CN106054729A - Logistics channel remote control system based on Internet-of-things technology - Google Patents
Logistics channel remote control system based on Internet-of-things technology Download PDFInfo
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- CN106054729A CN106054729A CN201610527895.3A CN201610527895A CN106054729A CN 106054729 A CN106054729 A CN 106054729A CN 201610527895 A CN201610527895 A CN 201610527895A CN 106054729 A CN106054729 A CN 106054729A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3469—Fuel consumption; Energy use; Emission aspects
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
- Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
- Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
- Y04S30/12—Remote or cooperative charging
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a logistics channel remote control system based on Internet-of-things technology. The logistics channel remote control system comprises the components of a time division duplex communication interface, automatic charging equipment, Beidou navigation positioning equipment, target detecting equipment, a driving controlling instrument, a Freescale IMX6 processing chip, etc. The logistics channel remote control system based on the Internet-of-things technology has advantages of ensuring high airtightness, ensuring smooth logistics channel and ensuring personal security of a logistics channel user.
Description
The present invention is Application No. 201610125479.0, filing date on March 6th, 2016, invention entitled " based on thing
The logistics corridor tele-control system of networking technology " the divisional application of patent.
Technical field
The present invention relates to logistics field, particularly relate to a kind of logistics corridor tele-control system based on technology of Internet of things.
Background technology
Long-haul truck is the means of transport that logistics company is main, owing to its business relates to the whole nation, therefore, overflows at lorry
The long situation that some danger the most often occur, such as, driver does not abides by the regulations, and long-duration driving is not changed shifts, or
Where person driver stays causes the shipping time to be delayed, more dangerous is exactly robbery or pilferage that lorry suffers lawless person, this
A little situations are likely to logistics company is caused heavy losses, therefore, how to prevent and to solve to be the sternness that faces of logistics company
Problem.
Summary of the invention
According to an aspect of the present invention, it is provided that a kind of logistics corridor tele-control system based on technology of Internet of things, if
Being placed in full-automatic navigation-type driverless electric automobile, described electric automobile includes that time division duplex communication interface, automatic charging set
Standby, the Big Dipper navigation equipment, object detection apparatus, traveling controller and Freescale IMX6 process chip, Freescale
IMX6 process chip and time division duplex communication interface, automatic charging equipment, the Big Dipper navigation equipment, object detection apparatus,
Travel controller to connect respectively, near output based on time division duplex communication interface and the Big Dipper navigation equipment location
Charging station, and it is further based on charging pile near the output search of object detection apparatus, travel controller at Freescale
Under the control of IMX6 process chip, neighbouring charging pile rushed towards by driving electric automobile, and automatic charging equipment is at Freescale IMX6
The lower automatic charging realized electric automobile of control of reason chip.
More specifically, in described full-automatic navigation-type driverless electric automobile, including: time division duplex communication interface,
It is arranged on the outside of electric automobile, manages clothes for current the Big Dipper navigation position based on electric automobile from the charging station of far-end
At business device, current the Big Dipper navigation position of reception electric automobile each charging station neighbouring takies percentage ratio；The Big Dipper navigates
Instrument, is arranged on the outside of electric automobile, for receiving current north that the Big Dipper navigation positioning satellite sends in real time, electric automobile
Bucket star navigation position, is additionally operable to receive in the Big Dipper map of navigation electronic, near current the Big Dipper navigation position of electric automobile
The Big Dipper navigation position of each charging station；Electric power detection equipment, is arranged in the accumulator of electric automobile, is used for detecting electric power storage
The real-time dump energy in pond；Object detection apparatus, is connected respectively with ccd image harvester and mmc card, for entering forward image
Row image recognition is to determine whether front exists charging pile, correspondingly, sends and there is charging pile signal or there is not charging pile letter
Number；Object detection apparatus includes edge enhancer equipment, Haar wavelet filtering subset, self adaptation recursive filtering subset, chi
Degree conversion enhancer equipment, Target Segmentation subset and target recognition subset；Mmc card, is used for having prestored charging pile ash
Degree upper limit threshold, charging pile gray scale lower threshold and all kinds of charging pile benchmark masterplate, described charging pile tonal range will be for scheming
Charging pile in Xiang and background separation, described all kinds of charging pile benchmark masterplates are for carrying out in advance all kinds of benchmark charging piles shooting institute
Each image obtained, the span of described charging pile gray scale upper limit threshold and described charging pile gray scale lower threshold is 0-
255, described charging pile gray scale upper limit threshold is more than described charging pile gray scale lower threshold；Ccd image harvester, for electronic
Vehicle front scene shoots, to obtain forward image；Travel controller, be arranged on electric automobile, with electric automobile
Direction electric machine controller and speed motor controller connect, and for receiving position control signal, determine based on position control signal
