CN105629977A - Fully automatic navigation-type pilotless electric vehicle using method - Google Patents
Fully automatic navigation-type pilotless electric vehicle using method Download PDFInfo
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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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled 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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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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
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
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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
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
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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
- B60L53/60—Monitoring or controlling charging stations
- B60L53/68—Off-site monitoring or control, e.g. remote control
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- H02J7/0027—
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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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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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
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to a fully automatic navigation-type pilotless electric vehicle, which comprises an automatic navigation system, an automatic charging system and an automatic driving system, wherein the automatic driving system is used for realizing electric vehicle pilotless driving; the automatic navigation system is used for realizing automatic positioning on a charging pile near the electric vehicle; the automatic charging system is used for realizing automatic charging on the electric vehicle after the electric vehicle arrives at the nearby charging pile in a pilotless driving mode; and an AVR32 chip is adopted to realize simultaneous control operation on the automatic navigation system, the automatic charging system and the automatic driving system. Thus, automation of the whole driving and charging processes of the electric vehicle can be realized.
Description
Technical field
The present invention relates to automation field, particularly relate to the using method of a kind of full-automatic navigation formula driverless electric automobile.
Background technology
In recent years, electromobile tempo is very fast, some driverless electric automobiles has also occurred. Owing to the driverless electric automobile development time is shorter, some problems in traveling still do not obtain adequate solution in the prior art, even also needing manually to have participated in: the driverless electric automobile control accuracy based on guide tracks is not high, the situation of deviation guide tracks happens occasionally; Navigation feature is complete not, such as, when electricity is not enough, charging station the most suitable near cannot determining as target charging station to go to charging; Lack the position determining equipment of charging pile in charging station, charging controller function cannot be completed.
Therefore, need a kind of novel driverless electric automobile, it is possible to set up the new electromobile drived control structure based on guide tracks, it is to increase unmanned guiding precision, near determining while each charging station position, the target charging station of most convenient can be selected voluntarily; The position of charging pile in charging station can be located, it is achieved the automatic charging of electromobile simultaneously, thus solve above-mentioned three problems.
Summary of the invention
In order to solve the problem, the present invention provides a kind of full-automatic navigation formula driverless electric automobile, first, introduce signal picker, photo-sensor and direction electric machine control device improve the unmanned efficiency of electromobile, secondly, introducing radio receiver and GPS receive and dispatch equipment and complete the navigation to charging station near electromobile, again, introduce image detecting apparatus and realize the identification to charging pile in charging station, finally, employing comprises steady arm, displacement driver, the automatic charging equipment of mechanical manipulator and charging head completes the automatization to driverless electric automobile and charges.
According to an aspect of the present invention, provide a kind of full-automatic navigation formula driverless electric automobile, described electromobile comprises automatic pilot system, automatic charging system and automatic driving system, described automatic driving system is unmanned for what realize electromobile, described automatic pilot system is for realizing the automatic location to charging pile near electromobile, described automatic charging system be used for electromobile unmanned near after charging pile, realize the automatic charging to electromobile, AVR32 chip is adopted to realize automatic pilot system, the same control operation of automatic charging system and automatic driving system.
