CN102385369A - Vehicle guidance system of electric vehicle charging and battery replacement station - Google Patents
Vehicle guidance system of electric vehicle charging and battery replacement station Download PDFInfo
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Abstract
The invention relates to a vehicle guidance system of an electric vehicle charging and battery replacement station. The system comprises a monitoring center, one or more vehicle-mounted terminals and one or more ground logos; the monitoring center comprises a monitoring server respectively connected with a wireless communication module I, a path planning module, an electronic map module and a license plate reading module; each vehicle-mounted terminal comprises a central control processing unit and is respectively connected with an RFID (Radio Frequency Identification) module, an image acquisition module, a video coding module, a vehicle data acquisition module, a vehicle control module, a display module, a GPS (global positioning system) module, a wireless communication module II, a power supply module and a storage module; and each ground logo comprises an image logo wire and an RFID logo. The system realizes quick and accurate parking of the electric vehicle at a charging position or a battery replacement position based on the navigation mode of the image logo and the location mode of the RFID logo, thereby providing a guarantee to steady operation of the electric vehicle charging and battery replacement station.
Description
Technical field
The present invention relates to a kind of automobile vehicle guiding system, be specifically related to a kind of electric automobile and fill the electrical changing station automobile vehicle guiding system based on RFID technology and visual identity technology.
Background technology
As a kind of emerging energy delivery vehicle that can replace the traditional power automobile; The development of electric automobile more and more receives the attention of government and enterprise; Human and material resources and financial resources in that drop in this field are also increasing, lead automobile industry to move towards new developing direction.
In the practical application of electric automobile; For convenient the use mainly takes to change the mode that electricity is the master; Electric automobile enters into to fill need drive to voluntarily to change on the current potential behind the electrical changing station and carries out more changing jobs of electrokinetic cell by mechanical arm, how to realize vehicle self-navigation in filling electrical changing station, vehicle is rested in exactly change and become problem anxious to be solved on the electric position.In the art; Application number is that 201010528873.1 patent of invention discloses the predetermined and navigational system of a kind of charging electric vehicle; Its realized vehicle from road to the GPS navigation that fills electrical changing station; Change the accurately guiding of parking spot on the current potential but lack the guiding of filling travel route in the electrical changing station and vehicle filling, can't guarantee driving safety, efficient and the order of vehicle in the station, can't the accurate arrival of staff vehicles fill and change electric position.Application number is that 200710156863.8 patent of invention has been announced a kind of automatic guidance system and method thereof based on RFID tag and vision; It adopts industrial control computer to be used for Flame Image Process and path planning; Its device structure is complicated; Equipment volume is excessive, is inappropriate for being applied to electric automobile and filling in the guidance system of electrical changing station, can't satisfy the requirement of the industry to guidance system.
In practical application; Electrical changing station control center also need monitor and unified management electric vehicle in standing in real time; Only depend on the staff to supervise or camera head monitor can't be accomplished in time, comprehensively management, and need the manpower and the material resources of labor, not only increased operation cost; Also can reduce work efficiency, not meet the development plan of whole industry.
At present, mainly there is following problem in the traditional electric automobile guidance system:
1) adopts the mode of electronic direction board not only to increase production cost, also can't for going of each vehicle indication be provided individually, can't make vehicle correctly drive to filling of appointment and change current potential.
2) the accurate parking problem of automobile on the parking stall of can't realizing charging requires vehicle when generally changing electricity and the angle of changing between the electromechanical hand is no more than 15 °, and the stand of vehicle is had strict demand.
3) stand in the employed camera head monitor method real-time status that can't at length add up each vehicle, the real-time positioning monitoring problem of vehicle in can't realizing standing.
Summary of the invention
Therefore, the invention is intended to solve the problems of the technologies described above, realize that based on RFID technology and visual identity technology the electric automobile that the electric automobile self-navigation is gone fills the electrical changing station automobile vehicle guiding system and provide a kind of.Native system adopts the navigate mode of image identification and the locator meams of RFID sign; Improved the efficient of bearing accuracy and vehicle guidance; Realized electric automobile in charge position or change the stop quick and precisely on the current potential, the stable operation of filling electrical changing station for electric automobile provides guarantee.
