Methods and devices for controlling self-balancing vehicle to park

Patent metadata

Field	Value
Publication number	US-10429852-B2
Application number	US-201715397271-A
Country	US
Kind code	B2
Filing date	Jan 3, 2017
Priority date	Mar 29, 2016
Publication date	Oct 1, 2019
Grant date	Oct 1, 2019

Abstract

A method for controlling a self-balancing vehicle to park is disclosed. The method is performed by the self-balancing vehicle and includes: sending a message of requesting for parking assistance to a surveillance camera device for controlling the self-balancing vehicle to park; receiving a first response message returned from the surveillance camera device according to the message of requesting for parking assistance, the first response message including parking instruction information for controlling the self-balancing vehicle to travel from a current location of the self-balancing vehicle to a target location; and controlling the self-balancing vehicle to travel from the current location to the target location and to park according to the parking instruction information.

First claim

What is claimed is:

1. A method for controlling a self-balancing vehicle to park, the method being performed by the self-balancing vehicle and comprising:
sending, by the self-balancing vehicle, a message of requesting for parking assistance to a surveillance camera device for controlling the self-balancing vehicle to park;
receiving, by the self-balancing vehicle, a first response message returned from the surveillance camera device according to the message of requesting for parking assistance, the first response message including parking instruction information for controlling the self-balancing vehicle to travel from a current location of the self-balancing vehicle to a target location; and
controlling the self-balancing vehicle to travel from the current location to the target location and to park according to the parking instruction information.

2. The method of claim 1 , wherein before sending a message of requesting for parking assistance, the method further comprises:
determining whether there is a surveillance camera device that can establish a preset type of short-distance communication connection with the self-balancing vehicle; and
if there is a surveillance camera device that can establish a preset type of short-distance communication connection with the self-balancing vehicle, determining whether the surveillance camera device can control the self-balancing vehicle to park.

3. The method of claim 2 , wherein the determining whether the surveillance camera device can control the self-balancing vehicle to park comprises:
determining whether the surveillance camera device has permission to control the self-balancing vehicle to park by looking up a preset control list that records surveillance camera devices which have permission to control the self-balancing vehicle to park;
if it is determined that the surveillance camera device has permission to control the self-balancing vehicle to park, sending an inquiry message to the surveillance camera device, to inquire whether the surveillance camera device can control the self-balancing vehicle to park;
receiving a second response message returned by the surveillance camera device according to the inquiry message, the second response message including a complexity degree of controlling the self-balancing vehicle to park; and
if the complexity degree is smaller than a preset complexity degree threshold, determining that the surveillance camera device can control the self-balancing vehicle to park.

4. The method of claim 3 , further comprising:
if there are two or more surveillance camera devices which have permission to control the self-balancing vehicle to park, determining a complexity degree for each of the two or more surveillance camera devices; and
determining a surveillance camera device corresponding to a minimum value of the complexity degrees of the two or more surveillance camera devices as the surveillance camera device for controlling self-balancing vehicle park, and performing the sending of the message of requesting for parking assistance to the determined surveillance camera device.

5. The method of claim 1 , wherein the controlling of the self-balancing vehicle to travel from the current location to the target location and to park according to the parking instruction information comprises:
determining a travelling route from the current location to the target location according to the parking instruction information; and
controlling the self-balancing vehicle to travel to the target location and to park according to the travelling route.

6. The method of claim 1 , further comprising:
determining whether the self-balancing vehicle arrives at the target location; and
after it is determined that the self-balancing vehicle arrives at the target location, adjusting a posture of the self-balancing vehicle such that the self-balancing vehicle can park at the target location.

7. The method of claim 1 further comprising:
determining whether a location requesting message sent from the surveillance camera device is received; and
if a location requesting message sent from the surveillance camera device is received generating a location indication signal for indicating the current location of the self-balancing vehicle, the location indication signal being at least one of an acoustic signal or an optical signal.

8. A device for controlling a self-balancing vehicle to park, comprising:
a processor implemented in the self-balancing vehicle; and
a memory for storing instructions executable by the processor,
wherein the processor is configured to perform:
sending a message of requesting for parking assistance to a surveillance camera device for controlling the self-balancing vehicle to park;
receiving a first response message returned from the surveillance camera device according to the message of requesting for parking assistance, the first response message including parking instruction information for controlling the self-balancing vehicle to travel from a current location of the self-balancing vehicle to a target location; and
controlling the self-balancing vehicle to travel from the current location to the target location and to park according to the parking instruction information.

9. The device of claim 8 , wherein the processor is further configured to perform:
determining whether there is a surveillance camera device that can establish a preset type of short-distance communication connection with the self-balancing vehicle; and
if there is a surveillance camera device that can establish a preset type of short-distance communication connection with the self-balancing vehicle, determining whether the surveillance camera device can control self-balancing vehicle park.

10. The device of claim 9 , wherein the processor is further configured to perform:
determining whether the surveillance camera device has permission to control the self-balancing vehicle to park by looking up a preset control list that records surveillance camera devices which have permission to control the self-balancing vehicle to park;
if it is determined that the surveillance camera device has permission to control the self-balancing vehicle to park, sending an inquiry message to the surveillance camera device, to inquire whether the surveillance camera device can control the self-balancing vehicle to park;
receiving a second response message returned by the surveillance camera device according to the inquiry message, the second response message including a complexity degree of controlling the self-balancing vehicle to park; and
if the complexity degree is smaller than a preset complexity degree threshold, determining that the surveillance camera device can control the self-balancing vehicle to park.

11. The device of claim 10 , wherein the processor is further configured to perform:
if there are two or more surveillance camera devices which have permission to control the self-balancing vehicle to park, determining a complexity degree for each of the two or more surveillance camera devices; and
determining a surveillance camera device corresponding to a minimum value of the complexity degrees of the two or more surveillance camera devices as the surveillance camera device for controlling the self-balancing vehicle to park, and performing the sending of the message of requesting for parking assistance to the determined surveillance camera device.

12. The device of claim 8 , wherein the processor is further configured to perform:
determining whether the self-balancing vehicle arrives at the target location; and
after it is determined that the self-balancing vehicle arrives at the target location, adjusting

Assignees

• Beijing Xiaomi Mobile Software Co Ltd

Inventors

• Qian Zhuang
• Xiangli Fei
• Chen Baoke

Classifications

• B62H3/00

  Separate supports or holders for parking or storing cycles (cycle supports used during maintenance B25H; building aspects E04H) · CPC title

• B60W30/06

  Automatic manoeuvring for parking · CPC title

• B62D15/0285 Primary

  Parking performed automatically · CPC title

• B62K11/007

  Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider · CPC title

• G05D1/12

  Target-seeking control · CPC title