More specifically, in described full-automatic navigation formula driverless electric automobile, comprising: rack and pinion steering gear, it is arranged on above the driving wheel of electromobile, for drive-motor being turned to be connected with the driving wheel of electromobile, light source, is arranged on the chassis of electromobile, is made up of multiple highlighted white light LEDs, multiple highlighted white light LEDs composition rectangle LED matrix and etc. spacing arrangement, road under electric automobile is thrown light on, photo-sensor, it is arranged on the chassis of electromobile, be made up of 80 photovaristor, 80 photovaristor composition rectangle photovaristor matrixes and etc. spacing arrangement, each photovaristor forms a Photoelectric Detection passage, for detecting the intensity of reflected light of road reflection source device illumination light under electric automobile, wherein, for each Photoelectric Detection passage, the road immediately below it is with or without guide tracks, intensity of reflected light is different, and the Photoelectric Detection voltage that it detects out is also different, signal picker, is arranged in the front end panel board of electromobile, is connected with photo-sensor, for sample and export each Photoelectric Detection passage export Photoelectric Detection voltage, the sample frequency of signal picker is 1 millisecond, operational amplifier, is arranged in the front end panel board of electromobile, is connected with signal picker, for being amplified by the Photoelectric Detection voltage of each Photoelectric Detection passage, 8 analog to digital converters, are arranged in the front end panel board of electromobile, are connected with operational amplifier, for being numerary signal by each the Photoelectric Detection voltage transitions after amplification, to obtain corresponding digital path voltage, direction electric machine control device, is arranged in the front end panel board of electromobile, is connected with AVR32 chip, turns to gear corner for what calculate electromobile based on the horizontal deviation of electromobile or driving direction, steer motor driving mechanism, is arranged on above the driving wheel of electromobile, is connected with direction electric machine control device, determines drive and control of electric machine signal for the gear corner that turns to based on electromobile, turn to drive-motor, be arranged on above the driving wheel of electromobile, be connected respectively with the driving wheel of steer motor driving mechanism and electromobile, for based on drive and control of electric machine signal control drive wheel turn to angle, AVR32 chip, it is arranged in the front end panel board of electromobile, it is connected with 8 analog to digital converters, receive the digital path voltage of each Photoelectric Detection passage, the digital path voltage of each Photoelectric Detection passage is compared with preset number voltage threshold value, when the digital path voltage of a Photoelectric Detection passage is more than or equal to preset number voltage threshold value, the deviation mark of corresponding Photoelectric Detection passage is set to 1, when the digital path voltage of a Photoelectric Detection passage is less than preset number voltage threshold value, the deviation mark of corresponding Photoelectric Detection passage is set to 0, based on the spacing of adjacent photosensors, the deviation mark of the quantity of Photoelectric Detection passage and each Photoelectric Detection passage calculates the horizontal deviation of electromobile, the horizontal deviation of electromobile is used for electromobile from deviation guide tracks recovering state to being positioned at state directly over guide tracks, radio receiver, it is arranged on the outside of electromobile, taking per-cent for what receive each charging station near the Current GPS position of electromobile based on charging station management server place distally, the Current GPS position of electromobile, also traffic administration server place distally receives and arrives at each charging station near Current GPS position and distinguished the congestion level in each section of correspondence,GPS receives and dispatches equipment, locates satellite sends in real time, the Current GPS position of electromobile for receiving GPS, also for receiving in GPS electronics map, the GPS location of each charging station near the Current GPS position of electromobile, electric power detection equipment, is arranged on the store battery of electromobile, for detecting the real-time residue electricity of store battery, travel controller, it is arranged in the front end panel board of electromobile, it is connected with the direction electric machine control device of electromobile 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, image detecting apparatus, for taking to obtain forward image to electromobile 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 electromobile front portion, for detecting the real-time difference distance of electromobile front distance charging pile, ZIGBEE signal equipment, is arranged on electromobile, 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 on electromobile, 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, AVR32 chip is also received and dispatched equipment, image detecting apparatus, ultrasonic detecting equipment, ZIGBEE signal equipment and automatic charging equipment be connected respectively with radio receiver, electric power detection equipment, traveling controller, GPS, when residue electricity is less than or equal to the first default power threshold in real time, enter automatic navigation pattern, wherein, AVR32 chip is in automatic navigation pattern, start radio receiver, GPS receives and dispatches equipment and image detecting apparatus, the GPS location that equipment receives Current GPS position and each charging station neighbouring is received and dispatched from GPS, Current GPS position is sent to radio receiver to obtain the congestion level in each section taking per-cent and each charging station neighbouring difference correspondence of each charging station neighbouring, each charging station GPS distance of Current GPS position to the GPS location of each charging station neighbouring is determined based on the GPS location of Current GPS position and each charging station neighbouring, based on the congestion level in section corresponding to each charging station, congestion level weight, near each charging station take per-cent, take per-cent weight, the GPS Distance geometry distance weighting of each charging station neighbouring calculates the convenience degree of each charging station neighbouring, congestion level is more low, convenience degree is more high, take per-cent more low, convenience degree is more high, GPS distance is more short, convenience degree is more high, select the highest neighbouring charging station of convenience degree as target charging station, AVR32 chip also determines position control signal based on the GPS location of Current GPS position and target charging station, position control signal is sent to traveling controller, and to control, electromobile goes to nearest charging station in the electronics map that prestores, when receive from image detecting apparatus 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, AVR32 chip exits automatic navigation pattern,Congestion level weight, take per-cent weight and distance weighting is default fixed numbers.