For realizing above-mentioned purpose, the present invention adopts following technical proposals:
A kind of electric automobile fills the electrical changing station automobile vehicle guiding system, and it comprises Surveillance center, one or more car-mounted terminal and one or more land marking; Said Surveillance center comprises monitoring server, and said monitoring server is connected with wireless communication module I, path planning module, electric map module and car plate read module respectively; Said car-mounted terminal comprises central controlled processing unit, and said central controlled processing unit is connected with RFID module, image capture module, video encoding module, vehicle data acquisition module, vehicle control module, display module, GPS module, wireless communication module II, power module, memory module respectively; Said land marking comprises image identification line and RFID sign.Said Surveillance center and car-mounted terminal communicate through wireless communication module I and wireless communication module II, and wireless communication module I and wireless communication module II are GPRS or 3G mobile communication module.
The central controlled processing unit of said car-mounted terminal adopts ARM9 as flush bonding processor, and it is connected with RFID module, GPS module respectively through the RS232 interface.
Said image capture module is connected with video encoding module, and the image of collection exports central controlled processing unit to and carries out Flame Image Process through behind the video compression coding.
Said vehicle data acquisition module adopts the CAN bus to be connected with central controlled processing unit, and the vehicle data acquisition module also is connected with the battery monitoring device of vehicle, automatically controlled supervising device through the CAN bus.
Said vehicle control module adopts the CAN bus to be connected with central controlled processing unit, is connected with the master control supervising device of vehicle through the CAN bus.
Said wireless communication module II adopts serial ports or USB interface to be connected with central controlled processing unit.
Below in conjunction with concrete structure of the present invention and annexation principle of work is described:
A kind of electric automobile fills the electrical changing station automobile vehicle guiding system, and it comprises Surveillance center, one or more car-mounted terminal and one or more land marking; Said Surveillance center comprises monitoring server, and said monitoring server is connected with wireless communication module I, path planning module, electric map module and car plate read module respectively; Said car-mounted terminal comprises central controlled processing unit, and said central controlled processing unit is connected with RFID module, image capture module, video encoding module, vehicle data acquisition module, vehicle control module, display module, GPS module, wireless communication module II, power module, memory module respectively; Said land marking comprises image identification line and RFID sign.Said Surveillance center and car-mounted terminal communicate through wireless communication module I and wireless communication module II, and wireless communication module I and wireless communication module II are GPRS or 3G mobile communication module.
In above-mentioned car-mounted terminal, the RFID module is that system provides RFID navigation information, and image capture module provides image-guidance information; Video encoding module provides image processing function, and the vehicle data acquisition module provides the vehicle operating parameters data, and vehicle control module provides the vehicle control function; Display module provides Presentation Function; The GPS module provides GPS locating information, and wireless communication module II provide wireless communication function, and power module provides power supply; Memory module provides data storage function, and central controlled processing unit is connected between each functional unit.
In above-mentioned Surveillance center; Wireless communication module I provide wireless communication function; Path planning module provides driving path planning, and electric map module provides electronic map information and car plate read module to read vehicle license plate information, and monitoring server is connected between each functional unit.
The central controlled processing unit of above-mentioned car-mounted terminal adopts ARM9 as flush bonding processor.It is connected with RFID module, GPS module respectively through the RS232 interface.Above-mentioned image capture module is connected with video encoding module, and the image of collection exports central controlled processing unit to and carries out Flame Image Process through behind the video compression coding.Above-mentioned vehicle data acquisition module adopts the CAN bus to be connected with central controlled processing unit, and the vehicle data acquisition module also is connected with the battery monitoring device of vehicle, automatically controlled supervising device through the CAN bus.Above-mentioned vehicle control module adopts the CAN bus to be connected with central controlled processing unit, and vehicle control module also is connected with the master control supervising device of vehicle through the CAN bus.