Driving direction and actuating speed, and driving direction and actuating speed are sent respectively to direction electric machine controller and speed electric motor control
Device processed；Ultrasonic detecting equipment, is arranged on electric automobile anterior, for detecting the real-time phase of electric automobile front distance charging pile
Gap from；WIFI communication equipment, is arranged on electric automobile, carries out handshake operation for the WIFI communication interface with charging pile,
Shaking hands and the most then send charging pile qualifying signal, failure of shaking hands then sends the defective signal of charging pile；Automatic charging equipment, is arranged
On electric automobile, including localizer, displacement driver, mechanical hand and charging head, localizer, displacement driver and charging head are all
Arranging on a robotic arm, localizer is for the relative distance between inspecting manipuator and the charging socket of charging pile, displacement drive
Device is connected with localizer, and for driving mechanical hand to go to the charging socket of charging pile based on relative distance, mechanical hand is for supporting
After reaching the charging socket of charging pile, charging head is inserted in the charging socket of charging pile；Freescale IMX6 processes chip, with time
Division duplex communication interface, electric power detection equipment, traveling controller, the Big Dipper navigator, object detection apparatus, ultrasound examination set
Standby, WIFI communication equipment and automatic charging equipment connect respectively, when real-time dump energy presets power threshold less than or equal to first
Time, enter self-navigation pattern；Wherein, Freescale IMX6 process chip, in self-navigation pattern, starts time division duplex and leads to
Letter interface, the Big Dipper navigator and object detection apparatus, receive current the Big Dipper navigation position and attached at the Big Dipper navigator
The Big Dipper navigation position of each charging station nearly, is sent to time division duplex communication interface to obtain by current the Big Dipper navigation position
Near each charging station take percentage ratio, the Big Dipper based on current the Big Dipper navigation position and each charging station neighbouring navigate
Position determines current the Big Dipper navigation position each charging station the Big Dipper to the Big Dipper navigation position of each charging station neighbouring
Navigation distance, based on each charging station neighbouring takies percentage ratio, takies percentage weight, the north of each charging station neighbouring
Bucket star navigation distance and distance weighting calculate the convenience degree of each charging station neighbouring, take percentage ratio the lowest, convenience degree
The highest, the Big Dipper navigation distance is the shortest, and convenience degree is the highest, selects the neighbouring charging station that convenience degree is the highest to charge as target
Standing, the Big Dipper navigation position that Freescale IMX6 process chip is additionally based upon current the Big Dipper navigation position and target charging station is true
Determine position control signal, position control signal is sent to travels controller and goes to prestore in electronic chart to control electric automobile
Recently charging station, when receive at object detection apparatus there is charging pile signal time, start ultrasonic detecting equipment and WIFI
Communication equipment, when receiving charging pile qualifying signal and difference distance is less than or equal to predeterminable range threshold value in real time, starts automatically
Charger to insert in the charging socket of charging pile by charging head, and Freescale IMX6 processes chip and exits self-navigation mould
Formula；Wherein, Freescale IMX6 processes chip and presets power threshold at real-time dump energy more than or equal to second, controls automatically to fill
The mechanical hand of electricity equipment to pull away the charging socket of charging pile by charging head, and second presets power threshold presets electricity more than first
Threshold value；Wherein, described edge enhancer equipment is connected with described ccd image harvester, for described forward image is performed limit
Edge enhancement process is to obtain edge enhanced images；Described Haar wavelet filtering subset is connected with described edge enhancer equipment,
For using wavelet filterings based on 2 rank Haar wavelet basiss to process described edge enhanced images, to filter the enhancing of described edge
Gaussian noise in image, it is thus achieved that wavelet filtering image；Described self adaptation recursive filtering subset and described Haar wavelet filtering
Subset connects, and processes for described wavelet filtering image is performed self adaptation recursive filtering, to be derived from adaptation recursive filtering
Image；Described change of scale enhancer equipment is connected with described self adaptation recursive filtering subset, for passing described self adaptation
Filtering image is returned to perform change of scale enhancement process, to strengthen target and the contrast of background in image, it is thus achieved that contrast strengthens
Image；Wherein, described Target Segmentation subset is connected with described change of scale enhancer equipment, and described contrast is strengthened image
The middle grey scale pixel value all pixels composition charging pile subimage in described charging pile tonal range；Described target recognition sets
Standby is connected with described Target Segmentation subset, by the charging pile benchmark masterplate of described charging pile subimage and all kinds of petrol cars by
One coupling, the match is successful, then output exists charging pile signal, and the charging that output matching successful charging pile benchmark masterplate is corresponding
Stake type, it fails to match, then export and there is not charging pile signal；Wherein, mmc card also processes chip even with Freescale IMX6
Connect, be used for prestoring predeterminable range threshold value, first preset power threshold, second preset power threshold, take percentage weight
And distance weighting, predeterminable range threshold value, first preset power threshold, second preset power threshold, take percentage weight and away from
It is all to preset fixed numbers from weight.