More specifically, in described full-automatic navigation formula driverless electric automobile: image detecting apparatus comprises CMOS camera and Target Recognition device.
More specifically, in described full-automatic navigation formula driverless electric automobile: image detecting apparatus is arranged on electromobile front portion.
More specifically, in described full-automatic navigation formula driverless electric automobile: AVR32 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.
More specifically, in described full-automatic navigation formula driverless electric automobile: the 2nd presets power threshold is greater than the first default power threshold.
More specifically, in described full-automatic navigation formula driverless electric automobile, also comprise: parallel communications interface, between image detecting apparatus and AVR32 chip.
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 full-automatic navigation formula driverless electric automobile illustrated according to an embodiment of the present invention.
Reference numeral: 1 automatic pilot system; 2 automatic charging systems; 3 automatic driving systems
Embodiment
Below with reference to accompanying drawings the embodiment of the full-automatic navigation formula driverless electric automobile of the present invention is described in detail.
Currently, the realization of some automatic functions when the R&D direction of driverless electric automobile manufacturers is mainly that electromobile normally travels, but owing to the development time is limited, these automatic functions itself are perfect not, the situation of off-track is such as still there will be in the process of moving based on the driverless electric automobile of guide tracks, cannot in the face of complicated road environment, and structure still needs to improve.
In addition, concern is just more lacked for some scenes specifically applied, such as, when driverless electric automobile electric power deficiency needs to charge, prior art only adopts the navigation Service that satellite navigational equipment provides some basic, comprise position and the relevant routes of each charging station neighbouring, but the most suitable charging station cannot be selected to charge for electromobile, more cannot automatically select nearest charging pile to realize the automatic charging of electromobile.
In order to overcome above-mentioned deficiency, the present invention has built a kind of full-automatic navigation formula driverless electric automobile, on the one hand, the drived control structure of the driverless electric automobile based on guide tracks is optimized, improve control accuracy to tackle the road environment of various complexity, on the other hand, the basis of GPS navigation adds the function that charging station comfort level compares, selecting for driverless electric automobile can the soonest for it provides the target charging station of charging service, more crucially, charging pile position nearest in charging station can be accurately located based on image recognition technology, and adopt mechanical control method to realize the automatic charging to electromobile, thus complete the automatic improving on the whole to driverless electric automobile.
Fig. 1 is the block diagram of the full-automatic navigation formula driverless electric automobile illustrated according to an embodiment of the present invention, described electromobile comprises automatic pilot system, automatic charging system and automatic driving system, described automatic driving system is unmanned for what realize electromobile, described automatic pilot system is for realizing the automatic location to charging pile near electromobile, described automatic charging system be used for electromobile unmanned near after charging pile, realize the automatic charging to electromobile, AVR32 chip is adopted to realize automatic pilot system, the same control operation of automatic charging system and automatic driving system.
Then, continue the concrete structure to the full-automatic navigation formula driverless electric automobile of the present invention to be further detailed.
