CN105676741A - Logistics channel remote control system based on Internet of Things technology - Google Patents
Logistics channel remote control system based on Internet of Things technology Download PDFInfo
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- CN105676741A CN105676741A CN201610125479.0A CN201610125479A CN105676741A CN 105676741 A CN105676741 A CN 105676741A CN 201610125479 A CN201610125479 A CN 201610125479A CN 105676741 A CN105676741 A CN 105676741A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3469—Fuel consumption; Energy use; Emission aspects
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
- Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
- Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
- Y04S30/12—Remote or cooperative charging
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- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to logistics channel remote control system based on an Internet of Things technology. The logistics channel remote control system includes a time division duplex communication interface, an automatic charging device, a Beidou satellite navigation and location device, a target detection device, a driving control instrument, a Freescale IMX6 processing chip or the like. According to the logistics channel remote control system based on the Internet of Things technology, the sealing performance is good and the logistics channel is smooth; and the personal safety of a user of the logistics channel can be guaranteed based on the Internet of Things technology.
Description
Technical field
The present invention relates to logistics field, particularly relate to a kind of logistics corridor tele-control system based on technology of Internet of things.
Background technology
Long-haul truck is the means of transport that logistics company is main; owing to its business relates to the whole nation; therefore; in the situation that some danger often occur in transit that lorry is very long; such as; driver does not abide by the regulations; long-duration driving is not changed shifts; or where driver stays causes that the shipping time is delayed; more dangerous is exactly robbery or pilferage that lorry suffers lawless person; these situations are likely to logistics company is caused heavy losses, therefore, how to prevent and to solve to be the Tough questions that faces of logistics company.
Summary of the invention
According to an aspect of the present invention, provide a kind of logistics corridor tele-control system based on technology of Internet of things, it is arranged at full-automatic navigation-type driverless electric automobile, described electric automobile includes time division duplex communication interface, automatic charging equipment, the Big Dipper navigation equipment, object detection apparatus, travel controller and Freescale IMX6 processes chip, Freescale IMX6 processes chip and time division duplex communication interface, automatic charging equipment, the Big Dipper navigation equipment, object detection apparatus, travel controller to connect respectively, for charging station near positioning based on the output of time division duplex communication interface and the Big Dipper navigation equipment, and it is further based on charging pile near the output search of object detection apparatus, travel controller Freescale IMX6 process chip control under drive electric automobile rush towards near charging pile, automatic charging equipment realizes the automatic charging to electric automobile under the control processing chip at Freescale IMX6.
More specifically, in described full-automatic navigation-type driverless electric automobile, including: time division duplex communication interface, it is arranged on the outside of electric automobile, for taking percentage ratio based on current the Big Dipper navigation position of electric automobile from what the charging station of far-end managed that server receives each charging station near current the Big Dipper navigation position of electric automobile; The Big Dipper navigator, it is arranged on the outside of electric automobile, for receiving current the Big Dipper navigation position that the Big Dipper navigation positioning satellite sends in real time, electric automobile, it is additionally operable to receive in the Big Dipper map of navigation electronic, the Big Dipper navigation position of each charging station near current the Big Dipper navigation position of electric automobile; Electric power detection equipment, is arranged in the accumulator of electric automobile, for detecting the real-time dump energy of accumulator; Object detection apparatus, is connected respectively with ccd image harvester and mmc card, for forward image is carried out image recognition to determine whether front exists charging pile, correspondingly, sends and there is charging pile signal or be absent from charging pile signal;Object detection apparatus includes edge enhancer equipment, Haar wavelet filtering subset, self adaptation recursive filtering subset, change of scale enhancer equipment, Target Segmentation subset and target recognition subset, mmc card, for having prestored charging pile gray scale upper limit threshold, charging pile gray scale lower threshold and all kinds of charging pile benchmark masterplate, described charging pile tonal range is for by the charging pile in image and background separation, described all kinds of charging pile benchmark masterplate is that all kinds of benchmark charging piles carry out each image that shooting is obtained in advance, the span of described charging pile gray scale upper limit threshold and described charging pile gray scale lower threshold is 0-255, and described charging pile gray scale upper limit threshold is more than described charging pile gray scale lower threshold, ccd image harvester, for shooting electric automobile front scene, to obtain forward image, travel controller, it is arranged on electric automobile, it is connected with the direction electric machine controller of electric automobile and speed motor controller, for receiving position control signal, position-based control signal determines driving direction and actuating speed, and driving direction and actuating speed are sent respectively to direction electric machine