More specifically, in described full-automatic navigation-type driverless electric automobile: object detection apparatus is arranged on electronic
In automotive front end instrumental panel.
More specifically, in described full-automatic navigation-type driverless electric automobile: mmc card is arranged on electric automobile front end
In instrumental panel.
More specifically, in described full-automatic navigation-type driverless electric automobile: Freescale IMX6 processes chip and sets
Put in the instrumental panel of electric automobile front end.
More specifically, in described full-automatic navigation-type driverless electric automobile: alternatively, predeterminable range threshold value,
One preset power threshold, second preset power threshold, take percentage weight and distance weighting is all can variable value.
More specifically, in described full-automatic navigation-type driverless electric automobile, also include: input keyboard, with mmc card
Process chip with Freescale IMX6 to connect respectively, under the operation of user, input predeterminable range threshold value, the first default electricity
Amount threshold value, second preset power threshold, take percentage weight and distance weighting.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the structure square frame according to the full-automatic navigation-type driverless electric automobile shown in embodiment of the present invention
Figure.
Reference: 1 time division duplex communication interface；2 automatic charging equipment；3 the Big Dipper navigation equipment；4 target inspections
Measurement equipment；5 travel controller；6 Freescale IMX6 process chip
Detailed description of the invention
Below with reference to accompanying drawings the embodiment of the full-automatic navigation-type driverless electric automobile of the present invention is carried out in detail
Describe in detail bright.
Electric automobile has many advantages.Due to the orthodox car environmental protection of pure electronic ratio, and the control of electric automobile is in fact
Simpler than hybrid vehicle.On the one hand hybrid vehicle needs to control electromotor, on the other hand needs to control battery, electricity
Machine, and make the work of motor and electromotor be well matched with, technical difficulty is the highest, by contrast, the electricity that electric automobile needs
Machine torque, power control simpler, and the response speed of motor is the most simultaneously.
The problem of the still battery currently mainly solved, the life-span of battery to be improved, raising course continuation mileage reduce into simultaneously
This.The management of battery and scrapping is reclaimed and is also intended to consider.Some automakers advise allowing future car owner at charging station
Carrying out supplementing of electric energy by the way of changing an accumulator, such car owner withouts waiting for the time of charging, convenient and swift, and
Charging station also realizes unified charging and the management of accumulator, to improve battery life and facilitate the recovery of used batteries be all one very
Good solution.Along with the performance of battery improves and auxiliary facility and Managed Solution perfect further, electric automobile is also
It is to have very vast potential for future development.
As can be seen here, the development of electric automobile be unable to do without the support of supporting charging station, for electric automobile user,
In the process of moving, the thing worried most occurs no more than the power drain of electric automobile, the most this situation, and electric automobile is only
Can cast anchor on the way, wait for rescue unit and carry charger and rescue, waste time first, delay the traveling speed of user
Degree, second brings trouble and worry to user, have impact on the experience of user.
If can report to the police to user immediately when electricity will exhaust, and provide rapidly the charging station of neighbouring most convenient
Name & Location, automatically control electric automobile simultaneously and go to target charging station and find nearest charging pile and automatically fill
Electricity, it is possible to save a lot of trouble for electric automobile user, improve the charging rate of electric automobile, it is to avoid the situation of casting anchor is sent out simultaneously
Raw.But, electric automobile of the prior art does not has these electron assistant functions, it is impossible to provide the user these convenient.
In order to overcome above-mentioned deficiency, the present invention has built a kind of full-automatic navigation-type driverless electric automobile, it is possible to
Before electricity will exhaust, search can provide the charging station of charging service the soonest and go to voluntarily, when reaching target charging station
Nearest charging pile can be utilized to carry out automatic charging, thus unmanned under overcoming power shortage state be difficult to blind
District.
Fig. 1 is the structure square frame according to the full-automatic navigation-type driverless electric automobile shown in embodiment of the present invention
Figure, described electric automobile includes time division duplex communication interface, automatic charging equipment, the Big Dipper navigation equipment, target detection
Equipment, travel controller and Freescale IMX6 and process chip, Freescale IMX6 process chip and time division duplex communication interface,
Automatic charging equipment, the Big Dipper navigation equipment, object detection apparatus, traveling controller connect respectively, for based on the time-division
Charging station near the output location of duplex communication interface and the Big Dipper navigation equipment, and be further based on target detection and set
Charging pile near standby output search, travels controller and drives electric automobile to catch up with under Freescale IMX6 processes the control of chip
Going to neighbouring charging pile, it is automatic that automatic charging equipment realizes electric automobile under the control processing chip at Freescale IMX6
Charging.
