016
• Issued: 11/28/2017
• Est. Priority Date: 09/28/2015
• Status: Active Grant

• Current Assignee: Xiaomi Inc. (Xiaomi Corp.)
• Original Assignee: Xiaomi Inc. (Xiaomi Corp.)
• Inventors: Liu, Huayijun, Tang, Mingyong, Chen, Tao
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US15/148,635
• Publication Number:
  US 20170088131A1
• Time in Patent Office: 571 Days
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B62J 45/41 characterised by the type of sensor
• CPC Class Codes: B62K 11/007 Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0891 specially adapted for land vehicles
• CPC Class Codes: G05D 2201/0212 Driverless passenger transport vehicle

Abstract

Disclosed includes a method for controlling a personal transportation vehicle, the method being performed by a processor coupled with one or more driving motors of the personal transportation vehicle and with a turning control component and comprising: determining information about a height of an obstacle; determining, based on the information about the height of the obstacle, whether the personal transportation vehicle is capable of running over the obstacle; and after determining that the personal transportation vehicle is not capable of running over the obstacle: transmitting a first signal to the one or more driving motors to reduce a driving force, to cause the personal transportation vehicle to decelerate, and transmitting a second signal to disable the turning control component. As a result, the likelihood that one of the wheels of the vehicle becomes blocked by an obstacle can be reduced, and the safety of the vehicle operation can be improved.

Claims

1. A method for controlling a personal transportation vehicle, the method performed by a processor coupled with one or more driving motors of the personal transportation vehicle and with a turning control component, the method comprising:

determining information about a height of an obstacle;

determining, based on the information about the height of the obstacle, whether the personal transportation vehicle is capable of running over the obstacle;

when determining that the personal transportation vehicle is not capable of running over the obstacle;

transmitting a first signal to the one or more driving motors to reduce a driving force, to cause the personal transportation vehicle to decelerate, and

transmitting a second signal to disable the turning control component; and

when determining that the personal transportation vehicle is capable of running over the obstacle, transmitting a third signal to the one or more driving motors to increase the driving force, to cause the personal transportation vehicle to run over the obstacle.

2. The method according to claim 1, wherein the information about a height of an obstacle is determined based on data received from a distance measuring component;

wherein determining whether the personal transportation vehicle is capable of running over the obstacle comprises;

determining whether the height of the obstacle is greater than a predetermined threshold, and

if it is determined that the height of the obstacle is greater than the predetermined threshold, determining that personal transportation vehicle is not capable of running over the obstacle.

3. The method according to claim 2, further comprising

if it is determined that the height of the obstacle is lower than or equal to the predetermined threshold, determining that the personal transportation vehicle is capable of running over the obstacle.

4. The method according to claim 1, further comprising:

acquiring, from an image acquiring component, image data of an area; and

detecting the obstacle from the image data;

wherein the information about the height of the obstacle is determined based on the image data.

5. The method according to claim 1, further comprising:

determining a distance between the obstacle and the personal transportation vehicle;

determining whether the distance is less than a predetermined threshold distance;

wherein the first and second signals are transmitted after determining that the distance is less than the predetermined threshold distance.

6. The method according to claim 1, further comprising:

after determining that the personal transportation vehicle is not capable of running over the obstacle, providing an obstacle prompt in a predetermined mode;

wherein the predetermined mode comprises at least one of;

causing a speaker to play a prompt tone, causing a predetermined part of the personal transportation vehicle to vibrate, or causing a signal light to flicker.

7. A personal transportation vehicle, comprising:

at least two parallel wheels;

a control chip;

a storage for storing instructions executable by the control chip;

a turning control component coupled with the control chip;

wherein, the control chip is configured to;

determine information about a height of an obstacle;

determine, based on the information about the height of the obstacle, whether the personal transportation vehicle is capable of running over the obstacle;

when determining that the personal transportation vehicle is not capable of running over the obstacle;

transmit a first signal to the one or more driving motors to reduce a driving force, to cause the personal transportation vehicle to decelerate, and

transmit a second signal to disable the turning control component; and

when determining that the personal transportation vehicle is capable of running over the obstacle, transmit a third signal to the one or more driving motors to increase the driving force, to cause the personal transportation vehicle to run over the obstacle.

8. The personal transportation vehicle according to claim 7, wherein the information about a height of an obstacle is determined based on data received from a distance measuring component;

wherein the control chip is also configured to;

determine whether the height of the obstacle is greater than a predetermined threshold, and

if it determined that the height of the obstacle is greater than the predetermined threshold, determine that the personal transportation vehicle is not capable of running over the obstacle.

9. The personal transportation vehicle according to claim 7, wherein the control chip is also configured to:

if it is determined that the height of the obstacle is lower than or equal to the predetermined threshold, determine that the personal transportation vehicle is capable of running over the obstacle.

10. The personal transportation vehicle according to claim 7, wherein the control chip is also configured to:

acquire, from an image acquiring component, image data of an area; and

detect the obstacle from the image data;

wherein the information about the height of the obstacle is determined based on the image data.

11. The personal transportation vehicle according to claim 7, wherein the control chip is also configured to:

determine a distance between the obstacle and the personal transportation vehicle;

determine whether the distance is less than a predetermined threshold distance;

wherein the first and second signals are transmitted after determining that the distance is less than the predetermined threshold distance.

12. The personal transportation vehicle according to claim 7, wherein the control chip is also configured to:

after determining that the personal transportation vehicle is not capable of running over the obstacle, provide an obstacle prompt in a predetermined mode;

wherein the predetermined mode comprises at least one of;

causing a speaker to play a prompt tone, causing a predetermined part of the personal transportation vehicle to vibrate, or causing a signal light to flicker.

13. A non-transitory computer-readable storage medium having stored therein instructions that, when executed by a processor of an apparatus, causes the apparatus to perform a method for controlling a personal transportation vehicle, the method comprising:

determining information about a height of an obstacle;

determining, based on the information about the height of the obstacle, whether the personal transportation vehicle is capable of running over the obstacle;

when determining that the personal transportation vehicle is not capable of running over the obstacle;

transmitting a first signal to the one or more driving motors to reduce a driving force, to cause the personal transportation vehicle to decelerate, and

transmitting a second signal to disable the turning control component; and

when determining that the personal transportation vehicle is capable of running over the obstacle, transmitting a third signal to the one or more driving motors to increase the driving force, to cause the personal transportation vehicle to run over the obstacle.