Described electromobile comprises: rack and pinion steering gear, is arranged on above the driving wheel of electromobile, for drive-motor being turned to be connected with the driving wheel of electromobile; Light source, is arranged on the chassis of electromobile, is made up of multiple highlighted white light LEDs, multiple highlighted white light LEDs composition rectangle LED matrix and etc. spacing arrangement, road under electric automobile is thrown light on.
Described electromobile comprises: photo-sensor, it is arranged on the chassis of electromobile, it is made up of 80 photovaristor, 80 photovaristor composition rectangle photovaristor matrixes and etc. spacing arrangement, each photovaristor forms a Photoelectric Detection passage, for detecting the intensity of reflected light of road reflection source device illumination light under electric automobile, wherein, for each Photoelectric Detection passage, road immediately below it is with or without guide tracks, intensity of reflected light is different, and the Photoelectric Detection voltage that it detects out is also different; Signal picker, is arranged in the front end panel board of electromobile, is connected with photo-sensor, for sample and export each Photoelectric Detection passage export Photoelectric Detection voltage, the sample frequency of signal picker is 1 millisecond.
Described electromobile comprises: operational amplifier, is arranged in the front end panel board of electromobile, is connected with signal picker, for being amplified by the Photoelectric Detection voltage of each Photoelectric Detection passage; 8 analog to digital converters, are arranged in the front end panel board of electromobile, are connected with operational amplifier, for being numerary signal by each the Photoelectric Detection voltage transitions after amplification, to obtain corresponding digital path voltage.
Described electromobile comprises: direction electric machine control device, is arranged in the front end panel board of electromobile, is connected with AVR32 chip, turns to gear corner for what calculate electromobile based on the horizontal deviation of electromobile or driving direction; Steer motor driving mechanism, is arranged on above the driving wheel of electromobile, is connected with direction electric machine control device, determines drive and control of electric machine signal for the gear corner that turns to based on electromobile; Turn to drive-motor, be arranged on above the driving wheel of electromobile, be connected respectively with the driving wheel of steer motor driving mechanism and electromobile, for based on drive and control of electric machine signal control drive wheel turn to angle.
Described electromobile comprises: AVR32 chip, it is arranged in the front end panel board of electromobile, it is connected with 8 analog to digital converters, receive the digital path voltage of each Photoelectric Detection passage, the digital path voltage of each Photoelectric Detection passage is compared with preset number voltage threshold value, when the digital path voltage of a Photoelectric Detection passage is more than or equal to preset number voltage threshold value, the deviation mark of corresponding Photoelectric Detection passage is set to 1, when the digital path voltage of a Photoelectric Detection passage is less than preset number voltage threshold value, the deviation mark of corresponding Photoelectric Detection passage is set to 0, based on the spacing of adjacent photosensors, the deviation mark of the quantity of Photoelectric Detection passage and each Photoelectric Detection passage calculates the horizontal deviation of electromobile, the horizontal deviation of electromobile is used for electromobile from deviation guide tracks recovering state to being positioned at state directly over guide tracks.
Described electromobile comprises: radio receiver, it is arranged on the outside of electromobile, taking per-cent for what receive each charging station near the Current GPS position of electromobile based on charging station management server place distally, the Current GPS position of electromobile, also traffic administration server place distally receives and arrives at each charging station near Current GPS position and distinguished the congestion level in each section of correspondence.
Described electromobile comprises: GPS receives and dispatches equipment, locates satellite sends in real time, the Current GPS position of electromobile for receiving GPS, also for receiving in GPS electronics map, the GPS location of each charging station near the Current GPS position of electromobile.
Described electromobile comprises: electric power detection equipment, is arranged on the store battery of electromobile, for detecting the real-time residue electricity of store battery; Travel controller, it is arranged in the front end panel board of electromobile, it is connected with the direction electric machine control device of electromobile 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 electromobile comprises: image detecting apparatus, for taking to obtain forward image to electromobile front scene, and forward image is carried out pattern recognition to determine whether front exists charging pile, correspondingly, send and there is charging pile signal or there is not charging pile signal; Ultrasonic detecting equipment, is arranged on electromobile front portion, for detecting the real-time difference distance of electromobile front distance charging pile.