Then, continue the concrete structure of the full-automatic navigation-type driverless electric automobile of the present invention is carried out further
Explanation.
Described electric automobile includes: time division duplex communication interface, is arranged on the outside of electric automobile, for based on electronic vapour
Current the Big Dipper navigation position of car manages the current the Big Dipper navigation receiving electric automobile at server from the charging station of far-end
Near position, each charging station takies percentage ratio；The Big Dipper navigator, is arranged on the outside of electric automobile, is used for receiving the Big Dipper
Current the Big Dipper navigation position that star navigation positioning satellite sends in real time, electric automobile, is additionally operable to receive the Big Dipper navigation electricity
The Big Dipper navigation position of each charging station in sub-map, near current the Big Dipper navigation position of electric automobile.
Described electric automobile includes: electric power detection equipment, is arranged in the accumulator of electric automobile, is used for detecting accumulator
Real-time dump energy；Object detection apparatus, is connected respectively with ccd image harvester and mmc card, for carrying out forward image
Image recognition is to determine whether front exists charging pile, correspondingly, sends and there is charging pile signal or there is not charging pile signal.
Wherein, object detection apparatus includes edge enhancer equipment, Haar wavelet filtering subset, self adaptation recursive filtering
Subset, change of scale enhancer equipment, Target Segmentation subset and target recognition subset.
Described electric automobile includes: mmc card, is used for having prestored under charging pile gray scale upper limit threshold, charging pile gray scale
Limit threshold value and all kinds of charging pile benchmark masterplate, described charging pile tonal range is used for the charging pile in image and background separation,
Described all kinds of charging pile benchmark masterplate is that all kinds of benchmark charging piles are shot each obtained image, described charging in advance
The span of stake gray scale upper limit threshold and described charging pile gray scale lower threshold is 0-255, the described charging pile gray scale upper limit
Threshold value is more than described charging pile gray scale lower threshold.
Described electric automobile includes: ccd image harvester, for shooting electric automobile front scene, to obtain
Forward image；Travel controller, be arranged on electric automobile, control with direction electric machine controller and the speed electric motor of electric automobile
Device connects, and for receiving position control signal, determines driving direction and actuating speed based on position control signal, and by driving side
It is sent respectively to direction electric machine controller and speed motor controller to actuating speed；Ultrasonic detecting equipment, is arranged on electricity
Electrical automobile is anterior, differs distance in real time for detect electric automobile front distance charging pile.
Described electric automobile includes: WIFI communication equipment, is arranged on electric automobile, for communicating with the WIFI of charging pile
Interface carries out handshake operation, shakes hands and the most then sends charging pile qualifying signal, and failure of shaking hands then sends the defective signal of charging pile.
Described electric automobile includes: automatic charging equipment, is arranged on electric automobile, including localizer, displacement driver,
Mechanical hand and charging head, localizer, displacement driver and charging head be all disposed within mechanical hand, and localizer is used for inspecting manipuator
And the relative distance between the charging socket of charging pile, displacement driver is connected with localizer, for driving based on relative distance
Mechanical hand goes to the charging socket of charging pile, and mechanical hand is for inserting charging by charging head after arriving at the charging socket of charging pile
In the charging socket of stake.
Described electric automobile includes: Freescale IMX6 processes chip, sets with time division duplex communication interface, electric power detection
Standby, travel controller, the Big Dipper navigator, object detection apparatus, ultrasonic detecting equipment, WIFI communication equipment and automatic charging
Equipment connects respectively, when real-time dump energy presets power threshold less than or equal to first, enters self-navigation pattern.
Wherein, Freescale IMX6 process chip, in self-navigation pattern, starts time division duplex communication interface, the Big Dipper
Navigator and object detection apparatus, receive current the Big Dipper navigation position and each charging station neighbouring at the Big Dipper navigator
The Big Dipper navigation position, is sent to time division duplex communication interface with each charging station near obtaining by current the Big Dipper navigation position
Take percentage ratio, the Big Dipper navigation position based on current the Big Dipper navigation position and each charging station neighbouring determines current north
Bucket star navigation position is to each charging station the Big Dipper navigation distance of the Big Dipper navigation position of each charging station neighbouring, based on attached
Each charging station nearly take percentage ratio, take percentage weight, the Big Dipper navigation distance of each charging station neighbouring and
Distance weighting calculates the convenience degree of each charging station neighbouring, takies percentage ratio the lowest, and convenience degree is the highest, and the Big Dipper navigates
Distance is the shortest, and convenience degree is the highest, selects the neighbouring charging station that convenience degree is the highest as target charging station.
