CN105620306A - Residual electricity quantity detection based automatic charging electric vehicle - Google Patents
Residual electricity quantity detection based automatic charging electric vehicle Download PDFInfo
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- CN105620306A CN105620306A CN201610126010.9A CN201610126010A CN105620306A CN 105620306 A CN105620306 A CN 105620306A CN 201610126010 A CN201610126010 A CN 201610126010A CN 105620306 A CN105620306 A CN 105620306A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/31—Charging columns specially adapted for electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
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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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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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
- Y02T90/12—Electric charging stations
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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
- Y02T90/14—Plug-in electric vehicles
Abstract
The invention relates to a residual electricity quantity detection based automatic charging electric vehicle which comprises a SPCE061A Sunplus chip, electricity quantity detection equipment and a driving controller. The electricity quantity detection equipment is used for detecting real-time residual electricity quantity of a storage battery of the electric vehicle; the driving controller is used for controlling a driving direction and a driving speed of the electric vehicle; the SPCE061A Sunplus chip is respectively connected with the electricity quantity detection equipment and the driving controller and used for controlling the driving controller to drive the electric vehicle to head for a nearby charging pile on the basis of the real-time residual electricity quantity. The residual electricity quantity detection based automatic charging electric vehicle has the advantage that the electric vehicle can be automatically driven to the charging pile in insufficiency of residual electricity of the electric vehicle, so that a dilemma of the electric vehicle with power used up is avoided.
Description
Technical field
The present invention relates to electric automobiles, particularly relate to a kind of automatic charging formula power truck based on residual capacity measurement.
Background technology
Power truck, i.e. electrically driven vehicle, have another name called electricity and drive. Power truck is divided into alternating current electric vehicle and DC electric car. Usually the power truck said is using battery as energy derive, by the parts such as controller, motor, electric energy is converted into mechanical energy motion, to control the vehicle that size of current changes speed.
Electric vehicle portion in national economy is not very high. But he meets the fixed energy-conserving and environment-protective trend of some countries, greatly facilitates short distance traffic, main is by the saving of the energy and environment and protection being played an important role in national economy.
The change of human consumer's consumption preferences also will affect the change of electric vehicle enterprise market competition general layout. The change of human consumer's consumption preferences changes along with the change of personal income level. Along with the improvement of economy, the raising of inhabitant's consumption level, awareness of saving energy strengthens, and is also improved by the specification of quality of electric vehicle thereupon. Following electric vehicle industry potentiality space is huge.
Power truck of the prior art still mainly stops in manual operation, artificial drives, artificial navigation and even manually charge, and the development trend of this and automotive automation is incompatible. For this reason, some research and development institutions are also had to design the higher power truck of some level of automation, for power truck of the prior art provides some ancillary control functions, but, owing to developing history is shorter, these automatization power trucks are still some blanks, and not big batch drops into application.
Power truck of the prior art is more to the research and development of automatic Pilot aspect, but automatic navigation and automatic charging are set foot in less, such as, existing power truck navigationsystem only can provide particular location and the related roads situation of each charging station neighbouring to power truck, but can not directly tell which charging station of power truck is the fastest to the power truck charge velocities of current position, simultaneously, existing power truck also cannot realize nearest charging pile identification in charging station, automatically close to function, more need not mention and use automatically close nearest charging pile to be charged by power truck.
Therefore, need a kind of new power truck, enough can support for power truck provides in electronic navigation, automatic charging, can realize when there is no manual intervention, automatically charging station the most suitable near searching, and automatically drive power truck to go to the charging station searched to carry out automatic charging, thus increase substantially the automatization level of power truck.
Summary of the invention
In order to solve the problem, the present invention provides a kind of automatic charging formula power truck based on residual capacity measurement, first, introduce electric power detection equipment Inspection not enough to power truck electricity, secondly, navigation information based on GPS position determining equipment determines that nearest charging station is as target charging station, again, the actual range control of based target charging station distance power truck travels controller to go to target charging station, and based on the nearest charging pile of charging pile identification equipment and ultrasonic detecting equipment identification as target charging pile after arriving at target charging station, finally, introducing ZIGBEE signal equipment and automatic charging equipment complete full-automaticization to power truck and charge.
