CN105676741B - 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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- CN105676741B CN105676741B CN201610125479.0A CN201610125479A CN105676741B CN 105676741 B CN105676741 B CN 105676741B CN 201610125479 A CN201610125479 A CN 201610125479A CN 105676741 B CN105676741 B CN 105676741B
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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
- G05B19/048—Monitoring; Safety
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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
- 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]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
- Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
- Y04S30/12—Remote or cooperative charging
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to 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, more particularly, to a kind of logistics corridor based on technology of Internet of things is long-range
Control system.
Background technology
Long-haul truck is the main means of transport of logistics company, because its business is related to the whole nation, because
This, lorry very long often there are in transit some dangerous situations, for example, driver does not abide by
It is fixed to obey the rule, and long-duration driving is not changed shifts, or where driver stays and lead to the shipping time to be delayed, more
Dangerous is exactly robbery or the pilferage that lorry suffers lawless person, and these situations are likely to public to logistics
Department causes heavy losses, and therefore, how preventing and solving is the Tough questions that logistics company faces.
Content of the invention
According to an aspect of the present invention, there is provided a kind of remotely controlled based on the logistics corridor of technology of Internet of things
System processed, is arranged at full-automatic navigation-type driverless electric automobile, and described electric automobile includes the time-division
Duplex communication interface, automatic charging equipment, the Big Dipper navigation equipment, object detection apparatus, OK
Sail controller and Freescale IMX6 process chip, Freescale IMX6 process chip is double with the time-division
Work communication interface, automatic charging equipment, the Big Dipper navigation equipment, object detection apparatus, traveling
Controller connects respectively, for defeated based on time division duplex communication interface and the Big Dipper navigation equipment
Go out positioning charging station nearby, and be further based on the output search of object detection apparatus and nearby charge
Stake, it is attached that traveling controller drives electric automobile to rush towards under the control of Freescale IMX6 process chip
Nearly charging pile, automatic charging equipment is realized to electricity under the control in Freescale IMX6 process chip
The automatic charging of electrical automobile.
More specifically, in described full-automatic navigation-type driverless electric automobile, including：Time-division is double
Work communication interface, is arranged on the outside of electric automobile, leads for the current the Big Dipper based on electric automobile
Boat position receives current the Big Dipper navigation bits of electric automobile at the charging station management server of far-end
Put the occupancy percentage of each charging station nearby；The Big Dipper navigator, is arranged on the outside of electric automobile,
For receiving current the Big Dipper navigation bits that the Big Dipper navigation positioning satellite sends in real time, electric automobile
Put, be additionally operable to receive the Big Dipper map of navigation electronic in, current the Big Dipper navigation position of electric automobile
The Big Dipper navigation position of each charging station nearby；Electric power detection equipment, is arranged on the storage of electric automobile
On battery, for detecting the real-time dump energy of battery；Object detection apparatus, with ccd image
Collector and mmc card connect respectively, for forward image is carried out with image recognition to determine front are
No have charging pile, correspondingly, sends and there is charging pile signal or there is not charging pile signal；Target
Testing equipment includes edge enhancer equipment, the sub- equipment of Haar wavelet filtering, self adaptation recursive filtering
Equipment, change of scale enhancer equipment, the sub- equipment of Target Segmentation and the sub- equipment of target identification；MMC
Card, is used for having prestored charging pile gray scale upper limit threshold, charging pile gray scale lower threshold and all kinds of fills
Electric pile foundation quasi-mode version, described charging pile tonal range is used for the charging pile in image and background separation,
Described all kinds of charging pile benchmark masterplate is each obtained by all kinds of benchmark charging piles are shot in advance
Individual image, the span of described charging pile gray scale upper limit threshold and described charging pile gray scale lower threshold
It is 0-255, described charging pile gray scale upper limit threshold is more than described charging pile gray scale lower threshold；CCD
Image acquisition device, for shooting to scene in front of electric automobile, to obtain forward image；Travel
Controller, is arranged on electric automobile, direction electric machine controller and the speed electric motor control with electric automobile
Device processed connects, and for receiving position control signal, determines driving direction and drive based on position control signal
Dynamic speed, and driving direction and actuating speed are sent respectively to direction electric machine controller and speed electric motor
Controller；Ultrasonic detecting equipment, is arranged on electric automobile anterior, for detecting electric automobile front portion
Real-time difference distance apart from charging pile；WIFI communication equipment, is arranged on electric automobile, for