Above-mentioned display module comprises at least a in LCD display, touch-screen, the pilot lamp and comprises button in case of necessity; Be used to show the output data of central controlled processing unit; And the operational order input function is provided, and this display module communicates with central controlled processing unit through IO interface, VGA interface or RS232 mode and is connected.
Fill in the electrical changing station automobile vehicle guiding system at above-mentioned electric automobile, the RFID module is gathered the RFID information on the roadmarking, and is sent to central controlled processing unit advancing/turning to/falling back/stop through vehicle control module control vehicle after treatment.
Fill in the electrical changing station automobile vehicle guiding system at above-mentioned electric automobile; Image capture module adopts the CCD DV; Gather the image mark information on the roadmarking, and be uploaded to central controlled processing unit is adjusted electric automobile after treatment according to the differential seat angle data of vehicle and guide line the angle of advancing after being sent to the video encoding module coding.
Fill in the electrical changing station automobile vehicle guiding system at above-mentioned electric automobile; The vehicle data acquisition module connects battery monitoring device and automatically controlled supervising device through the CAN bus, and the operational factor of collection rechargeable battery and the overall operation data of vehicle also are sent to central controlled processing unit.
Fill in the electrical changing station automobile vehicle guiding system at above-mentioned electric automobile; Vehicle control module connects the master control supervising device through the CAN bus; Be sent to central controlled processing unit after reading vehicle operating parameters, and according to the operation of the instruction control vehicle of central controlled processing unit.
Fill in the electrical changing station automobile vehicle guiding system at above-mentioned electric automobile, display module is used for image information, information, the input operation order that central controlled processing unit sends and the path indication information that is sent by the received Surveillance center of wireless communication module II that the display image acquisition module collects.
Fill in the electrical changing station automobile vehicle guiding system at above-mentioned electric automobile, the GPS module is used to receive the GPS locating information and is sent to central controlled processing unit.
Above-mentioned image identification line is to be laid on two black and whites on the road, parallel continuously guided band in the station.
Above-mentioned RFID is designated and is laid on the wireless radio frequency identification mark on the road in the station, cooperates the image identification line, lays in the corner of road and the parking spot place emphasis of charge position.
Fill in the electrical changing station automobile vehicle guiding system at above-mentioned electric automobile; Wireless communication module II is used for sending by Information Monitoring, driving information and vehicle operating parameters after the central controlled processing unit processing to Surveillance center, and receives command information, cartographic information, the path indication information that Surveillance center sends.
The image-pickup method of the image capture module that car-mounted terminal adopted is based on the visual identity technology; Adopt the Hough converter technique to extract the guide line image information that is collected; According to carry binary map data behind the limit simulate above that one relatively preferably straight line as the tag line of vehicle operating; According to the control of the tag line slope information after extracting with correct the traffic direction of vehicle, this algorithm receives that the interference of noise spot is less, recognition speed is fast, and the cost of this method is lower, the installation method flexible and convenient by central controlled processing unit; Be suitable for being widely used on the road of electrical changing station, correctly drive to the charge position of appointment or change current potential to guide electric automobile.Wherein the recognizer of Hough conversion comes from " the Distinctive Image Features from Scale-Invariant Keypoints " that David G.Lowe delivered on " International Journal of Computer Vision " in 2004.
The RFID module that car-mounted terminal adopted is based on the RFID technology; Read the RFID sign in the tag line through the RFID reader; Wherein comprise charging item information, curve sign information and start-stop acceleration and deceleration flag information, be sent to central controlled processing unit and handle the operation of back according to identification information control vehicle.This method reliability is high, can be operated in the external environment condition between the temperature-40 ℃～85 ℃, and waterproof, protecting against shock, high anti-interference, easy for installation simple, can realize that high-speed data reads, and check point is not subject to destruction yet, be one of innovative point of the present invention.