According to an aspect of the present invention, provide a kind of automatic charging formula power truck based on residual capacity measurement, described power truck comprises Ling Yang SPCE061A chip, electric power detection equipment and travels controller, electric power detection equipment is for detecting the real-time residue electricity of the store battery of power truck, travel controller for controlling travel direction and the traveling speed of power truck, Ling Yang SPCE061A chip is connected respectively with electric power detection equipment and traveling controller, and for travelling controller based on residue electric energy control in real time, to drive, power truck goes to neighbouring charging pile.
More specifically, in the described automatic charging formula power truck based on residual capacity measurement, comprising: speed motor controller, it is arranged in the front end panel board of power truck, for receiving driving speed, and determine speed electric motor control signal based on driving speed, speed electric motor driving mechanism, is arranged on above the driving wheel of power truck, is connected respectively with speed motor controller and speed electric motor, for inbound pacing motor control signal, and determines speed electric motor actuate signal based on speed electric motor control signal, speed electric motor, it is arranged on above the driving wheel of power truck, it is connected respectively with the driving wheel of speed electric motor driving mechanism and power truck, for inbound pacing motor drive signal, and the rotating speed of self is determined based on speed electric motor actuate signal, to control the traveling speed of the driving wheel of power truck, TF storage card, is arranged in the front end panel board of power truck, presets power threshold, the 2nd default power threshold and predeterminable range threshold value for prestoring first, electric power detection equipment, is arranged on the store battery of power truck, for detecting the real-time residue electricity of store battery, travel controller, it is arranged in power truck, it is connected with the direction electric machine control device of power truck and speed motor controller, for receiving position control signal, position-based control signal determines driving direction and driving speed, and driving direction and driving speed are sent to direction electric machine control device and speed motor controller respectively, GPS position determining equipment, locates Current GPS position that satellite sends in real time, power truck for receiving GPS, charging pile identification equipment, for taking to obtain forward image to power truck front scene, and carries out pattern recognition to determine whether front exists charging pile, correspondingly, sends and there is charging pile signal or there is not charging pile signal forward image, ultrasonic detecting equipment, is arranged on power truck front portion, for detecting the real-time difference distance of power truck front distance charging pile, ZIGBEE signal equipment, is arranged in power truck, carries out handshake operation for the ZIGBEE communication interface with charging pile, shakes hands and successfully then sends the qualified signal of charging pile, and failure of shaking hands then sends the defective signal of charging pile, automatic charging equipment, it is arranged in power truck, comprise steady arm, displacement driver, mechanical manipulator and charging head, steady arm, displacement driver and charging head are all arranged on a robotic arm, the relative distance that steady arm is used between inspecting manipuator and the charging socket of charging pile, displacement driver is connected with steady arm, and for driving mechanical manipulator to go to the charging socket of charging pile based on relative distance, mechanical manipulator is in the charging socket that charging head inserts charging pile after arriving at the charging socket of charging pile, Ling Yang SPCE061A chip, it is connected respectively with TF storage card, electric power detection equipment, traveling controller, GPS position determining equipment, charging pile identification equipment, ultrasonic detecting equipment, ZIGBEE signal equipment and automatic charging equipment, when residue electricity is less than or equal to the first default power threshold in real time, enter automatic navigation pattern, Ling Yang SPCE061A chip is in automatic navigation pattern, start GPS position determining equipment and charging pile identification equipment, receive Current GPS position, GPS location based on charging pile nearest in Current GPS position and the electronics map that prestores determines position control signal, position control signal is sent to traveling controller, and to control, power truck goes to nearest charging pile in the electronics map that prestores, when receive from charging pile identification equipment there is charging pile signal time, start ultrasonic detecting equipment and ZIGBEE signal equipment, when receiving the qualified signal of charging pile and difference distance is less than or equal to predeterminable range threshold value in real time, start automatic charging equipment with in the charging socket that charging head is inserted charging pile, Ling Yang SPCE061A chip exits automatic navigation pattern,Wherein, Ling Yang SPCE061A chip is more than or equal to the 2nd at residue electricity in real time and presets power threshold, and the mechanical manipulator of control automatic charging equipment to pull away the charging socket of charging pile by charging head, and the 2nd default power threshold is greater than first and presets power threshold.