The WIFI communication interface of charging pile carries out handshake operation, shakes hands and successfully then sends charging pile qualifying signal,
Failure of shaking hands then sends the unqualified signal of charging pile；Automatic charging equipment, is arranged on electric automobile,
Including locator, displacement driver, manipulator and charging head, locator, displacement driver and charging
Head is all disposed within manipulator, and locator is used between inspecting manipuator and the charging socket of charging pile
Relative distance, displacement driver is connected with locator, for driving manipulator to go to based on relative distance
The charging socket of charging pile, manipulator is used for inserting charging head after arriving at the charging socket of charging pile
In the charging socket of charging pile；Freescale IMX6 process chip, with time division duplex communication interface,
Electric power detection equipment, traveling controller, the Big Dipper navigator, object detection apparatus, ultrasound examination
Equipment, WIFI communication equipment and automatic charging equipment connect respectively, when real-time dump energy is less than or equal to
During the first default power threshold, enter self-navigation pattern；Wherein, Freescale IMX6 processes core
Piece, in self-navigation pattern, starts time division duplex communication interface, the Big Dipper navigator and target detection
Equipment, receives current the Big Dipper navigation position and the north of each charging station neighbouring at the Big Dipper navigator
Bucket star navigation position, current the Big Dipper navigation position is sent to time division duplex communication interface attached to obtain
The occupancy percentage of each charging station nearly, based on current the Big Dipper navigation position and each charging station neighbouring
The Big Dipper navigation position determine current the Big Dipper navigation position to the Big Dipper of each charging station neighbouring
Each charging station the Big Dipper navigation distance of navigation position, the occupancy hundred based on each charging station neighbouring
Divide ratio, take percentage weight, nearby the Big Dipper navigation distance of each charging station and distance weighting
Calculate the convenience degree of each charging station nearby, occupancy percentage is lower, and convenience degree is higher, north
Bucket star navigation distance is shorter, and convenience degree is higher, selects the charging station conduct nearby of convenience degree highest
Target charging station, Freescale IMX6 process chip is also based on current the Big Dipper navigation position and target
The Big Dipper navigation position of charging station determines position control signal, and position control signal is sent to traveling
Controller to control electric automobile to go to prestore in electronic chart charging station recently, when setting from target detection
Standby place receives when there is charging pile signal, starts 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 with by charging head insert charging pile charging socket in, Freescale IMX6 process
Chip exits self-navigation pattern；Wherein, Freescale IMX6 process chip is in real-time dump energy
Preset power threshold more than or equal to second, the manipulator controlling automatic charging equipment is to pull away charging head
The charging socket of charging pile, the second default power threshold is more than the first default power threshold；Wherein, institute
State edge enhancer equipment to be connected with described ccd image collector, for holding to described forward image
Row edge strengthens process to obtain edge enhanced images；The described sub- equipment of Haar wavelet filtering and described side
Edge enhancer equipment connects, for adopting described edge enhanced images based on 2 rank Haar wavelet basis
Wavelet filtering is processed, and to filter the Gaussian noise in described edge enhanced images, obtains wavelet filtering figure
Picture；The sub- equipment of described self adaptation recursive filtering equipment with described Haar wavelet filtering is connected, for right
Described wavelet filtering image execution self adaptation recursive filtering is processed, to obtain self adaptation recursive filtering figure
Picture；Described change of scale enhancer equipment equipment with described self adaptation recursive filtering is connected, for right
Described self adaptation recursive filtering image execution change of scale enhancing is processed, to strengthen target and the back of the body in image
The contrast of scape, obtains contrast and strengthens image；Wherein, the described sub- equipment of Target Segmentation and described chi
Degree conversion enhancer equipment connects, by grey scale pixel value in described contrast enhancing image in described charging
All pixels composition charging pile subgraph in stake tonal range；The sub- equipment of described target identification with described
The sub- equipment of Target Segmentation connects, by the charging pile benchmark of described charging pile subgraph and all kinds of electric automobiles
Masterplate mates one by one, and the match is successful, then output has charging pile signal, and output matching successfully fills
The corresponding charging pile type of electric pile foundation quasi-mode version, it fails to match, then export and there is not charging pile signal；
Wherein, mmc card is also connected with Freescale IMX6 process chip, be used for prestoring default away from
From threshold value, the first default power threshold, the second default power threshold, take percentage weight and with a distance from
Weight, predeterminable range threshold value, the first default power threshold, the second default power threshold, occupancy percentage
It is all default fixed numbers than weight and distance weighting.
More specifically, in described full-automatic navigation-type driverless electric automobile：Object detection apparatus
It is arranged in the instrument board of electric automobile front end.