The invention has the beneficial effects as follows:
1, adopt the navigate mode of image identification, guide path setting and change simple and conveniently, cost is low, and easy care has improved the anti-interference of system to image information, has signal intensity height, anti-interference is good, conforming property is strong advantage;
2, adopt the locator meams of RFID sign, realized that electric automobile is in charge position or change accurate location and the stop on the current potential.
3, the mode that adopts RFID navigation and image recognition navigation to combine has improved the efficient of vehicle guidance, has realized electric automobile in charge position or change the stop quick and precisely on the current potential, and the stable operation of filling electrical changing station for electric automobile provides guarantee.
Description of drawings
Fig. 1 fills the structured flowchart of electrical changing station automobile vehicle guiding system for electric automobile of the present invention;
Fig. 2 fills the schematic flow sheet of electrical changing station automobile vehicle guiding system for electric automobile of the present invention;
Fig. 3 fills the data flow synoptic diagram of electrical changing station automobile vehicle guiding system for electric automobile of the present invention.
Among Fig. 1: 1. Surveillance center: 101. monitoring servers, 102. wireless communication module I, 103. path planning module, 104. electric map module, 105. car plate read modules; 2. car-mounted terminal: 201. central controlled processing units, 202. wireless communication module II, 203. vehicle data acquisition modules; 204. display module, 205. vehicle control module, 206. image capture modules; 207.RFID module, 208. power modules, 209. memory modules; 210.GPS module, 211. video encoding module; 3. land marking: 301. image identification lines, 302.RFID sign.
Embodiment
Below in conjunction with accompanying drawing the present invention is further specified.
Among Fig. 1, a kind of electric automobile fills the electrical changing station automobile vehicle guiding system, and it comprises Surveillance center 1, one or more car-mounted terminal 2 and one or more land marking 3; Said Surveillance center 1 comprises monitoring server 101, and said monitoring server 101 is connected with wireless communication module I 102, path planning module 103, electric map module 104 and car plate read module 105 respectively; Said car-mounted terminal 2 comprises central controlled processing unit 201, and said central controlled processing unit is connected with RFID module 207, image capture module 206, video encoding module 211, vehicle data acquisition module 203, vehicle control module 205, display module 204, GPS module 210, wireless communication module II 202, power module 208, memory module 209 respectively; Said land marking 3 comprises image identification line 301 and RFID sign 302.Said Surveillance center 1 communicates through wireless communication module I102 and wireless communication module II 202 with car-mounted terminal 2, and wireless communication module I 102 and wireless communication module II 202 are GPRS or 3G mobile communication module.
Fill in the electrical changing station automobile vehicle guiding system at above-mentioned electric automobile; RFID module 207 adopts the RS232 interface to be connected with central controlled processing unit 201; IMAQ 206 is connected with video encoding module 211; Video encoding module 2211 is connected through the RJ45 interface with central controlled processing unit 201; Vehicle data acquisition module 203 adopts the CAN bus to be connected with central controlled processing unit 201, and vehicle control module 205 adopts the CAN bus to be connected with central controlled processing unit 201, and display module 204 adopts the IO bus to be connected with central controlled processing unit 201; GPS module 210 adopts the RS232 interface to be connected with central controlled processing unit 201, and wireless communication module II 202 adopts serial ports or USB interface to be connected with central controlled processing unit 201.
Vehicle data acquisition module 203 connects battery monitoring device through the CAN bus, gathers the service data of rechargeable battery and is sent to central controlled processing unit 201.
Wireless communication module II 202 is used for sending by Information Monitoring, driving information and vehicle operating parameters after central controlled processing unit 201 processing to Surveillance center, and receives dependent instruction information, the path indication information by wireless communication module I 102 transmissions of Surveillance center.