More specifically, in the described automatic charging formula power truck based on residual capacity measurement: alternatively, adopt the sub-device of built-in storage of Ling Yang SPCE061A chip to replace TF storage card.
More specifically, in the described automatic charging formula power truck based on residual capacity measurement: Ling Yang SPCE061A chip and TF storage card are integrated on same piece of surface-mounted integrated circuit.
More specifically, in the described automatic charging formula power truck based on residual capacity measurement: charging pile identification equipment comprises high-definition camera and target detect device.
More specifically, in the described automatic charging formula power truck based on residual capacity measurement, also comprise: direction electric machine control device, it is connected with traveling controller, for controlling party to motor to change the traveling direction of power truck.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the automatic charging formula power truck based on residual capacity measurement illustrated according to an embodiment of the present invention.
Fig. 2 is the block diagram of the automatic charging equipment of the automatic charging formula power truck based on residual capacity measurement illustrated according to an embodiment of the present invention.
Reference numeral: 1 Ling Yang SPCE061A chip; 2 electric power detection equipment; 3 traveling controllers; 4 steady arms; 5 displacement driver; 6 mechanical manipulators; 7 charging heads
Embodiment
Below with reference to accompanying drawings the embodiment based on the automatic charging formula power truck of residual capacity measurement of the present invention is described in detail.
1990 so far, day by day the reducing of petroleum resources, atmospheric environment seriously polluted, allow the power truck that people pay close attention to again.
Advocated before nineteen ninety and use power truck main still based among the people. The among the people academic group tissue set up for such as 1969: power truck association of the world (WorldElectricVehicleAssociation). Power truck association of the world each year half holds professional power car academic conference and exhibition ElectricVehicleSymposiumandExposition (EVS) in different countries and regions in the world. In generation nineteen ninety, starts each main automobile production producer and starts to pay close attention to the following development of power truck and start the fund of dropping into and technology in electric automobiles. On Los Angeles auto show in January nineteen ninety, the president of General Motors is to whole world promotion Impact pure electric sedan. Within 1992, Ford Motor uses the Ecostar of calcium sulphur battery, within 1996, Toyota Motor uses the RAV4LEV of nickel metal hydride battery, the Clio of French Reynolds automobile in 1996, the Prius hybrid power car of Toyota in 1997 rolls off the production line, Nissan Motor in 1997 in the world first use the power truck PrairieJoyEV of lithium ion battery, within 1999, Honda Motor issues, sells hybrid power Insight.
Currently, although power truck starts to enter huge numbers of families, but still too much rely on manual operation, automatization level is lower, especially when power truck electricity is not enough, cannot automatically searching suitable charging pile and suitable charging station and automatically go to, also cannot realize the charging of full-automaticization formula electronics at charging scene, this is not consistent with the trend of electric motor intelligent.
In order to overcome above-mentioned deficiency, the present invention has built a kind of automatic charging formula power truck based on residual capacity measurement, existing power truck increases some high precision, targetedly electronic assistance aids, power truck is helped automatically to search for charging station, the automatically nearest charging pile of identification and automatically drive power truck to go to nearest charging pile to realize automatic charging, whole process, without any need for manual operation, greatly provides the intelligent level of power truck.
Fig. 1 is the block diagram of the automatic charging formula power truck based on residual capacity measurement illustrated according to an embodiment of the present invention, described power truck comprises Ling Yang SPCE061A chip, electric power detection equipment and travels controller, electric power detection equipment is for detecting the real-time residue electricity of the store battery of power truck, travel controller for controlling travel direction and the traveling speed of power truck, Ling Yang SPCE061A chip is connected respectively with electric power detection equipment and traveling controller, and for travelling controller based on residue electric energy control in real time, to drive, power truck goes to neighbouring charging pile.