More specifically, in described full-automatic navigation-type driverless electric automobile：Mmc card is arranged
In the instrument board of electric automobile front end.
More specifically, in described full-automatic navigation-type driverless electric automobile：Freescale IMX6
Process chip is arranged in the instrument board of electric automobile front end.
More specifically, in described full-automatic navigation-type driverless electric automobile：Alternatively, preset
Distance threshold, the first default power threshold, the second default power threshold, take percentage weight and away from
It is all can variable value from weight.
More specifically, in described full-automatic navigation-type driverless electric automobile, also including：Input
Keyboard, is connected with mmc card and Freescale IMX6 process chip, respectively for the behaviour in user
Under work, input predeterminable range threshold value, the first default power threshold, the second default power threshold, occupancy
Percentage weight and distance weighting.
Brief description
Below with reference to accompanying drawing, embodiment of the present invention is described, wherein：
Fig. 1 is the full-automatic navigation-type driverless electric automobile according to embodiment of the present invention
Block diagram.
Reference：1 time division duplex communication interface；2 automatic charging equipment；3 the Big Dipper navigation are fixed
Position equipment；4 object detection apparatus；5 traveling controllers；6 Freescale IMX6 process chips
Specific embodiment
Enforcement to the full-automatic navigation-type driverless electric automobile of the present invention below with reference to accompanying drawings
Scheme is described in detail.
Electric automobile has many advantages.Due to the orthodox car environmental protection of pure electronic ratio, and electric automobile
Its fullsized hybrid vehicle of control simple.Hybrid vehicle one side needs control to start
Machine, on the other hand needs to control battery, motor, and makes the work of motor and engine well
Join, technical difficulty is very high, by contrast, the motor torque that electric automobile needs, Power Control will letters
Single, the response speed of motor is also faster simultaneously.
Problem that mainly solve at present or battery, the life-span of battery to be improved, raising course continuation mileage
Reduces cost simultaneously.The management of battery and scrap reclaim be also intended to consider.Some automakers build
View future can allow car owner carry out the supplement of electric energy by way of changing a battery in charging station, this
Sample car master withouts waiting for the time charged, convenient and swift, and the unification of battery also realized by charging station
Charge and manage, be all a good solution party to the recovery improving battery life with facilitate used batteries
Case.Performance with battery improve further and auxiliary facility and Managed Solution perfect, electronic vapour
Car 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 electronic vapour
For automobile-used family, in the process of moving, the thing of worry is no more than the power drain of electric automobile,
Once this situation occurs, electric automobile can only cast anchor on the way, wait for rescue unit and carry charging and set
For being rescued, first waste time, delay the travel speed of user, after second bringing to user
The sorrow of Gu, have impact on the experience of user.
If can report to the police to user immediately when electricity will exhaust, and provide rapidly the most square nearby
The Name ＆ Location of charging station just, automatically controls electric automobile simultaneously and goes to target charging station and find
Nearest charging pile carries out automatic charging, can save a lot of troubles for automobile user, carry simultaneously
The high charging rate of electric automobile, it is to avoid situation of casting anchor occurs.However, it is of the prior art electronic
Automobile does not have these electron assistant functions it is impossible to provide the user these conveniently.
In order to overcome above-mentioned deficiency, the present invention has built a kind of unmanned electronic vapour of full-automatic navigation-type
Car, can search for, before electricity will exhaust, the charging station voluntarily that can provide charging service soon
Go to, automatic charging can be carried out using nearest charging pile when reaching target charging station, thus gram
Take the unmanned blind area being difficult under power shortage state.
Fig. 1 is the full-automatic navigation-type driverless electric automobile according to embodiment of the present invention
Block diagram, described electric automobile includes time division duplex communication interface, automatic charging equipment, the Big Dipper
Star navigation equipment, object detection apparatus, traveling controller and Freescale IMX6 process chip,
Freescale IMX6 process chip is led with time division duplex communication interface, automatic charging equipment, the Big Dipper
Boat location equipment, object detection apparatus, traveling controller connect respectively, for being led to based on time division duplex
The output positioning charging station nearby of letter interface and the Big Dipper navigation equipment, and it is further based on mesh
The output search charging pile nearby of mark testing equipment, travels controller and processes core in Freescale IMX6
Under the control of piece, charging pile nearby rushed towards by driving electric automobile, and automatic charging equipment is in Freescale
The lower automatic charging realized to electric automobile of control of IMX6 process chip.
Then, continue the concrete structure of the full-automatic navigation-type driverless electric automobile of the present invention is entered
Row further instruction.