controller and speed motor controller, ultrasonic detecting equipment, is arranged on electric automobile front portion, differs distance in real time for what detect electric automobile front distance charging pile, WIFI communication equipment, is arranged on electric automobile, carries out handshake operation for the WIFI communication interface with charging pile, shakes hands and successfully then send charging pile qualifying signal, and failure of shaking hands then sends the defective signal of charging pile, automatic charging equipment, it is arranged on electric automobile, including localizer, displacement driver, mechanical hand and charging head, localizer, displacement driver and charging head are all disposed within mechanical hand, localizer is for the relative distance between inspecting manipuator and the charging socket of charging pile, displacement driver is connected with localizer, for driving mechanical hand to go to the charging socket of charging pile based on relative distance, mechanical hand for inserting in the charging socket of charging pile after arriving at the charging socket of charging pile by charging head, Freescale IMX6 processes chip, it is connected respectively with time division duplex communication interface, electric power detection equipment, traveling controller, the Big Dipper navigator, object detection apparatus, ultrasonic detecting equipment, WIFI communication equipment and automatic charging equipment, when real-time dump energy presets power threshold less than or equal to first, enter self-navigation pattern, wherein, Freescale IMX6 processes chip in self-navigation pattern, start time division duplex communication interface, the Big Dipper navigator and object detection apparatus, the Big Dipper navigation position of current the Big Dipper navigation position and each charging station neighbouring is received from the Big Dipper navigator, current the Big Dipper navigation position is sent to time division duplex communication interface with near obtaining each charging station take percentage ratio, the Big Dipper navigation position based on current the Big Dipper navigation position and each charging station neighbouring determines current the Big Dipper navigation position each charging station the Big Dipper navigation distance to the Big Dipper navigation position of each charging station neighbouring, percentage ratio is taken based on each charging station neighbouring, take percentage weight, the Big Dipper navigation distance of each charging station neighbouring and distance weighting calculate the convenience degree of each charging station neighbouring, take percentage ratio more low, convenience degree is more high, the Big Dipper navigation distance is more short, convenience degree is more high, select the neighbouring charging station that convenience degree is the highest as target charging station, Freescale IMX6 process chip is additionally based upon the Big Dipper navigation position of current the Big Dipper navigation position and target charging station and determines position control signal, position control signal is sent to traveling controller and goes to nearest charging station in the electronic chart that prestores to control electric automobile, when receive from object detection apparatus there is charging pile signal time, start ultrasonic detecting equipment and WIFI communication equipment, when receiving charging pile qualifying signal and difference distance is less than or equal to predeterminable range threshold value in real time, start automatic charging equipment to be inserted by charging head in the charging socket of charging pile, Freescale IMX6 processes chip and exits self-navigation pattern,Wherein, Freescale IMX6 processes chip and presets power threshold at real-time dump energy be more than or equal to second, controls the mechanical hand of automatic charging equipment so that charging head to pull away the charging socket of charging pile, and second presets power threshold presets power threshold more than first; Wherein, described edge enhancer equipment is connected with described ccd image harvester, for described forward image is performed edge enhancement process to obtain edge enhanced images; Described Haar wavelet filtering subset is connected with described edge enhancer equipment, for described edge enhanced images adopts the wavelet filtering based on 2 rank Haar wavelet basiss process, to filter the Gaussian noise in described edge enhanced images, it is thus achieved that wavelet filtering image; Described self adaptation recursive filtering subset is connected with described Haar wavelet filtering subset, processes for described wavelet filtering image is performed self adaptation recursive filtering, to obtain self adaptation recursive filtering image; Described change of scale enhancer equipment is connected with described self adaptation recursive filtering subset, for described self adaptation recursive filtering image is performed change of scale enhancement process, to strengthen the contrast of target and background in image, it is thus achieved that contrast strengthens image; Wherein, described Target Segmentation subset is connected with described change of scale enhancer equipment, and described contrast strengthens the grey scale pixel value all pixels composition charging pile subimage in described charging pile tonal range in image; Described target recognition subset is connected with described Target Segmentation subset, described charging pile subimage is mated one by one with the charging pile benchmark masterplate of all kinds of petrol cars, the match is successful, then there is charging pile signal in output, and the charging pile type that output matching successful charging pile benchmark masterplate is corresponding, it fails to match, then output is absent from charging pile signal; Wherein, mmc card also processes chip with Freescale IMX6 and is connected, for prestoring predeterminable range threshold value, first preset power threshold, second preset power threshold, taking percentage weight and distance weighting, predeterminable range threshold value, first preset power threshold, second to preset power threshold, take percentage weight and distance weighting be all default fixed numbers.