Then, continue the concrete structure based on the automatic charging formula power truck of residual capacity measurement to the present invention to be further detailed.
Described power truck comprises: speed motor controller, is arranged in the front end panel board of power truck, for receiving driving speed, and determines speed electric motor control signal based on driving speed.
Described power truck comprises: speed electric motor driving mechanism, it is arranged on above the driving wheel of power truck, it is connected respectively with speed motor controller and speed electric motor, for inbound pacing motor control signal, and determines speed electric motor actuate signal based on speed electric motor control signal.
Described power truck comprises: speed electric motor, it is arranged on above the driving wheel of power truck, it is connected respectively with the driving wheel of speed electric motor driving mechanism and power truck, for inbound pacing motor drive signal, and the rotating speed of self is determined based on speed electric motor actuate signal, to control the traveling speed of the driving wheel of power truck.
Described power truck comprises: TF storage card, is arranged in the front end panel board of power truck, presets power threshold, the 2nd default power threshold and predeterminable range threshold value for prestoring first; Electric power detection equipment, is arranged on the store battery of power truck, for detecting the real-time residue electricity of store battery; Travel controller, it is arranged in power truck, it is connected with the direction electric machine control device of power truck and speed motor controller, for receiving position control signal, position-based control signal determines driving direction and driving speed, and driving direction and driving speed are sent to direction electric machine control device and speed motor controller respectively.
Described power truck comprises: GPS position determining equipment, locates Current GPS position that satellite sends in real time, power truck for receiving GPS; Charging pile identification equipment, for taking to obtain forward image to power truck front scene, and carries out pattern recognition to determine whether front exists charging pile, correspondingly, sends and there is charging pile signal or there is not charging pile signal forward image; Ultrasonic detecting equipment, is arranged on power truck front portion, for detecting the real-time difference distance of power truck front distance charging pile.
Described power truck comprises: ZIGBEE signal equipment, is arranged in power truck, carries out handshake operation for the ZIGBEE communication interface with charging pile, shakes hands and successfully then sends the qualified signal of charging pile, and failure of shaking hands then sends the defective signal of charging pile.
As shown in Figure 2, described power truck comprises: automatic charging equipment, it is arranged in power truck, comprise steady arm, displacement driver, mechanical manipulator and charging head, steady arm, displacement driver and charging head are all arranged on a robotic arm, the relative distance that steady arm is used between inspecting manipuator and the charging socket of charging pile, displacement driver is connected with steady arm, for driving mechanical manipulator to go to the charging socket of charging pile based on relative distance, mechanical manipulator is in the charging socket that charging head inserts charging pile after arriving at the charging socket of charging pile.
Described power truck comprises: Ling Yang SPCE061A chip, it is connected respectively with TF storage card, electric power detection equipment, traveling controller, GPS position determining equipment, charging pile identification equipment, ultrasonic detecting equipment, ZIGBEE signal equipment and automatic charging equipment, when residue electricity is less than or equal to the first default power threshold in real time, enter automatic navigation pattern, Ling Yang SPCE061A chip is in automatic navigation pattern, start GPS position determining equipment and charging pile identification equipment, receive Current GPS position, GPS location based on charging pile nearest in Current GPS position and the electronics map that prestores determines position control signal, position control signal is sent to traveling controller, and to control, power truck goes to nearest charging pile in the electronics map that prestores, when receive from charging pile identification equipment there is charging pile signal time, start ultrasonic detecting equipment and ZIGBEE signal equipment, when receiving the qualified signal of charging pile and difference distance is less than or equal to predeterminable range threshold value in real time, start automatic charging equipment with in the charging socket that charging head is inserted charging pile, Ling Yang SPCE061A chip exits automatic navigation pattern.
Wherein, Ling Yang SPCE061A chip is more than or equal to the 2nd at residue electricity in real time and presets power threshold, and the mechanical manipulator of control automatic charging equipment to pull away the charging socket of charging pile by charging head, and the 2nd default power threshold is greater than first and presets power threshold.