Described electric automobile includes：Time division duplex communication interface, is arranged on the outside of electric automobile, uses
Connect at the charging station management server of far-end in the current the Big Dipper navigation position based on electric automobile
Receive the occupancy percentage of each charging station near current the Big Dipper navigation position of electric automobile；The Big Dipper
Navigator, is arranged on the outside of electric automobile, sends in real time for receiving the Big Dipper navigation positioning satellite
, current the Big Dipper navigation position of electric automobile, be additionally operable to receive the Big Dipper map of navigation electronic in,
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 on the battery of electric automobile, uses
Real-time dump energy in detection battery；Object detection apparatus, with ccd image collector and MMC
Card connects respectively, whether there is charging pile for forward image is carried out with image recognition to determine front,
Correspondingly, send and there is charging pile signal or there is not charging pile signal.
Wherein, object detection apparatus include edge enhancer equipment, the sub- equipment of Haar wavelet filtering, from
Adapt to the sub- equipment of recursive filtering, change of scale enhancer equipment, the sub- equipment of Target Segmentation and target identification
Sub- equipment.
Described electric automobile includes：Mmc card, be used for having prestored charging pile gray scale upper limit threshold,
Charging pile gray scale lower threshold and all kinds of charging pile benchmark masterplate, described charging pile tonal range is used for will
Charging pile in image and background separation, described all kinds of charging pile benchmark masterplates are that all kinds of benchmark are charged
Stake shot in advance obtained by each image, described charging pile gray scale upper limit threshold and described charging
The span of stake gray scale lower threshold is 0-255, and described charging pile gray scale upper limit threshold is more than institute
State charging pile gray scale lower threshold.
Described electric automobile includes：Ccd image collector, for carrying out to scene in front of electric automobile
Shoot, to obtain forward image；Travel controller, be arranged on electric automobile, with electric automobile
Direction electric machine controller and speed motor controller connect, for receiving position control signal, based on position
Put control signal and determine 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, for detecting the real-time difference distance of electric automobile front distance charging pile.
Described electric automobile includes：WIFI communication equipment, is arranged on electric automobile, for charging
The WIFI communication interface of stake carries out handshake operation, shakes hands and successfully then sends charging pile qualifying signal, holds
Hand failure then sends the unqualified signal of charging pile.
Described electric automobile includes：Automatic charging equipment, is arranged on electric automobile, including locator,
Displacement driver, manipulator and charging head, locator, displacement driver and charging head are all disposed within machine
On hand, locator is used for the relative distance between inspecting manipuator and the charging socket of charging pile, position to tool
Move driver to be connected with locator, for driving manipulator to go to the charging of charging pile based on relative distance
Socket, manipulator is used for charging head inserts after arriving at the charging socket of charging pile the charging of charging pile
In socket.
Described electric automobile includes：Freescale IMX6 process chip, with time division duplex communication interface,
Electric power detection equipment, traveling controller, the Big Dipper navigator, object detection apparatus, ultrasound examination
Equipment, WIFI communication equipment and automatic charging equipment connect respectively, when real-time dump energy is less than or equal to
During the first default power threshold, enter self-navigation pattern.
Wherein, Freescale IMX6 process chip, in self-navigation pattern, starts time division duplex and leads to
Letter interface, the Big Dipper navigator and object detection apparatus, receive the current Big Dipper at the Big Dipper navigator
Star navigation position and the Big Dipper navigation position of each charging station neighbouring, by current the Big Dipper navigation position
It is sent to time division duplex communication interface to obtain the occupancy percentage of each charging station nearby, based on current
The Big Dipper navigation position of the Big Dipper navigation position and each charging station neighbouring determines that current the Big Dipper is led
Boat position arrive the Big Dipper navigation position of each charging station neighbouring each charging station the Big Dipper navigate away from
From, occupancy percentage based on each charging station neighbouring, take percentage weight, nearby each
The convenience degree of each charging station near the Big Dipper navigation distance of charging station and distance weighting calculating,
Occupancy percentage is lower, and convenience degree is higher, and the Big Dipper navigation distance is shorter, and convenience degree is higher,
Near selection convenience degree highest, charging station is as target charging station.
Wherein, Freescale IMX6 process chip is also based on current the Big Dipper navigation position and target is filled
The Big Dipper navigation position in power station determines position control signal, and position control signal is sent to traveling control
Instrument processed to control electric automobile to go to prestore in electronic chart charging station recently, when from object detection apparatus
Place receives when there is charging pile signal, starts ultrasonic detecting equipment and WIFI communication equipment,
When receiving charging pile qualifying signal and differing distance less than or equal to predeterminable range threshold value in real time, start certainly
Dynamic charging equipment is so that by the charging socket of charging head insertion charging pile, Freescale IMX6 processes core
Piece exits self-navigation pattern.