Wherein, Freescale IMX6 processes chip and is additionally based upon current the Big Dipper navigation position and the Big Dipper of target charging station
Navigation position determines position control signal, position control signal is sent to travel controller and goes to prestore to control electric automobile
Nearest charging station in electronic chart, when receive at object detection apparatus there is charging pile signal time, start ultrasound examination
Equipment and WIFI communication equipment, receiving charging pile qualifying signal and differing distance in real time less than or equal to predeterminable range threshold value
Time, starting automatic charging equipment to be inserted by charging head in the charging socket of charging pile, Freescale IMX6 processes chip and exits
Self-navigation pattern.
Wherein, Freescale IMX6 processes chip and presets power threshold at real-time dump energy more than or equal to second, controls
The mechanical hand of automatic charging equipment to pull away the charging socket of charging pile by charging head, and second presets power threshold more than first pre-
If power threshold.
Wherein, described edge enhancer equipment is connected with described ccd image harvester, for performing described forward image
Edge enhancement process is to obtain edge enhanced images；Described Haar wavelet filtering subset is with described edge enhancer equipment even
Connect, for using wavelet filterings based on 2 rank Haar wavelet basiss to process described edge enhanced images, to filter the increasing of described edge
Gaussian noise in strong image, it is thus achieved that wavelet filtering image；Described self adaptation recursive filtering subset is filtered with described Haar small echo
Marble equipment connects, and processes for described wavelet filtering image is performed self adaptation recursive filtering, to be derived from adaptation recurrence filter
Ripple image；Described change of scale enhancer equipment is connected with described self adaptation recursive filtering subset, for described self adaptation
Recursive filtering image performs change of scale enhancement process, to strengthen target and the contrast of background in image, it is thus achieved that contrast increases
Strong image.
Wherein, described Target Segmentation subset is connected with described change of scale enhancer equipment, described contrast is strengthened
The grey scale pixel value all pixels composition charging pile subimage in described charging pile tonal range in image；Described target recognition
Subset is connected with described Target Segmentation subset, by the charging pile benchmark mould of described charging pile subimage Yu all kinds of petrol cars
Version is mated one by one, and the match is successful, then output exists charging pile signal, and output matching successful charging pile benchmark masterplate is corresponding
Charging pile type, it fails to match, then export and there is not charging pile signal.
Wherein, mmc card also processes chip with Freescale IMX6 and is connected, be used for prestoring predeterminable range threshold value, first
Preset power threshold, second preset power threshold, take percentage weight and distance weighting, predeterminable range threshold value, first preset
Power threshold, second preset power threshold, to take percentage weight and distance weighting be all to preset fixed numbers.
Alternatively, in described electric automobile: object detection apparatus is arranged in the instrumental panel of electric automobile front end；Mmc card
It is arranged in the instrumental panel of electric automobile front end；Freescale IMX6 processes chip and is arranged in the instrumental panel of electric automobile front end；Replace
Change ground, predeterminable range threshold value, first preset power threshold, second preset power threshold, take percentage weight and distance weighting
Being all can variable value；And described electric automobile can also include: input keyboard, process core with mmc card and Freescale IMX6
Sheet connects respectively, under the operation of user, input predeterminable range threshold value, first presets power threshold, second presets electricity
Threshold value, take percentage weight and distance weighting.
It addition, the composition structure of satellite navigation system is as follows: satellite navigation system is by aeronautical satellite, ground station and user
Location equipment three part composition.
(1) aeronautical satellite: the space segment of satellite navigation system, by many aeronautical satellite Special composition Navigation Networks.
(2) ground station: follow the tracks of, measure and forecast satellite orbit and satellite equipment work is controlled management is logical
Often include the parts such as tracking station, telemetry station, calculating center, injection station and timing system.Tracking station is used for following the tracks of and measuring
The position coordinates of satellite.Telemetry station receives the telemetry that satellite is sent, for ground surveillance and the work of analysis satellite equipment
Make situation.Calculating center calculates the track of satellite according to these information, forecasts the orbit parameter in lower a period of time, determines needs
It is transferred to the navigation information of satellite, and is sent to satellite by injection station.
(3) user positions equipment: generally by groups such as receiver, intervalometer, data pre-processor, computer and display
Become.It receives the small-signal that satellite is sent, and therefrom demodulates and translates satellite orbit parameter and timing information etc., measuring simultaneously and lead
Boat parameter (distance, range difference and range rate etc.), then position coordinates (two-dimensional coordinate or the three-dimensional of user is calculated by computer
Coordinate) and velocity component.User positions equipment and is divided into boat-carrying, airborne, vehicle-mounted and single the multiple pattern such as bears.