Can selection of land, in described power truck: alternatively, adopt Ling Yang SPCE061A chip the sub-device of built-in storage to replace TF storage card; Ling Yang SPCE061A chip and TF storage card are integrated on same piece of surface-mounted integrated circuit; Charging pile identification equipment comprises high-definition camera and target detect device; And described power truck can also comprise: direction electric machine control device, it is connected with traveling controller, for controlling party to motor to change the traveling direction of power truck.
In addition, navigation guides a certain equipment, from the method a bit moving to another point of advertised route. Navigation point two classes: (1) self-aid navigation: navigate with the equipment on aircraft or boats and ships, have inertial navigation, doppler's navigation and star-navigation etc.; (2) anti-selfcontained navigation: match with relevant ground or aerial device navigation for transit equipments such as aircraft, boats and ships, automobiles, have radionavigation, satellite-navigation. Militarily, weapon delivery, scouting, patrol, antisubmarine and the task such as rescue also has been coordinated.
Satellite-navigation (Satellitenavigation) refers to and adopts Navsat to carry out ground, ocean, aerial and space user navigating the technology of location. Common GPS navigation, the Big Dipper navigation, Galileo navigation etc. are satellite-navigation.
Navsat is adopted to carry out ground, ocean, aerial and space user navigating the technology of location. Utilize the sun, the moon and other nature celestial body existing thousands of years history of navigation, although the imagination navigated by artificial object as far back as latter half in 19th century just it has been proposed that, but until just start realization the sixties in 20th century. Within 1964, the U.S. builds up " transit circle " satellite navigation system, and pays naval and use, and 1967 start civilian. Within 1973, start again development " navigation system with time and rangine " global positioning system (GPS). The Soviet Union also establishes similar satellite navigation system. France, Japan, Chinese research and the test work also having carried out satellite-navigation. Satellite-navigation combines the advantage of conventional navigation systems, and under really achieving various weather condition, whole world high precision passive type navigation is located. Particularly time range finding satellite navigation system, not only can provide the whole world and the covering of terrestrial space continuous stereo, high-precision three-dimensional location and test the speed, and immunity from interference is strong.
Adopt the automatic charging formula power truck based on residual capacity measurement of the present invention, cannot automatically complete the technical problem of charging when remaining electricity deficiency for prior art power truck, by electric power detection equipment, power truck is remained electricity to detect in real time, pass through satellite navigational equipment, speed drives equipment, direction drives equipment, power truck is carried out the location of neighbouring suitable charging station and charging pile by image recognition apparatus and ultrasonic detecting equipment, and complete the charging to power truck by ZIGBEE signal equipment and automatic charging equipment, thus solve above-mentioned technical problem.
Although it should be appreciated that the present invention with better embodiment disclose as above, but above-described embodiment and be not used to limit the present invention. For any those of ordinary skill in the art, do not departing from technical solution of the present invention scope situation, all can utilize the technology contents of above-mentioned announcement that technical solution of the present invention is made many possible variations and modification, or be revised as the equivalent embodiment of equivalent variations. Therefore, every content not departing from technical solution of the present invention, the technical spirit of foundation the present invention, to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (6)
1. the automatic charging formula power truck based on residual capacity measurement, described power truck comprises Ling Yang SPCE061A chip, electric power detection equipment and travels controller, electric power detection equipment is for detecting the real-time residue electricity of the store battery of power truck, travel controller for controlling travel direction and the traveling speed of power truck, Ling Yang SPCE061A chip is connected respectively with electric power detection equipment and traveling controller, and for travelling controller based on residue electric energy control in real time, to drive, power truck goes to neighbouring charging pile.