Described electromobile comprises: ZIGBEE signal equipment, is arranged on electromobile, 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.
Described electromobile comprises: automatic charging equipment, it is arranged on electromobile, 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.
Wherein, AVR32 chip is also received and dispatched equipment, image detecting apparatus, ultrasonic detecting equipment, ZIGBEE signal equipment and automatic charging equipment be connected respectively with radio receiver, electric power detection equipment, traveling controller, GPS, when residue electricity is less than or equal to the first default power threshold in real time, enter automatic navigation pattern.
Wherein, AVR32 chip is in automatic navigation pattern, start radio receiver, GPS receives and dispatches equipment and image detecting apparatus, the GPS location that equipment receives Current GPS position and each charging station neighbouring is received and dispatched from GPS, Current GPS position is sent to radio receiver to obtain the congestion level in each section taking per-cent and each charging station neighbouring difference correspondence of each charging station neighbouring, each charging station GPS distance of Current GPS position to the GPS location of each charging station neighbouring is determined based on the GPS location of Current GPS position and each charging station neighbouring, based on the congestion level in section corresponding to each charging station, congestion level weight, near each charging station take per-cent, take per-cent weight, the GPS Distance geometry distance weighting of each charging station neighbouring calculates the convenience degree of each charging station neighbouring, congestion level is more low, convenience degree is more high, take per-cent more low, convenience degree is more high, GPS distance is more short, convenience degree is more high, select the highest neighbouring charging station of convenience degree as target charging station.
Wherein, AVR32 chip also determines position control signal based on the GPS location of Current GPS position and target charging station, position control signal is sent to traveling controller, and to control, electromobile goes to nearest charging station in the electronics map that prestores, when receive from image detecting apparatus 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, AVR32 chip exits automatic navigation pattern, congestion level weight, take per-cent weight and distance weighting is default fixed numbers.
Can selection of land, in described electromobile: image detecting apparatus comprises CMOS camera and Target Recognition device; Image detecting apparatus is arranged on electromobile front portion; AVR32 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; 2nd presets power threshold is greater than the first default power threshold; Described electromobile can also comprise: parallel communications interface, between image detecting apparatus and AVR32 chip.
In addition, the composition of electromobile comprises: driven by power and the mechanical system such as Controlling System, motivating force transmission, the equipment etc. completing set task. Driven by power and Controlling System are the cores of electromobile, are also the maximum differences being different from internal-combustion engines vehicle. Driven by power and Controlling System are made up of the speed-regulating control device etc. of drive motor, power supply and electric motor. Other devices of electromobile are basic identical with internal-combustion engines vehicle.
The drive motor that the power supply of electromobile is electromobile provides electric energy. The electric energy of power supply is converted into mechanical energy by electronic steam turbine. Most widely used power supply is lead acid cell, but the development along with electric car technology, lead acid cell due to energy low, charge velocities is slow, and the life-span is short, is replaced by other store batteries gradually. The power supply developed mainly contains sodium-sulfur cell, nickel-cadmium cell, lithium cell, fuel cell etc., and the application of these novel power supplies, for the development of electromobile opens wide prospect.
The effect of the drive motor of electromobile is that the electric energy of power supply is converted into mechanical energy, by transmission mechanism or Direct driver wheel and equipment. But direct-current motor is owing to existing sparking on commutator, power is little, efficiency is low, and maintenance work amount is big; Along with the development of electric machines control technology, certainly will be replaced by DC Brushless Motor (BLDCM), switched reluctance electric machine (SRM) and alternating current asynchronous electric motor gradually, such as non-shell disk axial magnetic field DC series motor.