More specifically, in described full-automatic navigation-type driverless electric automobile: object detection apparatus is arranged in the instrumental panel of electric automobile front end.
More specifically, in described full-automatic navigation-type driverless electric automobile: mmc card is arranged in the instrumental panel of electric automobile front end.
More specifically, in described full-automatic navigation-type driverless electric automobile: Freescale IMX6 processes chip and is arranged in the instrumental panel of electric automobile front end.
More specifically, in described full-automatic navigation-type driverless electric automobile: alternatively, predeterminable range threshold value, first preset power threshold, second preset power threshold, take percentage weight and distance weighting is all can variable value.
More specifically, in described full-automatic navigation-type driverless electric automobile, also include: input keyboard, process chip with mmc card and Freescale IMX6 to be connected respectively, for, under the operation of user, inputting predeterminable range threshold value, the first default power threshold, the second default power threshold, take percentage weight and distance weighting.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the full-automatic navigation-type driverless electric automobile illustrated according to an embodiment of the present invention.
Accompanying drawing labelling: 1 time division duplex communication interface; 2 automatic charging equipment; 3 the Big Dipper navigation equipment; 4 object detection apparatus; 5 travel controller; 6 Freescale IMX6 process chip
Detailed description of the invention
Below with reference to accompanying drawings the embodiment of the full-automatic navigation-type driverless electric automobile of the present invention is described in detail.
Electric automobile has many advantages. Due to the orthodox car environmental protection of pure electronic ratio, and its fullsized hybrid vehicle of the control of electric automobile wants simple. Hybrid vehicle needs to control electromotor on the one hand, need on the other hand to control battery, motor, and the work making motor and electromotor is well matched with, technical difficulty is significantly high, by contrast, motor torque, power that electric automobile needs control simpler, and the response speed of motor is also faster simultaneously.
That currently mainly solve or the problem of battery, will improve the life-span of battery, improve course continuation mileage and reduce cost simultaneously. The management of battery and scrapping is reclaimed and is also intended to consider. Some automakers advise allowing future car owner carry out supplementing of electric energy at charging station by changing the mode of an accumulator, such car owner withouts waiting for the time of charging, convenient and swift, and charging station also realizes unified charging and the management of accumulator, it is all a good solution to the recovery improving battery life with facilitate used batteries. Along with the performance of battery improves and auxiliary facility and Managed Solution perfect further, electric automobile still has very vast potential for future development.
As can be seen here, the development of electric automobile be unable to do without the support of supporting charging station, for electric automobile user, in the process of moving, the thing worried most is no more than the power drain of electric automobile, once this situation occurs, electric automobile can only cast anchor on the way, waits for rescue unit and carries charger and rescue, waste time first, delay the travel speed of user, second bring trouble and worry to user, have impact on the experience of user.
If can when electricity be about to exhaust, report to the police to user immediately, and the Name & Location of the charging station of most convenient near providing rapidly, automatically control electric automobile go to target charging station and find nearest charging pile and carry out automatic charging simultaneously, a lot of trouble can be saved for electric automobile user, improve the charging rate of electric automobile, it is to avoid situation of casting anchor occurs simultaneously. But, electric automobile of the prior art does not have these electron assistant functions, it is impossible to provide the user these convenient.
In order to overcome above-mentioned deficiency, the present invention has built a kind of full-automatic navigation-type driverless electric automobile, can before electricity be about to exhaust, search can provide the charging station of charging service the soonest and go to voluntarily, nearest charging pile can be utilized automatic charging is carried out when reaching target charging station, thus the unmanned blind area being difficult under overcoming power shortage state.
Fig. 1 is the block diagram of the full-automatic navigation-type driverless electric automobile illustrated according to an embodiment of the present invention, described electric automobile includes time division duplex communication interface, automatic charging equipment, the Big Dipper navigation equipment, object detection apparatus, travel controller and Freescale IMX6 processes chip, Freescale IMX6 processes chip and time division duplex communication interface, automatic charging equipment, the Big Dipper navigation equipment, object detection apparatus, travel controller to connect respectively, for charging station near positioning based on the output of time division duplex communication interface and the Big Dipper navigation equipment, and it is further based on charging pile near the output search of object detection apparatus, travel controller Freescale IMX6 process chip control under drive electric automobile rush towards near charging pile, automatic charging equipment realizes the automatic charging to electric automobile under the control processing chip at Freescale IMX6.