Wherein, Freescale IMX6 process chip is more than or equal to the second default electricity in real-time dump energy
Amount threshold value, controls the charging socket so that charging head to pull away charging pile for the manipulator of automatic charging equipment,
Second default power threshold is more than the first default power threshold.
Wherein, described edge enhancer equipment is connected with described ccd image collector, for institute
State forward image execution edge and strengthen process to obtain edge enhanced images；Described Haar wavelet filtering
Equipment is connected with described edge enhancer equipment, for adopting described edge enhanced images based on 2 ranks
The wavelet filtering of Haar wavelet basis is processed, and to filter the Gaussian noise in described edge enhanced images, obtains
Obtain wavelet filtering image；The described sub- equipment of self adaptation recursive filtering and the sub- equipment of described Haar wavelet filtering
Connect, for processing to described wavelet filtering image execution self adaptation recursive filtering, to obtain self adaptation
Recursive filtering image；Sub- equipment connects described change of scale enhancer equipment with described self adaptation recursive filtering
Connect, for processing to the execution change of scale enhancing of described self adaptation recursive filtering image, to strengthen image
Middle target and the contrast of background, obtain contrast and strengthen image.
Wherein, the sub- equipment of described Target Segmentation is connected with described change of scale enhancer equipment, will be described
Contrast strengthens all pixels composition in described charging pile tonal range for the grey scale pixel value in image
Charging pile subgraph；The sub- equipment of described target identification equipment with described Target Segmentation is connected, will be described
Charging pile subgraph is mated one by one with the charging pile benchmark masterplate of all kinds of electric automobiles, and the match is successful, then
There is charging pile signal in output, and the corresponding charging pile class of output matching successful charging pile benchmark masterplate
Type, it fails to match, then export and there is not charging pile signal.
Wherein, mmc card is also connected with Freescale IMX6 process chip, is used for prestoring pre-
If distance threshold, the first default power threshold, the second default power threshold, take percentage weight and
Distance weighting, predeterminable range threshold value, the first default power threshold, the second default power threshold, occupancy
Percentage weight and distance weighting are all default fixed numbers.
Alternatively, in described electric automobile：Object detection apparatus are arranged on electric automobile front end instrument
In disk；Mmc card is arranged in the instrument board of electric automobile front end；Freescale IMX6 process chip
It is arranged in the instrument board of electric automobile front end；Alternatively, predeterminable range threshold value, the first default electricity threshold
Value, the second default power threshold, occupancy percentage weight and distance weighting are all can variable value；And
Described electric automobile can also include：Input keyboard, with mmc card and Freescale IMX6 process
Chip connects respectively, under the operation of user, inputting predeterminable range threshold value, the first default electricity
Threshold value, the second default power threshold, occupancy percentage weight and distance weighting.
In addition, the composition structure of satellite navigation system is as follows：Satellite navigation system by aeronautical satellite,
The face station and three parts of user's location equipment form.
(1) aeronautical satellite：The space segment of satellite navigation system, constitutes sky by many aeronautical satellites
Between Navigation Network.
(2) ground station：Follow the tracks of, measurement and forecast satellite orbit and satellite equipment is worked into
Row controls management, generally includes tracking station, telemetry station, calculating center, injection station and time unification system
The parts such as system.Tracking station is used for following the tracks of and measure the position coordinates of satellite.Telemetry station receives satellite and sends
Telemetry, for ground surveillance and analysis satellite equipment working condition.Calculating center according to
These information calculate the track of satellite, the orbit parameter in forecast lower a period of time, determine and need to transmit
To the navigation information of satellite, and sent from injection station to satellite.
(3) user's location equipment：Generally by receiver, timer, data pre-processor, calculating
Machine and display etc. form.It receives the small-signal that satellite is sent, and therefrom demodulates and translates satellite orbit
Parameter and timing information etc., measure navigational parameter (distance, range difference and range rate etc.) simultaneously,
Calculate position coordinates (two-dimensional coordinate or three-dimensional coordinate) and the velocity component of user again by computer.
User's location equipment be divided into boat-carrying, airborne, vehicle-mounted and one multiple patterns such as bear.