Beidou satellite navigation system is the Chinese global positioning satellite developed voluntarily and communication system (BDS), is to continue U.S. entirely
3rd ripe satellite navigation system after ball alignment system (GPS) and Russia GLONASS.System by vacant terminal, ground surface end and
User side forms, and can the most round-the-clock, round-the-clock be that all types of user provides high accuracy, highly reliable location, navigates, awards
Time service, and have short message communication capacity, the most tentatively possess area navigation, location and time service ability, positioning precision is better than
20m, time service precision is better than 100ns.On December 27th, 2012, the formal version of dipper system spacing wave ICD is the most public
Cloth, Beidou navigation business formally provides passive location, navigation, time service service to the Asian-Pacific area.
Use the full-automatic navigation-type driverless electric automobile of the present invention, electric automobile cannot be realized for prior art
The technical problem charged voluntarily, by increasing the relevant letter of each charging station near navigator and Wireless Telecom Equipment acquisition
Breath, relevant information based on each charging station neighbouring is taked reasonably to select mechanism to be determined to the soonest and is provided filling of charging service
Power station as target charging station, increase voluntarily steer to go to voluntarily based on nearest charging station position control electric automobile,
Meanwhile, introduce charging pile identification equipment, handshake communication equipment and mechanization charger and complete the full-automation of electric automobile
Charging, thus solve above-mentioned technical problem.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-described embodiment being not used to
Limit the present invention.For any those of ordinary skill in the art, without departing under technical solution of the present invention ambit,
Technical solution of the present invention is made many possible variations and modification by the technology contents that all may utilize the disclosure above, or is revised as
Equivalent embodiments with change.Therefore, every content without departing from technical solution of the present invention, according to the technical spirit pair of the present invention
Any simple modification made for any of the above embodiments, equivalent variations and modification, all still fall within the scope of technical solution of the present invention protection
In.
Claims (2)
1. a logistics corridor tele-control system based on technology of Internet of things, is arranged at full-automatic navigation-type unmanned electronic
Automobile, described electric automobile includes that time division duplex communication interface, automatic charging equipment, the Big Dipper navigation equipment, target are examined
Measurement equipment, traveling controller and Freescale IMX6 process chip, and Freescale IMX6 processes chip and connects with time division duplex communication
Mouth, automatic charging equipment, the Big Dipper navigation equipment, object detection apparatus, traveling controller connect respectively, for based on time
Charging station near the output location of division duplex communication interface and the Big Dipper navigation equipment, and it is further based on target detection
Charging pile near the output search of equipment, travels controller and drives electric automobile under Freescale IMX6 processes the control of chip
Rush towards neighbouring charging pile, automatic charging equipment Freescale IMX6 process chip control under realize to electric automobile from
Dynamic charging.
2. logistics corridor tele-control system based on technology of Internet of things as claimed in claim 1, it is characterised in that described electricity
Electrical automobile includes:
Time division duplex communication interface, is arranged on the outside of electric automobile, for current the Big Dipper navigation bits based on electric automobile
Put to manage from the charging station of far-end and at server, receive each charging station near current the Big Dipper navigation position of electric automobile
Take percentage ratio；
The Big Dipper navigator, is arranged on the outside of electric automobile, for receiving the Big Dipper navigation positioning satellite sends in real time, electricity
Current the Big Dipper navigation position of electrical automobile, is additionally operable to receive in the Big Dipper map of navigation electronic, the current Big Dipper of electric automobile
The Big Dipper navigation position of each charging station near star navigation position；
Electric power detection equipment, is arranged in the accumulator of electric automobile, for detecting the real-time dump energy of accumulator；
Object detection apparatus, is connected respectively with ccd image harvester and mmc card, for forward image carried out image recognition with
Determine whether front exists charging pile, correspondingly, send and there is charging pile signal or there is not charging pile signal；Target detection sets
For including that edge enhancer equipment, Haar wavelet filtering subset, self adaptation recursive filtering subset, change of scale enhancer set
Standby, Target Segmentation subset and target recognition subset；
Mmc card, is used for having prestored charging pile gray scale upper limit threshold, charging pile gray scale lower threshold and all kinds of charging pile benchmark
Masterplate, described charging pile tonal range is used for the charging pile in image and background separation, described all kinds of charging pile benchmark masterplates
For all kinds of benchmark charging piles being shot in advance each obtained image, described charging pile gray scale upper limit threshold and described fill