Then, continue the concrete structure of the full-automatic navigation-type driverless electric automobile of the present invention is further detailed.
Described electric automobile includes: time division duplex communication interface, it is arranged on the outside of electric automobile, for taking percentage ratio based on current the Big Dipper navigation position of electric automobile from what the charging station of far-end managed that server receives each charging station near current the Big Dipper navigation position of electric automobile; The Big Dipper navigator, it is arranged on the outside of electric automobile, for receiving current the Big Dipper navigation position that the Big Dipper navigation positioning satellite sends in real time, electric automobile, it is additionally operable to receive in the Big Dipper map of navigation electronic, the Big Dipper navigation position of each charging station near current the Big Dipper navigation position of electric automobile.
Described electric automobile includes: electric power detection equipment, is arranged in the accumulator of electric automobile, for detecting the real-time dump energy of accumulator; Object detection apparatus, is connected respectively with ccd image harvester and mmc card, for forward image is carried out image recognition to determine whether front exists charging pile, correspondingly, sends and there is charging pile signal or be absent from charging pile signal.
Wherein, object detection apparatus includes edge enhancer equipment, Haar wavelet filtering subset, self adaptation recursive filtering subset, change of scale enhancer equipment, Target Segmentation subset and target recognition subset.
Described electric automobile includes: mmc card, for having prestored charging pile gray scale upper limit threshold, charging pile gray scale lower threshold and all kinds of charging pile benchmark masterplate, described charging pile tonal range is for by the charging pile in image and background separation, described all kinds of charging pile benchmark masterplate is that all kinds of benchmark charging piles carry out each image that shooting is obtained in advance, the span of described charging pile gray scale upper limit threshold and described charging pile gray scale lower threshold is 0-255, and described charging pile gray scale upper limit threshold is more than described charging pile gray scale lower threshold.
Described electric automobile includes: ccd image harvester, for electric automobile front scene is shot, to obtain forward image; Travel controller, it is arranged on electric automobile, it is connected with the direction electric machine controller of electric automobile and speed motor controller, for receiving position control signal, position-based control signal determines driving direction and actuating speed, and driving direction and actuating speed are sent respectively to direction electric machine controller and speed motor controller; Ultrasonic detecting equipment, is arranged on electric automobile front portion, differs distance in real time for what detect electric automobile front distance charging pile.
Described electric automobile includes: WIFI communication equipment, is arranged on electric automobile, carries out handshake operation for the WIFI communication interface with charging pile, shakes hands and successfully then send charging pile qualifying signal, and failure of shaking hands then sends the defective signal of charging pile.
Described electric automobile includes: automatic charging equipment, it is arranged on electric automobile, including localizer, displacement driver, mechanical hand and charging head, localizer, displacement driver and charging head are all disposed within mechanical hand, localizer is for the relative distance between inspecting manipuator and the charging socket of charging pile, displacement driver is connected with localizer, for driving mechanical hand to go to the charging socket of charging pile based on relative distance, mechanical hand for inserting charging head in the charging socket of charging pile after arriving at the charging socket of charging pile.
Described electric automobile includes: Freescale IMX6 processes chip, it is connected respectively with time division duplex communication interface, electric power detection equipment, traveling controller, the Big Dipper navigator, object detection apparatus, ultrasonic detecting equipment, WIFI communication equipment and automatic charging equipment, when real-time dump energy presets power threshold less than or equal to first, enter self-navigation pattern.
Wherein, Freescale IMX6 processes chip in self-navigation pattern, start time division duplex communication interface, the Big Dipper navigator and object detection apparatus, the Big Dipper navigation position of current the Big Dipper navigation position and each charging station neighbouring is received from the Big Dipper navigator, current the Big Dipper navigation position is sent to time division duplex communication interface with near obtaining each charging station take percentage ratio, the Big Dipper navigation position based on current the Big Dipper navigation position and each charging station neighbouring determines current the Big Dipper navigation position each charging station the Big Dipper navigation distance to the Big Dipper navigation position of each charging station neighbouring, percentage ratio is taken based on each charging station neighbouring, take percentage weight, the Big Dipper navigation distance of each charging station neighbouring and distance weighting calculate the convenience degree of each charging station neighbouring, take percentage ratio more low, convenience degree is more high, the Big Dipper navigation distance is more short, convenience degree is more high, select the neighbouring charging station that convenience degree is the highest as target charging station.