Adopt the full-automatic navigation formula driverless electric automobile of the present invention, low and cannot the technical problem of automatic charging for prior art driverless electric automobile running efficiency, on the one hand, driving mechanism and road parameters test set to electromobile are transformed, improve the traveling control accuracy of electromobile, on the other hand, introduce multiple high precision navigational aid, test set and mechanised equipment, thus the full-automatic charging to driverless electric automobile can be realized when electricity deficiency.
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 (7)
1. a using method for full-automatic navigation formula driverless electric automobile, the method comprises:
1) a kind of full-automatic navigation formula driverless electric automobile is provided, described electromobile comprises automatic pilot system, automatic charging system and automatic driving system, described automatic driving system is unmanned for what realize electromobile, described automatic pilot system is for realizing the automatic location to charging pile near electromobile, described automatic charging system be used for electromobile unmanned near after charging pile, realize the automatic charging to electromobile, AVR32 chip is adopted to realize automatic pilot system, the same control operation of automatic charging system and automatic driving system,
2) described electromobile is used.
2. the method for claim 1, it is characterised in that, described electromobile comprises:
Rack and pinion steering gear, is arranged on above the driving wheel of electromobile, for drive-motor being turned to be connected with the driving wheel of electromobile;
Light source, is arranged on the chassis of electromobile, is made up of multiple highlighted white light LEDs, multiple highlighted white light LEDs composition rectangle LED matrix and etc. spacing arrangement, road under electric automobile is thrown light on;
Photo-sensor, it is arranged on the chassis of electromobile, be made up of 80 photovaristor, 80 photovaristor composition rectangle photovaristor matrixes and etc. spacing arrangement, each photovaristor forms a Photoelectric Detection passage, for detecting the intensity of reflected light of road reflection source device illumination light under electric automobile, wherein, for each Photoelectric Detection passage, the road immediately below it is with or without guide tracks, intensity of reflected light is different, and the Photoelectric Detection voltage that it detects out is also different;
Signal picker, is arranged in the front end panel board of electromobile, is connected with photo-sensor, for sample and export each Photoelectric Detection passage export Photoelectric Detection voltage, the sample frequency of signal picker is 1 millisecond;
Operational amplifier, is arranged in the front end panel board of electromobile, is connected with signal picker, for being amplified by the Photoelectric Detection voltage of each Photoelectric Detection passage;
8 analog to digital converters, are arranged in the front end panel board of electromobile, are connected with operational amplifier, for being numerary signal by each the Photoelectric Detection voltage transitions after amplification, to obtain corresponding digital path voltage;
Direction electric machine control device, is arranged in the front end panel board of electromobile, is connected with AVR32 chip, turns to gear corner for what calculate electromobile based on the horizontal deviation of electromobile or driving direction;
Steer motor driving mechanism, is arranged on above the driving wheel of electromobile, is connected with direction electric machine control device, determines drive and control of electric machine signal for the gear corner that turns to based on electromobile;
Turn to drive-motor, be arranged on above the driving wheel of electromobile, be connected respectively with the driving wheel of steer motor driving mechanism and electromobile, for based on drive and control of electric machine signal control drive wheel turn to angle;
AVR32 chip, it is arranged in the front end panel board of electromobile, it is connected with 8 analog to digital converters, receive the digital path voltage of each Photoelectric Detection passage, the digital path voltage of each Photoelectric Detection passage is compared with preset number voltage threshold value, when the digital path voltage of a Photoelectric Detection passage is more than or equal to preset number voltage threshold value, the deviation mark of corresponding Photoelectric Detection passage is set to 1, when the digital path voltage of a Photoelectric Detection passage is less than preset number voltage threshold value, the deviation mark of corresponding Photoelectric Detection passage is set to 0, based on the spacing of adjacent photosensors, the deviation mark of the quantity of Photoelectric Detection passage and each Photoelectric Detection passage calculates the horizontal deviation of electromobile, the horizontal deviation of electromobile is used for electromobile from deviation guide tracks recovering state to being positioned at state directly over guide tracks,