The span of electricity stake gray scale lower threshold is 0-255, and described charging pile gray scale upper limit threshold is more than described charging pile gray scale
Lower threshold；
Ccd image harvester, for shooting electric automobile front scene, to obtain forward image；
Travel controller, be arranged on electric automobile, connect with direction electric machine controller and the speed motor controller of electric automobile
Connect, for receiving position control signal, determine driving direction and actuating speed based on position control signal, and by driving direction and
Actuating speed is sent respectively to direction electric machine controller and speed motor controller；
Ultrasonic detecting equipment, is arranged on electric automobile anterior, for detecting the real-time phase of electric automobile front distance charging pile
Gap from；
WIFI communication equipment, is arranged on electric automobile, carries out handshake operation for the WIFI communication interface with charging pile, shakes hands
Successful then send charging pile qualifying signal, failure of shaking hands then sends the defective signal of charging pile；
Automatic charging equipment, is arranged on electric automobile, including localizer, displacement driver, mechanical hand and charging head, location
Device, displacement driver and charging head are all disposed within mechanical hand, and localizer is for the charging socket of inspecting manipuator with charging pile
Between relative distance, displacement driver is connected with localizer, for based on relative distance drive mechanical hand go to charging pile
Charging socket, mechanical hand is in the charging socket that charging head inserts after arriving at the charging socket of charging pile charging pile；
Freescale IMX6 processes chip, leads with time division duplex communication interface, electric power detection equipment, traveling controller, the Big Dipper
Boat instrument, object detection apparatus, ultrasonic detecting equipment, WIFI communication equipment and automatic charging equipment connect respectively, when the most surplus
When remaining electricity presets power threshold less than or equal to first, enter self-navigation pattern；
Wherein, Freescale IMX6 process chip, in self-navigation pattern, starts time division duplex communication interface, the Big Dipper navigation
Instrument and object detection apparatus, receive current the Big Dipper navigation position and the Big Dipper of each charging station neighbouring at the Big Dipper navigator
Star navigation position, is sent to time division duplex communication interface to obtain accounting for of each charging station neighbouring by current the Big Dipper navigation position
With percentage ratio, the Big Dipper navigation position based on current the Big Dipper navigation position and each charging station neighbouring determines current the Big Dipper
Navigation position to each charging station the Big Dipper navigation distance of the Big Dipper navigation position of each charging station neighbouring, based on neighbouring often
The taking percentage ratio, take percentage weight, the Big Dipper navigation distance of each charging station neighbouring and distance of one charging station
Near weight calculation, the convenience degree of each charging station, takies percentage ratio the lowest, and convenience degree is the highest, the Big Dipper navigation distance
The shortest, convenience degree is the highest, selects the neighbouring charging station that convenience degree is the highest as target charging station, Freescale IMX6 process
Chip is additionally based upon the Big Dipper navigation position of current the Big Dipper navigation position and target charging station and determines position control signal, by position
Put control signal be sent to travel controller with control electric automobile go to nearest charging station in the electronic chart that prestores, when from target
Receive when there is charging pile signal at detection equipment, start ultrasonic detecting equipment and WIFI communication equipment, fill receiving
When electricity stake qualifying signal and real-time difference distance are less than or equal to predeterminable range threshold value, start automatic charging equipment to be inserted by charging head
Entering in the charging socket of charging pile, Freescale IMX6 processes chip and exits self-navigation pattern；
Wherein, Freescale IMX6 processes chip and presets power threshold at real-time dump energy more than or equal to second, controls automatically
The mechanical hand of charger to pull away the charging socket of charging pile by charging head, and second presets power threshold presets electricity more than first
Amount threshold value；
Wherein, described edge enhancer equipment is connected with described ccd image harvester, for described forward image is performed edge
Enhancement process is to obtain edge enhanced images；Described Haar wavelet filtering subset is connected with described edge enhancer equipment, uses
In using wavelet filterings based on 2 rank Haar wavelet basiss to process, to filter described edge enhancing figure described edge enhanced images
Gaussian noise in Xiang, it is thus achieved that wavelet filtering image；Described self adaptation recursive filtering subset and described Haar wavelet filtering
Equipment connects, and processes for described wavelet filtering image is performed self adaptation recursive filtering, to be derived from adaptation recursive filtering figure
Picture；Described change of scale enhancer equipment is connected with described self adaptation recursive filtering subset, for described self adaptation recurrence
Filtering image performs change of scale enhancement process, to strengthen target and the contrast of background in image, it is thus achieved that contrast strengthens figure