Wherein, Freescale IMX6 process chip is additionally based upon the Big Dipper navigation position of current the Big Dipper navigation position and target charging station and determines position control signal, position control signal is sent to traveling controller and goes to nearest charging station in the electronic chart that prestores to control electric automobile, when receive from object detection apparatus there is charging pile signal time, start ultrasonic detecting equipment and WIFI communication equipment, when receiving charging pile qualifying signal and difference distance is less than or equal to predeterminable range threshold value in real time, start automatic charging equipment to be inserted by charging head in the charging socket of charging pile, Freescale IMX6 processes chip and exits self-navigation pattern.
Wherein, Freescale IMX6 processes chip and presets power threshold at real-time dump energy be more than or equal to second, controls the mechanical hand of automatic charging equipment so that charging head to pull away the charging socket of charging pile, and second presets power threshold presets power threshold more than first.
Wherein, described edge enhancer equipment is connected with described ccd image harvester, for described forward image is performed edge enhancement process to obtain edge enhanced images; Described Haar wavelet filtering subset is connected with described edge enhancer equipment, for described edge enhanced images adopts the wavelet filtering based on 2 rank Haar wavelet basiss process, to filter the Gaussian noise in described edge enhanced images, it is thus achieved that wavelet filtering image; Described self adaptation recursive filtering subset is connected with described Haar wavelet filtering subset, processes for described wavelet filtering image is performed self adaptation recursive filtering, to obtain self adaptation recursive filtering image; Described change of scale enhancer equipment is connected with described self adaptation recursive filtering subset, for described self adaptation recursive filtering image is performed change of scale enhancement process, to strengthen the contrast of target and background in image, it is thus achieved that contrast strengthens image.
Wherein, described Target Segmentation subset is connected with described change of scale enhancer equipment, and described contrast strengthens the grey scale pixel value all pixels composition charging pile subimage in described charging pile tonal range in image; Described target recognition subset is connected with described Target Segmentation subset, described charging pile subimage is mated one by one with the charging pile benchmark masterplate of all kinds of petrol cars, the match is successful, then there is charging pile signal in output, and the charging pile type that output matching successful charging pile benchmark masterplate is corresponding, it fails to match, then output is absent from charging pile signal.
Wherein, mmc card also processes chip with Freescale IMX6 and is connected, for prestoring predeterminable range threshold value, first preset power threshold, second preset power threshold, taking percentage weight and distance weighting, predeterminable range threshold value, first preset power threshold, second to preset power threshold, take percentage weight and distance weighting be all default fixed numbers.
Alternatively, in described electric automobile: object detection apparatus is arranged in the instrumental panel of electric automobile front end; Mmc card is arranged in the instrumental panel of electric automobile front end; Freescale IMX6 processes chip and is arranged in the instrumental panel of electric automobile front end; Alternatively, predeterminable range threshold value, first preset power threshold, second preset power threshold, take percentage weight and distance weighting is all can variable value; And described electric automobile can also include: input keyboard, process chip with mmc card and Freescale IMX6 to be connected respectively, for, under the operation of user, inputting predeterminable range threshold value, the first default power threshold, the second default power threshold, take percentage weight and distance weighting.
It addition, the composition structure of satellite navigation system is as follows: satellite navigation system is positioned three parts of equipment by aeronautical satellite, ground station and user and forms.
(1) aeronautical satellite: the space segment of satellite navigation system, by many aeronautical satellite Special composition Navigation Networks.
(2) ground station: follow the tracks of, measure and forecast satellite orbit and satellite equipment work is controlled management, generally including the parts such as tracking station, telemetry station, calculating center, injection station and timing system. Tracking station is for following the tracks of and measure the position coordinates of satellite. Telemetry station receives the telemetry that satellite is sent, for ground surveillance and the working condition analyzing satellite equipment. Calculating center calculates the track of satellite according to these information, forecasts the orbit parameter in lower a period of time, it is determined that needs to be transferred to the navigation information of satellite, and is sent to satellite by injection station.
(3) user positions equipment: be generally made up of receiver, intervalometer, data pre-processor, computer and display etc. It receives the small-signal that satellite is sent, therefrom demodulate and translate satellite orbit parameter and timing information etc., measure navigational parameter (distance, range difference and range rate etc.) simultaneously, then calculated position coordinates (two-dimensional coordinate or three-dimensional coordinate) and the velocity component of user by computer. User positions equipment and is divided into boat-carrying, airborne, vehicle-mounted and single the multiple pattern such as bears.