The synoptic diagram of map 2,3, the workflow that electric automobile fills the electrical changing station automobile vehicle guiding system is following:
Be sent to monitoring server 101 read the license board information of the vehicle that enters the station by car plate read module 105 after, 101 pairs of license board information of monitoring server are handled, and license board information is stored so that file statistics;
Carry out behind the path planning correlation map information in routing information and the electric map module 104 being sent to the wireless communication module II 202 in the car-mounted terminal 2 through wireless communication module I 102 through path planning module 103 by monitoring server 101, reception information is sent to central controlled processing unit 201 through wireless communication module II202;
Gather RFID positioning mark information, after being sent to video encoding module 211 codings behind the image capture module 206 images acquired guiding identification information, be uploaded to central controlled processing unit 201 by RFID module 207; Handle the operation of back by central controlled processing unit 201 through vehicle control module 205 control vehicles; Simultaneously exporting display module 204 to image format shows; Be sent to behind the GPS locating information of GPS module 210 collection vehicle, the vehicle data acquisition module 203 collection vehicle battery informations that central controlled processing unit 201 is handled after wireless communication module II 209 sends to Surveillance center shows through display module 204 simultaneously; For car-mounted terminal provides electric power, memory module 209 is preserved image data and result and related command by power module 208.
After arriving the RFID point of impact point, the car-mounted terminal prompting arrives charging or changes the position of electric impact point, and electric automobile begins charging or changes.
Although preceding text specify the present invention, the present invention is not limited to this, and those skilled in the art of the present technique can carry out the modification on the various forms according to principle of work of the present invention.Therefore, all modifications of doing according to the principle of the invention all are to be understood that to falling into protection scope of the present invention.
Claims (6)
1. an electric automobile fills the electrical changing station automobile vehicle guiding system, it is characterized in that comprising Surveillance center, one or more car-mounted terminal and one or more land marking; Said Surveillance center comprises monitoring server, and said monitoring server is connected with wireless communication module I, path planning module, electric map module and car plate read module respectively; Said car-mounted terminal comprises central controlled processing unit, and said central controlled processing unit is connected with RFID module, image capture module, video encoding module, vehicle data acquisition module, vehicle control module, display module, GPS module, wireless communication module II, power module, memory module respectively; Said land marking comprises image identification line and RFID sign; Said Surveillance center and car-mounted terminal communicate through wireless communication module I and wireless communication module II, and wireless communication module I and wireless communication module II are the wireless bridge based on the 3G wireless communication technique.
2. electric automobile according to claim 1 fills and changes electric vehicle guidance system; It is characterized in that: the central controlled processing unit of said car-mounted terminal; Adopt ARM9 as flush bonding processor, it is connected with RFID module, GPS module respectively through the RS232 interface.
3. electric automobile according to claim 1 and 2 fills and changes electric vehicle guidance system; It is characterized in that: said image capture module is connected with video encoding module; The image of gathering exports central controlled processing unit to and carries out Flame Image Process through behind the video compression coding.
4. electric automobile according to claim 1 and 2 fills and changes electric vehicle guidance system; It is characterized in that: said vehicle data acquisition module adopts the CAN bus to be connected with central controlled processing unit, and the vehicle data acquisition module also is connected with the battery monitoring device of vehicle, automatically controlled supervising device through the CAN bus.
5. electric automobile according to claim 4 fills and changes electric vehicle guidance system; It is characterized in that: said vehicle control module adopts the CAN bus to be connected with central controlled processing unit, and vehicle control module also is connected with the master control supervising device of vehicle through the CAN bus.
6. fill according to the described electric automobile of claim 1-5 and change electric vehicle guidance system, it is characterized in that: said wireless communication module II adopts serial ports or USB interface to be connected with central controlled processing unit.