Beidou satellite navigation system is the global positioning satellite and communication system that China voluntarily develops
(BDS), it is the 3rd maturation after U.S. global positioning system (GPS) and Russia GLONASS
Satellite navigation system.System is made up of vacant terminal, ground surface end and user side, can be in the world
Round-the-clock, round-the-clock provides high accuracy, highly reliable positioning, navigation, time service service for all types of user,
And have short message communication capacity, tentatively possess area navigation, positioning and time service ability, positioning accurate
Degree is better than 20m, and time service precision is better than 100ns.On December 27th, 2012, dipper system space is believed
Number formal version of ICD is formally announced, and Beidou navigation business formally provides passive to the Asian-Pacific area
Positioning, navigation, time service service.
Using the full-automatic navigation-type driverless electric automobile of the present invention, cannot be real for prior art
The technical problem that existing electric automobile voluntarily charges, is obtained by increasing navigator and Wireless Telecom Equipment
The relevant information of each charging station nearby, is taken reasonably based on the relevant information of each charging station neighbouring
Selection mechanism is determined to provide the charging station of charging service as target charging station the soonest, increases voluntarily
Steer, voluntarily to be gone to based on nearest charging station position control electric automobile, meanwhile, is introduced and fills
Electric stake identifies that equipment, handshake communication equipment and mechanization charging equipment complete the full-automation of electric automobile
Charge, thus solving above-mentioned technical problem.
Although it is understood that the present invention is disclosed as above with preferred embodiment, but above-mentioned enforcement
Example is not limited to the present invention.For any those of ordinary skill in the art, without departing from
Under technical solution of the present invention ambit, the technology contents that the disclosure above all can be utilized are to the technology of the present invention
Scheme makes many possible variations and modification, or the Equivalent embodiments being revised as equivalent variations.Therefore,
Every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention is to above example
Any simple modification, equivalent variations and the modification made, all still falls within technical solution of the present invention protection
In the range of.
Claims (1)
1. a kind of logistics corridor tele-control system based on technology of Internet of things, is arranged at and automatically leads
Boat formula driverless electric automobile, described electric automobile includes time division duplex communication interface, automatic charging
Equipment, the Big Dipper navigation equipment, object detection apparatus, traveling controller and Freescale IMX6
Process chip, Freescale IMX6 process chip and time division duplex communication interface, automatic charging equipment,
The Big Dipper navigation equipment, object detection apparatus, travel controller connect respectively, for based on when
The output positioning charging station nearby of division duplex communication interface and the Big Dipper navigation equipment, and further
The output search charging pile nearby based on object detection apparatus for the ground, travels controller in Freescale
Under the control of IMX6 process chip, charging pile nearby rushed towards by driving electric automobile, and automatic charging equipment exists
The automatic charging to electric automobile is realized under the control of Freescale IMX6 process chip；
It is characterized in that, described electric automobile also includes：
Time division duplex communication interface, is arranged on the outside of electric automobile, for working as based on electric automobile
Front the Big Dipper navigation position receives the current north of electric automobile at the charging station management server of far-end
The occupancy percentage of each charging station near bucket star navigation position；
The Big Dipper navigator, is arranged on the outside of electric automobile, defends for receiving the Big Dipper navigator fix
Star sends in real time, current the Big Dipper navigation position of electric automobile, is additionally operable to receive the Big Dipper navigation
In electronic chart, near current the Big Dipper navigation position of electric automobile, the Big Dipper of each charging station is led
Boat position；
Electric power detection equipment, is arranged on the battery of electric automobile, for detecting the real-time of battery
Dump energy；
Object detection apparatus, are connected with ccd image collector and mmc card, respectively for front
Square image carries out image recognition and whether there is charging pile to determine front, correspondingly, sends presence and charges
Stake signal or there is not charging pile signal；It is little that object detection apparatus include edge enhancer equipment, Haar
Ripple filters sub- equipment, the sub- equipment of self adaptation recursive filtering, change of scale enhancer equipment, Target Segmentation
Sub- equipment and the sub- equipment of target identification；
Mmc card, is used for having prestored charging pile gray scale upper limit threshold, charging pile gray scale lower limit threshold
Value and all kinds of charging pile benchmark masterplates, described charging pile tonal range be used for by the charging pile in image with
Background separation, described all kinds of charging pile benchmark masterplates are that all kinds of benchmark charging piles are carried out shooting institute in advance
Each image obtaining, described charging pile gray scale upper limit threshold and described charging pile gray scale lower threshold
Span is 0-255, and described charging pile gray scale upper limit threshold is more than described charging pile gray scale lower limit
Threshold value；
Ccd image collector, for shooting to scene in front of electric automobile, to obtain front figure
Picture；
Travel controller, be arranged on electric automobile, direction electric machine controller and the speed with electric automobile
Degree electric machine controller connects, and for receiving position control signal, is determined based on position control signal and drives