Beidou satellite navigation system is the Chinese global positioning satellite developed voluntarily and communication system (BDS), is the 3rd ripe satellite navigation system after U.S. global positioning system (GPS) and Russia GLONASS. System is made up of vacant terminal, ground surface end and user side, high accuracy, highly reliable location, navigation, time service service can be provided by round-the-clock, round-the-clock in the world for all types of user, and have short message communication capacity, tentatively possess area navigation, location and time service ability, positioning precision is better than 20m, and time service precision is better than 100ns. On December 27th, 2012, the formal version of dipper system spacing wave ICD is formally announced, and the Asian-Pacific area is formally provided passive location, navigation, time service service by Beidou navigation business.
Adopt the full-automatic navigation-type driverless electric automobile of the present invention, the technical problem that electric automobile charges voluntarily cannot be realized for prior art, by increasing the relevant information of each charging station near navigator and Wireless Telecom Equipment acquisition, relevant information based on each charging station neighbouring is taked reasonably to select mechanism to be determined to the charging station providing charging service the soonest as target charging station, increase voluntarily steer to go to voluntarily based on nearest charging station position control electric automobile, simultaneously, introduce charging pile identification equipment, handshake communication equipment and mechanization charger complete the full-automatic charging of electric automobile, thus solving above-mentioned technical problem.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-described embodiment is not limited to the present invention. For any those of ordinary skill in the art, without departing under technical solution of the present invention ambit, all may utilize the technology contents of the disclosure above and technical solution of the present invention is made many possible variations and modification, or be revised as the Equivalent embodiments of equivalent variations. Therefore, every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention, to any simple modification made for any of the above embodiments, equivalent variations and modification, all still falls within the scope of technical solution of the present invention protection.
Claims (7)
1. the logistics corridor tele-control system based on technology of Internet of things, it is arranged at full-automatic navigation-type driverless electric automobile, described electric automobile includes time division duplex communication interface, automatic charging equipment, the Big Dipper navigation equipment, object detection apparatus, travel controller and Freescale IMX6 processes chip, Freescale IMX6 processes chip and time division duplex communication interface, automatic charging equipment, the Big Dipper navigation equipment, object detection apparatus, travel controller to connect respectively, for charging station near positioning based on the output of time division duplex communication interface and the Big Dipper navigation equipment, and it is further based on charging pile near the output search of object detection apparatus, travel controller Freescale IMX6 process chip control under drive electric automobile rush towards near charging pile, automatic charging equipment realizes the automatic charging to electric automobile under the control processing chip at Freescale IMX6.
2. the logistics corridor tele-control system based on technology of Internet of things as claimed in claim 1, it is characterised in that described electric automobile includes:
Time division duplex communication interface, it is arranged on the outside of electric automobile, for taking percentage ratio based on current the Big Dipper navigation position of electric automobile from what the charging station of far-end managed that server receives each charging station near current the Big Dipper navigation position of electric automobile;
The Big Dipper navigator, it is arranged on the outside of electric automobile, for receiving current the Big Dipper navigation position that the Big Dipper navigation positioning satellite sends in real time, electric automobile, it is additionally operable to receive in the Big Dipper map of navigation electronic, the Big Dipper navigation position of each charging station near current the Big Dipper navigation position of electric automobile;
Electric power detection equipment, is arranged in the accumulator of electric automobile, for detecting the real-time dump energy of accumulator;
Object detection apparatus, is connected respectively with ccd image harvester and mmc card, for forward image is carried out image recognition to determine whether front exists charging pile, correspondingly, sends and there is charging pile signal or be absent from charging pile signal; Object detection apparatus includes edge enhancer equipment, Haar wavelet filtering subset, self adaptation recursive filtering subset, change of scale enhancer equipment, Target Segmentation subset and target recognition subset;
Mmc card, for having prestored charging pile gray scale upper limit threshold, charging pile gray scale lower threshold and all kinds of charging pile benchmark masterplate, described charging pile tonal range is for by the charging pile in image and background separation, described all kinds of charging pile benchmark masterplate is that all kinds of benchmark charging piles carry out each image that shooting is obtained in advance, the span of described charging pile gray scale upper limit threshold and described charging pile gray scale lower threshold is 0-255, and described charging pile gray scale upper limit threshold is more than described charging pile gray scale lower threshold;
Ccd image harvester, for shooting electric automobile front scene, to obtain forward image;
Travel controller, it is arranged on electric automobile, it is connected with the direction electric machine controller of electric automobile and speed motor controller, for receiving position control signal, position-based control signal determines driving direction and actuating speed, and driving direction and actuating speed are sent respectively to direction electric machine controller and speed motor controller;