2. as claimed in claim 1 based on the automatic charging formula power truck of residual capacity measurement, it is characterised in that, described power truck comprises:
Speed motor controller, is arranged in the front end panel board of power truck, for receiving driving speed, and determines speed electric motor control signal based on driving speed;
Speed electric motor driving mechanism, is arranged on above the driving wheel of power truck, is connected respectively with speed motor controller and speed electric motor, for inbound pacing motor control signal, and determines speed electric motor actuate signal based on speed electric motor control signal;
Speed electric motor, it is arranged on above the driving wheel of power truck, it is connected respectively with the driving wheel of speed electric motor driving mechanism and power truck, for inbound pacing motor drive signal, and the rotating speed of self is determined based on speed electric motor actuate signal, to control the traveling speed of the driving wheel of power truck;
TF storage card, is arranged in the front end panel board of power truck, presets power threshold, the 2nd default power threshold and predeterminable range threshold value for prestoring first;
Electric power detection equipment, is arranged on the store battery of power truck, for detecting the real-time residue electricity of store battery;
Travel controller, it is arranged in power truck, it is connected with the direction electric machine control device of power truck and speed motor controller, for receiving position control signal, position-based control signal determines driving direction and driving speed, and driving direction and driving speed are sent to direction electric machine control device and speed motor controller respectively;
GPS position determining equipment, locates Current GPS position that satellite sends in real time, power truck for receiving GPS;
Charging pile identification equipment, for taking to obtain forward image to power truck front scene, and carries out pattern recognition to determine whether front exists charging pile, correspondingly, sends and there is charging pile signal or there is not charging pile signal forward image;
Ultrasonic detecting equipment, is arranged on power truck front portion, for detecting the real-time difference distance of power truck front distance charging pile;
ZIGBEE signal equipment, is arranged in power truck, carries out handshake operation for the ZIGBEE communication interface with charging pile, shakes hands and successfully then sends the qualified signal of charging pile, and failure of shaking hands then sends the defective signal of charging pile;
Automatic charging equipment, it is arranged in power truck, comprise steady arm, displacement driver, mechanical manipulator and charging head, steady arm, displacement driver and charging head are all arranged on a robotic arm, the relative distance that steady arm is used between inspecting manipuator and the charging socket of charging pile, displacement driver is connected with steady arm, and for driving mechanical manipulator to go to the charging socket of charging pile based on relative distance, mechanical manipulator is in the charging socket that charging head inserts charging pile after arriving at the charging socket of charging pile;
Ling Yang SPCE061A chip, it is connected respectively with TF storage card, electric power detection equipment, traveling controller, GPS position determining equipment, charging pile identification equipment, ultrasonic detecting equipment, ZIGBEE signal equipment and automatic charging equipment, when residue electricity is less than or equal to the first default power threshold in real time, enter automatic navigation pattern, Ling Yang SPCE061A chip is in automatic navigation pattern, start GPS position determining equipment and charging pile identification equipment, receive Current GPS position, GPS location based on charging pile nearest in Current GPS position and the electronics map that prestores determines position control signal, position control signal is sent to traveling controller, and to control, power truck goes to nearest charging pile in the electronics map that prestores, when receive from charging pile identification equipment there is charging pile signal time, start ultrasonic detecting equipment and ZIGBEE signal equipment, when receiving the qualified signal of charging pile and difference distance is less than or equal to predeterminable range threshold value in real time, start automatic charging equipment with in the charging socket that charging head is inserted charging pile, Ling Yang SPCE061A chip exits automatic navigation pattern,
Wherein, Ling Yang SPCE061A chip is more than or equal to the 2nd at residue electricity in real time and presets power threshold, and the mechanical manipulator of control automatic charging equipment to pull away the charging socket of charging pile by charging head, and the 2nd default power threshold is greater than first and presets power threshold.
3. as claimed in claim 2 based on the automatic charging formula power truck of residual capacity measurement, it is characterised in that:
Alternatively, adopt the sub-device of built-in storage of Ling Yang SPCE061A chip to replace TF storage card.
4. as claimed in claim 2 based on the automatic charging formula power truck of residual capacity measurement, it is characterised in that:
Ling Yang SPCE061A chip and TF storage card are integrated on same piece of surface-mounted integrated circuit.
5. as claimed in claim 2 based on the automatic charging formula power truck of residual capacity measurement, it is characterised in that:
Charging pile identification equipment comprises high-definition camera and target detect device.
6. as claimed in claim 2 based on the automatic charging formula power truck of residual capacity measurement, it is characterised in that, also comprise:
Direction electric machine control device, is connected with traveling controller, for controlling party to motor to change the traveling direction of power truck.
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