Radio receiver, it is arranged on the outside of electromobile, taking per-cent for what receive each charging station near the Current GPS position of electromobile based on charging station management server place distally, the Current GPS position of electromobile, also traffic administration server place distally receives and arrives at each charging station near Current GPS position and distinguished the congestion level in each section of correspondence;
GPS receives and dispatches equipment, locates satellite sends in real time, the Current GPS position of electromobile for receiving GPS, also for receiving in GPS electronics map, the GPS location of each charging station near the Current GPS position of electromobile;
Electric power detection equipment, is arranged on the store battery of electromobile, for detecting the real-time residue electricity of store battery;
Travel controller, it is arranged in the front end panel board of electromobile, it is connected with the direction electric machine control device of electromobile 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;
Image detecting apparatus, for taking to obtain forward image to electromobile 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 electromobile front portion, for detecting the real-time difference distance of electromobile front distance charging pile;
ZIGBEE signal equipment, is arranged on electromobile, 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 on electromobile, 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;
AVR32 chip is also received and dispatched equipment, image detecting apparatus, ultrasonic detecting equipment, ZIGBEE signal equipment and automatic charging equipment be connected respectively with radio receiver, electric power detection equipment, traveling controller, GPS, when residue electricity is less than or equal to the first default power threshold in real time, enter automatic navigation pattern;
Wherein, AVR32 chip is in automatic navigation pattern, start radio receiver, GPS receives and dispatches equipment and image detecting apparatus, the GPS location that equipment receives Current GPS position and each charging station neighbouring is received and dispatched from GPS, Current GPS position is sent to radio receiver to obtain the congestion level in each section taking per-cent and each charging station neighbouring difference correspondence of each charging station neighbouring, each charging station GPS distance of Current GPS position to the GPS location of each charging station neighbouring is determined based on the GPS location of Current GPS position and each charging station neighbouring, based on the congestion level in section corresponding to each charging station, congestion level weight, near each charging station take per-cent, take per-cent weight, the GPS Distance geometry distance weighting of each charging station neighbouring calculates the convenience degree of each charging station neighbouring, congestion level is more low, convenience degree is more high, take per-cent more low, convenience degree is more high, GPS distance is more short, convenience degree is more high, select the highest neighbouring charging station of convenience degree as target charging station,
Wherein, AVR32 chip also determines position control signal based on the GPS location of Current GPS position and target charging station, position control signal is sent to traveling controller, and to control, electromobile goes to nearest charging station in the electronics map that prestores, when receive from image detecting apparatus 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, AVR32 chip exits automatic navigation pattern,
Wherein, congestion level weight, take per-cent weight and distance weighting is default fixed numbers.
3. method as claimed in claim 2, it is characterised in that:
Image detecting apparatus comprises CMOS camera and Target Recognition device.
4. the method as described in as arbitrary in claim 2-3, it is characterised in that:
Image detecting apparatus is arranged on electromobile front portion.
5. method as claimed in claim 2, it is characterised in that:
AVR32 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.
6. method as claimed in claim 5, it is characterised in that:
2nd presets power threshold is greater than the first default power threshold.
7. method as claimed in claim 2, it is characterised in that, also comprise:
Parallel communications interface, between image detecting apparatus and AVR32 chip.
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| CN107976678A (en) * | 2017-11-23 | 2018-05-01 | 成都汉度科技有限公司 | It can realize the smart electricity meter device of telecommunication |
| CN108189699A (en) * | 2018-01-24 | 2018-06-22 | 新日(无锡)发展有限公司 | New-energy automobile electric power supply control system based on adaptive Charge Management |
| CN109739231A (en) * | 2018-12-29 | 2019-05-10 | 北京智行者科技有限公司 | Automatic Pilot charging vehicle control method for stopping and system |
| CN110696631A (en) * | 2019-11-18 | 2020-01-17 | 广东工业大学 | Bottom layer electric control system of unmanned electric vehicle |
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