Ultrasonic detecting equipment, is arranged on electric automobile front portion, differs distance in real time for what detect electric automobile front distance charging pile;
WIFI communication equipment, is arranged on electric automobile, carries out handshake operation for the WIFI communication interface with charging pile, shakes hands and successfully then send charging pile qualifying signal, and failure of shaking hands then sends the defective signal of charging pile;
Automatic charging equipment, it is arranged on electric automobile, including localizer, displacement driver, mechanical hand and charging head, localizer, displacement driver and charging head are all disposed within mechanical hand, localizer is for the relative distance between inspecting manipuator and the charging socket of charging pile, displacement driver is connected with localizer, for driving mechanical hand to go to the charging socket of charging pile based on relative distance, mechanical hand for inserting in the charging socket of charging pile after arriving at the charging socket of charging pile by charging head;
Freescale IMX6 processes chip, it is connected respectively with time division duplex communication interface, electric power detection equipment, traveling controller, the Big Dipper navigator, object detection apparatus, ultrasonic detecting equipment, WIFI communication equipment and automatic charging equipment, when real-time dump energy presets power threshold less than or equal to first, enter self-navigation pattern;
Wherein, Freescale IMX6 processes chip in self-navigation pattern, start time division duplex communication interface, the Big Dipper navigator and object detection apparatus, the Big Dipper navigation position of current the Big Dipper navigation position and each charging station neighbouring is received from the Big Dipper navigator, current the Big Dipper navigation position is sent to time division duplex communication interface with near obtaining each charging station take percentage ratio, the Big Dipper navigation position based on current the Big Dipper navigation position and each charging station neighbouring determines current the Big Dipper navigation position each charging station the Big Dipper navigation distance to the Big Dipper navigation position of each charging station neighbouring, percentage ratio is taken based on each charging station neighbouring, take percentage weight, the Big Dipper navigation distance of each charging station neighbouring and distance weighting calculate the convenience degree of each charging station neighbouring, take percentage ratio more low, convenience degree is more high, the Big Dipper navigation distance is more short, convenience degree is more high, select the neighbouring charging station that convenience degree is the highest as target charging station, Freescale IMX6 process chip is additionally based upon the Big Dipper navigation position of current the Big Dipper navigation position and target charging station and determines position control signal, position control signal is sent to traveling controller and goes to nearest charging station in the electronic chart that prestores to control electric automobile, when receive from object detection apparatus there is charging pile signal time, start ultrasonic detecting equipment and WIFI communication equipment, when receiving charging pile qualifying signal and difference distance is less than or equal to predeterminable range threshold value in real time, start automatic charging equipment to be inserted by charging head in the charging socket of charging pile, Freescale IMX6 processes chip and exits self-navigation pattern,
Wherein, Freescale IMX6 processes chip and presets power threshold at real-time dump energy be more than or equal to second, controls the mechanical hand of automatic charging equipment so that charging head to pull away the charging socket of charging pile, and second presets power threshold presets power threshold more than first;
Wherein, described edge enhancer equipment is connected with described ccd image harvester, for described forward image is performed edge enhancement process to obtain edge enhanced images; Described Haar wavelet filtering subset is connected with described edge enhancer equipment, for described edge enhanced images adopts the wavelet filtering based on 2 rank Haar wavelet basiss process, to filter the Gaussian noise in described edge enhanced images, it is thus achieved that wavelet filtering image; Described self adaptation recursive filtering subset is connected with described Haar wavelet filtering subset, processes for described wavelet filtering image is performed self adaptation recursive filtering, to obtain self adaptation recursive filtering image; Described change of scale enhancer equipment is connected with described self adaptation recursive filtering subset, for described self adaptation recursive filtering image is performed change of scale enhancement process, to strengthen the contrast of target and background in image, it is thus achieved that contrast strengthens image;
Wherein, described Target Segmentation subset is connected with described change of scale enhancer equipment, and described contrast strengthens the grey scale pixel value all pixels composition charging pile subimage in described charging pile tonal range in image; Described target recognition subset is connected with described Target Segmentation subset, described charging pile subimage is mated one by one with the charging pile benchmark masterplate of all kinds of petrol cars, the match is successful, then there is charging pile signal in output, and the charging pile type that output matching successful charging pile benchmark masterplate is corresponding, it fails to match, then output is absent from charging pile signal;
Wherein, mmc card also processes chip with Freescale IMX6 and is connected, for prestoring predeterminable range threshold value, first preset power threshold, second preset power threshold, taking percentage weight and distance weighting, predeterminable range threshold value, first preset power threshold, second to preset power threshold, take percentage weight and distance weighting be all default fixed numbers.