Direction and actuating speed, and by driving direction and actuating speed be sent respectively to direction electric machine controller and
Speed motor controller；
Ultrasonic detecting equipment, is arranged on electric automobile anterior, for detecting electric automobile front distance
The real-time difference distance of charging pile；
WIFI communication equipment, is arranged on electric automobile, for the WIFI communication interface with charging pile
Carry out handshake operation, shake hands and successfully then send charging pile qualifying signal, failure of shaking hands then sends charging pile
Unqualified signal；
Automatic charging equipment, is arranged on electric automobile, including locator, displacement driver, machinery
Hand and charging head, locator, displacement driver and charging head are all disposed within manipulator, and locator is used
Relative distance between inspecting manipuator and the charging socket of charging pile, displacement driver and locator
Connect, for driving manipulator to go to the charging socket of charging pile based on relative distance, manipulator is used for
After arriving at the charging socket of charging pile, charging head is inserted in the charging socket of charging pile；
Freescale IMX6 process chip, with time division duplex communication interface, electric power detection equipment, OK
Sail controller, the Big Dipper navigator, object detection apparatus, ultrasonic detecting equipment, WIFI communication set
Standby and automatic charging equipment connects respectively, when real-time dump energy is less than or equal to the first default power threshold
When, enter self-navigation pattern；
Wherein, Freescale IMX6 process chip, in self-navigation pattern, starts time division duplex and leads to
Letter interface, the Big Dipper navigator and object detection apparatus, receive the current Big Dipper at the Big Dipper navigator
Star navigation position and the Big Dipper navigation position of each charging station neighbouring, by current the Big Dipper navigation position
It is sent to time division duplex communication interface to obtain the occupancy percentage of each charging station nearby, based on current
The Big Dipper navigation position of the Big Dipper navigation position and each charging station neighbouring determines that current the Big Dipper is led
Boat position arrive the Big Dipper navigation position of each charging station neighbouring each charging station the Big Dipper navigate away from
From, occupancy percentage based on each charging station neighbouring, take percentage weight, nearby each
The convenience degree of each charging station near the Big Dipper navigation distance of charging station and distance weighting calculating,
Occupancy percentage is lower, and convenience degree is higher, and the Big Dipper navigation distance is shorter, and convenience degree is higher,
, as target charging station, Freescale IMX6 processes core to select charging station near convenience degree highest
Piece also determines position based on the Big Dipper navigation position of current the Big Dipper navigation position and target charging station
Control signal, position control signal is sent to traveling controller to control electric automobile to go to the electricity that prestores
Nearest charging station in sub- map, when receive at object detection apparatus there is charging pile signal when, open
Dynamic ultrasonic detecting equipment and WIFI communication equipment, are receiving charging pile qualifying signal and real-time phase
Gap is charged with inserting charging head from during less than or equal to predeterminable range threshold value, starting automatic charging equipment
In the charging socket of stake, Freescale IMX6 process chip exits self-navigation pattern；
Wherein, Freescale IMX6 process chip is more than or equal to the second default electricity in real-time dump energy
Amount threshold value, controls the charging socket so that charging head to pull away charging pile for the manipulator of automatic charging equipment,
Second default power threshold is more than the first default power threshold；
Wherein, described edge enhancer equipment is connected with described ccd image collector, for institute
State forward image execution edge and strengthen process to obtain edge enhanced images；Described Haar wavelet filtering
Equipment is connected with described edge enhancer equipment, for adopting described edge enhanced images based on 2 ranks
The wavelet filtering of Haar wavelet basis is processed, and to filter the Gaussian noise in described edge enhanced images, obtains
Obtain wavelet filtering image；The described sub- equipment of self adaptation recursive filtering and the sub- equipment of described Haar wavelet filtering
Connect, for processing to described wavelet filtering image execution self adaptation recursive filtering, to obtain self adaptation
Recursive filtering image；Sub- equipment connects described change of scale enhancer equipment with described self adaptation recursive filtering
Connect, for processing to the execution change of scale enhancing of described self adaptation recursive filtering image, to strengthen image
Middle target and the contrast of background, obtain contrast and strengthen image；
Wherein, the sub- equipment of described Target Segmentation is connected with described change of scale enhancer equipment, will be described
Contrast strengthens all pixels composition in described charging pile tonal range for the grey scale pixel value in image
Charging pile subgraph；The sub- equipment of described target identification equipment with described Target Segmentation is connected, will be described
Charging pile subgraph is mated one by one with the charging pile benchmark masterplate of all kinds of electric automobiles, and the match is successful, then
There is charging pile signal in output, and the corresponding charging pile class of output matching successful charging pile benchmark masterplate
Type, it fails to match, then export and there is not charging pile signal；
Wherein, mmc card is also connected with Freescale IMX6 process chip, is used for prestoring pre-
If distance threshold, the first default power threshold, the second default power threshold, take percentage weight and
Distance weighting, predeterminable range threshold value, the first default power threshold, the second default power threshold, occupancy
Percentage weight and distance weighting are all default fixed numbers.