Picture；
Wherein, described Target Segmentation subset is connected with described change of scale enhancer equipment, and described contrast is strengthened image
The middle grey scale pixel value all pixels composition charging pile subimage in described charging pile tonal range；Described target recognition sets
Standby is connected with described Target Segmentation subset, by the charging pile benchmark masterplate of described charging pile subimage and all kinds of petrol cars by
One coupling, the match is successful, then output exists charging pile signal, and the charging that output matching successful charging pile benchmark masterplate is corresponding
Stake type, it fails to match, then export and there is not charging pile signal；
Wherein, mmc card also processes chip with Freescale IMX6 and is connected, is used for prestoring predeterminable range threshold value, first default
Power threshold, second preset power threshold, take percentage weight and distance weighting, predeterminable range threshold value, first preset electricity
Threshold value, second preset power threshold, to take percentage weight and distance weighting be all to preset fixed numbers；
Object detection apparatus is arranged in the instrumental panel of electric automobile front end；
Mmc card is arranged in the instrumental panel of electric automobile front end.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610527895.3A CN106054729A (en) | 2016-03-06 | 2016-03-06 | Logistics channel remote control system based on Internet-of-things technology |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610527895.3A CN106054729A (en) | 2016-03-06 | 2016-03-06 | Logistics channel remote control system based on Internet-of-things technology |
| CN201610125479.0A CN105676741B (en) | 2016-03-06 | 2016-03-06 | Logistics channel remote control system based on Internet of Things technology |
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| CN201610125479.0A Division CN105676741B (en) | 2016-03-06 | 2016-03-06 | Logistics channel remote control system based on Internet of Things technology |
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| CN106054729A true CN106054729A (en) | 2016-10-26 |
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| CN201610125479.0A Active CN105676741B (en) | 2016-03-06 | 2016-03-06 | Logistics channel remote control system based on Internet of Things technology |
| CN201610530260.9A Expired - Fee Related CN106707926B (en) | 2016-03-06 | 2016-03-06 | Logistics corridor tele-control system based on technology of Internet of things |
| CN201610527895.3A Withdrawn CN106054729A (en) | 2016-03-06 | 2016-03-06 | Logistics channel remote control system based on Internet-of-things technology |
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| CN201610530260.9A Expired - Fee Related CN106707926B (en) | 2016-03-06 | 2016-03-06 | Logistics corridor tele-control system based on technology of Internet of things |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106709687A (en) * | 2016-12-29 | 2017-05-24 | 合肥旋极智能科技有限公司 | New energy car logistics system |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106157302A (en) * | 2016-06-27 | 2016-11-23 | 张华华 | High in the clouds based on wavelet filtering image segmentation system |
| CN107257449B (en) * | 2016-06-27 | 2018-02-09 | 杨春 | A kind of remote supervision system based on cloud computing |
| TWI669677B (en) * | 2018-03-07 | 2019-08-21 | 光陽工業股份有限公司 | Charging base management method, server for charging base management method, and charging base |
| CN108670746A (en) * | 2018-06-29 | 2018-10-19 | 合肥信亚达智能科技有限公司 | A kind of high resolution path optimization intelligent monitoring blind-guiding method and system |
| CN108670747A (en) * | 2018-06-29 | 2018-10-19 | 合肥思博特软件开发有限公司 | A kind of blindmen intelligent auxiliary traveling method and system |
| CN108670745A (en) * | 2018-06-29 | 2018-10-19 | 合肥信亚达智能科技有限公司 | A kind of blind man navigation method and system based on speech recognition access |
| CN108743266A (en) * | 2018-06-29 | 2018-11-06 | 合肥思博特软件开发有限公司 | A kind of blindmen intelligent navigation avoidance trip householder method and system |
| CN108836770A (en) * | 2018-06-29 | 2018-11-20 | 合肥思博特软件开发有限公司 | Real Time Obstacle Avoiding optimization guide monitoring method and system under a kind of actual traffic environment |
| CN112305970A (en) * | 2020-03-12 | 2021-02-02 | 沈寿娟 | Internet of things intelligent linkage control method and Internet of things intelligent linkage control center |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2010025910A (en) * | 2008-07-23 | 2010-02-04 | Yasuyoshi Senda | Vehicle travel support system |
| CN201839049U (en) * | 2010-10-28 | 2011-05-18 | 重庆电力科学试验研究院 | Alternating-current (AC) charging system |
| CN102902252A (en) * | 2012-09-24 | 2013-01-30 | 湖南大学 | Vehicle control unit for unmanned electric vehicle |
| US9037403B2 (en) * | 2013-03-26 | 2015-05-19 | Toyota Motor Engineering & Manufacturing North America, Inc. | Intensity map-based localization with adaptive thresholding |
| CN104898690A (en) * | 2015-04-07 | 2015-09-09 | 中南大学 | Rotor unmanned aerial vehicle self journey-continuing realization method based on APM platform |
| CN105223887A (en) * | 2015-10-09 | 2016-01-06 | 芜湖思沃电子科技有限公司 | A kind of intelligent radio locating and monitoring dolly |
-
2016
- 2016-03-06 CN CN201610125479.0A patent/CN105676741B/en active Active
- 2016-03-06 CN CN201610530260.9A patent/CN106707926B/en not_active Expired - Fee Related
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106709687A (en) * | 2016-12-29 | 2017-05-24 | 合肥旋极智能科技有限公司 | New energy car logistics system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105676741A (en) | 2016-06-15 |
| CN106707926A (en) | 2017-05-24 |
| CN106707926B (en) | 2019-01-11 |
| CN105676741B (en) | 2017-02-15 |
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