3. the logistics corridor tele-control system based on technology of Internet of things as claimed in claim 2, it is characterised in that:
Object detection apparatus is arranged in the instrumental panel of electric automobile front end.
4. the logistics corridor tele-control system based on technology of Internet of things as claimed in claim 2, it is characterised in that:
Mmc card is arranged in the instrumental panel of electric automobile front end.
5. the logistics corridor tele-control system based on technology of Internet of things as claimed in claim 2, it is characterised in that:
Freescale IMX6 processes chip and is arranged in the instrumental panel of electric automobile front end.
6. the logistics corridor tele-control system based on technology of Internet of things as claimed in claim 2, it is characterised in that:
Alternatively, predeterminable range threshold value, first preset power threshold, second preset power threshold, take percentage weight and distance weighting is all can variable value.
7. the logistics corridor tele-control system based on technology of Internet of things as claimed in claim 6, it is characterised in that also include:
Input keyboard, processes chip with mmc card and Freescale IMX6 and is connected respectively, for, under the operation of user, inputting predeterminable range threshold value, the first default power threshold, the second default power threshold, take percentage weight and distance weighting.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610527895.3A CN106054729A (en) | 2016-03-06 | 2016-03-06 | Logistics channel remote control system based on Internet-of-things technology |
| CN201610530260.9A CN106707926B (en) | 2016-03-06 | 2016-03-06 | Logistics corridor tele-control system based on technology of Internet of things |
| CN201610125479.0A CN105676741B (en) | 2016-03-06 | 2016-03-06 | Logistics channel remote control system based on Internet of Things technology |
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| CN201610125479.0A CN105676741B (en) | 2016-03-06 | 2016-03-06 | Logistics channel remote control system based on Internet of Things technology |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610527895.3A Division CN106054729A (en) | 2016-03-06 | 2016-03-06 | Logistics channel remote control system based on Internet-of-things technology |
| CN201610530260.9A Division CN106707926B (en) | 2016-03-06 | 2016-03-06 | Logistics corridor tele-control system based on technology of Internet of things |
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| CN105676741B CN105676741B (en) | 2017-02-15 |
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| CN201610530260.9A Expired - Fee Related CN106707926B (en) | 2016-03-06 | 2016-03-06 | Logistics corridor tele-control system based on technology of Internet of things |
| CN201610527895.3A Withdrawn CN106054729A (en) | 2016-03-06 | 2016-03-06 | Logistics channel remote control system based on Internet-of-things technology |
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| CN201610527895.3A Withdrawn CN106054729A (en) | 2016-03-06 | 2016-03-06 | Logistics channel remote control system based on Internet-of-things technology |
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| CN106157302A (en) * | 2016-06-27 | 2016-11-23 | 张华华 | High in the clouds based on wavelet filtering image segmentation system |
| CN107257449A (en) * | 2016-06-27 | 2017-10-17 | 石梦 | A kind of remote supervision system based on cloud computing |
| CN108670747A (en) * | 2018-06-29 | 2018-10-19 | 合肥思博特软件开发有限公司 | A kind of blindmen intelligent auxiliary traveling method and system |
| CN108670745A (en) * | 2018-06-29 | 2018-10-19 | 合肥信亚达智能科技有限公司 | A kind of blind man navigation method and system based on speech recognition access |
| CN108670746A (en) * | 2018-06-29 | 2018-10-19 | 合肥信亚达智能科技有限公司 | A kind of high resolution path optimization intelligent monitoring blind-guiding method and system |
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| CN108743266A (en) * | 2018-06-29 | 2018-11-06 | 合肥思博特软件开发有限公司 | A kind of blindmen intelligent navigation avoidance trip householder method and system |
| CN108836770A (en) * | 2018-06-29 | 2018-11-20 | 合肥思博特软件开发有限公司 | Real Time Obstacle Avoiding optimization guide monitoring method and system under a kind of actual traffic environment |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106707926B (en) | 2019-01-11 |
| CN106054729A (en) | 2016-10-26 |
| CN105676741B (en) | 2017-02-15 |
| CN106707926A (en) | 2017-05-24 |
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