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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610125479.0A CN105676741B (en) | 2016-03-06 | 2016-03-06 | Logistics channel remote control system based on Internet of Things technology |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105676741A CN105676741A (en) | 2016-06-15 |
| CN105676741B true CN105676741B (en) | 2017-02-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610125479.0A Active CN105676741B (en) | 2016-03-06 | 2016-03-06 | Logistics channel remote control system based on Internet of Things technology |
| CN201610527895.3A Withdrawn CN106054729A (en) | 2016-03-06 | 2016-03-06 | Logistics channel remote control system based on Internet-of-things technology |
| CN201610530260.9A Expired - Fee Related CN106707926B (en) | 2016-03-06 | 2016-03-06 | Logistics corridor tele-control system based on technology of Internet of things |
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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 |
| CN201610530260.9A Expired - Fee Related CN106707926B (en) | 2016-03-06 | 2016-03-06 | Logistics corridor tele-control system based on technology of Internet of things |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106157302A (en) * | 2016-06-27 | 2016-11-23 | 张华华 | High in the clouds based on wavelet filtering image segmentation system |
| CN108419047B (en) * | 2016-06-27 | 2020-09-22 | 百望股份有限公司 | Remote monitoring method based on cloud computing |
| CN106709687A (en) * | 2016-12-29 | 2017-05-24 | 合肥旋极智能科技有限公司 | New energy car logistics system |
| TWI669677B (en) * | 2018-03-07 | 2019-08-21 | 光陽工業股份有限公司 | Charging base management method, server for charging base management method, and charging base |
| CN108670745A (en) * | 2018-06-29 | 2018-10-19 | 合肥信亚达智能科技有限公司 | A kind of blind man navigation method and system based on speech recognition access |
| CN108743266A (en) * | 2018-06-29 | 2018-11-06 | 合肥思博特软件开发有限公司 | A kind of blindmen intelligent navigation avoidance trip householder method and system |
| CN108836770A (en) * | 2018-06-29 | 2018-11-20 | 合肥思博特软件开发有限公司 | Real Time Obstacle Avoiding optimization guide monitoring method and system under a kind of actual traffic environment |
| 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 |
| 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 |
| CN112305970A (en) * | 2020-03-12 | 2021-02-02 | 沈寿娟 | Internet of things intelligent linkage control method and Internet of things intelligent linkage control center |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2010025910A (en) * | 2008-07-23 | 2010-02-04 | Yasuyoshi Senda | Vehicle travel support system |
| CN201839049U (en) * | 2010-10-28 | 2011-05-18 | 重庆电力科学试验研究院 | Alternating-current (AC) charging system |
| CN102902252A (en) * | 2012-09-24 | 2013-01-30 | 湖南大学 | Vehicle control unit for unmanned electric vehicle |
| US9037403B2 (en) * | 2013-03-26 | 2015-05-19 | Toyota Motor Engineering & Manufacturing North America, Inc. | Intensity map-based localization with adaptive thresholding |
| CN104898690A (en) * | 2015-04-07 | 2015-09-09 | 中南大学 | Rotor unmanned aerial vehicle self journey-continuing realization method based on APM platform |
| CN105223887A (en) * | 2015-10-09 | 2016-01-06 | 芜湖思沃电子科技有限公司 | A kind of intelligent radio locating and monitoring dolly |
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2016
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106707926A (en) | 2017-05-24 |
| CN106054729A (en) | 2016-10-26 |
| CN105676741A (en) | 2016-06-15 |
| CN106707926B (en) | 2019-01-11 |
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Effective date of registration: 20161227 Address after: 361000 Xiamen Software Park, Fujian City, the three phase of the main street, No. 903 Cheng Yi, unit 370, three Applicant after: Xiamen All Things Together Intelligent Technology Co., Ltd. Address before: 063600 Leting County, Hebei, Financial Street, No. 19, Applicant before: Zhang Ximei |
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