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| CN2011102897130A CN102385369A (en) | 2011-09-28 | 2011-09-28 | Vehicle guidance system of electric vehicle charging and battery replacement station |
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| CN103358924A (en) * | 2012-03-27 | 2013-10-23 | 福特全球技术公司 | Method and apparatus for managing charging stations of electric vehicles |
| CN103401290A (en) * | 2013-08-07 | 2013-11-20 | 徐仁佐 | Electric vehicle power control method and power station used by same |
| CN105005302A (en) * | 2015-05-29 | 2015-10-28 | 李祥榕 | System and method for automatically controlling vehicle based on GPS and RFID |
| CN105046356A (en) * | 2015-07-13 | 2015-11-11 | 武汉大学 | Electromobile endurance mileage optimization device and method thereof |
| CN105549585A (en) * | 2015-12-07 | 2016-05-04 | 江苏木盟智能科技有限公司 | Robot navigation method and system |
| CN105825589A (en) * | 2016-05-20 | 2016-08-03 | 深圳大学 | Electric vehicle wireless charging alignment system and method based on vehicle license plate recognition |
| CN107757397A (en) * | 2017-09-19 | 2018-03-06 | 深圳大学 | A kind of control device and method for correcting automobile wireless charging bit errors |
| TWI626519B (en) * | 2016-09-19 | 2018-06-11 | 國立虎尾科技大學 | A movement device with a positioning technology and method thereof |
| CN108827327A (en) * | 2018-04-23 | 2018-11-16 | 北京天隼图像技术有限公司 | Node coding/decoding device and method, node guiding system, automatic device |
| CN110014923A (en) * | 2017-10-18 | 2019-07-16 | 宁波轩悦行电动汽车服务有限公司 | A kind of intelligent electric automobile leasing system |
| CN112009299A (en) * | 2019-05-31 | 2020-12-01 | 北京新能源汽车股份有限公司 | Battery replacement method and device |
| CN109979103B (en) * | 2017-12-27 | 2021-07-16 | 奥动新能源汽车科技有限公司 | Battery changing station server, battery changing processing method, battery changing method and system of battery changing station |
| CN114867631A (en) * | 2019-12-20 | 2022-08-05 | 韦特里西提公司 | Wireless network pairing for wireless electric vehicle charging |
| CN115497319A (en) * | 2022-08-02 | 2022-12-20 | 上海融青新能源科技有限公司 | Battery replacement guiding method, system, equipment and storage medium for battery replacement vehicle |
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| CN103358924A (en) * | 2012-03-27 | 2013-10-23 | 福特全球技术公司 | Method and apparatus for managing charging stations of electric vehicles |
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| CN103401290A (en) * | 2013-08-07 | 2013-11-20 | 徐仁佐 | Electric vehicle power control method and power station used by same |
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| CN105825589A (en) * | 2016-05-20 | 2016-08-03 | 深圳大学 | Electric vehicle wireless charging alignment system and method based on vehicle license plate recognition |
| WO2017197918A1 (en) * | 2016-05-20 | 2017-11-23 | 深圳大学 | Electric vehicle wireless charging alignment system based on vehicle license plate recognition and alignment method therefor |
| TWI626519B (en) * | 2016-09-19 | 2018-06-11 | 國立虎尾科技大學 | A movement device with a positioning technology and method thereof |
| CN107757397A (en) * | 2017-09-19 | 2018-03-06 | 深圳大学 | A kind of control device and method for correcting automobile wireless charging bit errors |
| CN110014923A (en) * | 2017-10-18 | 2019-07-16 | 宁波轩悦行电动汽车服务有限公司 | A kind of intelligent electric automobile leasing system |
| CN109979103B (en) * | 2017-12-27 | 2021-07-16 | 奥动新能源汽车科技有限公司 | Battery changing station server, battery changing processing method, battery changing method and system of battery changing station |
| CN108827327A (en) * | 2018-04-23 | 2018-11-16 | 北京天隼图像技术有限公司 | Node coding/decoding device and method, node guiding system, automatic device |
| CN112009299A (en) * | 2019-05-31 | 2020-12-01 | 北京新能源汽车股份有限公司 | Battery replacement method and device |
| CN114867631A (en) * | 2019-12-20 | 2022-08-05 | 韦特里西提公司 | Wireless network pairing for wireless electric vehicle charging |
| CN114867631B (en) * | 2019-12-20 | 2023-08-04 | 韦特里西提公司 | Method for pairing devices, vehicle, wireless charging station and network manager |
| CN115497319A (en) * | 2022-08-02 | 2022-12-20 | 上海融青新能源科技有限公司 | Battery replacement guiding method, system, equipment and storage medium for battery replacement vehicle |
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